first commit

2026-02-23 08:38:49 +08:00
commit c2ffb70f3d
43 changed files with 5853 additions and 0 deletions
@@ -0,0 +1,187 @@
+# This gitignore has been specially created by the WPILib team.
+# If you remove items from this file, intellisense might break.
+
+### C++ ###
+# Prerequisites
+*.d
+
+# Compiled Object files
+*.slo
+*.lo
+*.o
+*.obj
+
+# Precompiled Headers
+*.gch
+*.pch
+
+# Compiled Dynamic libraries
+*.so
+*.dylib
+*.dll
+
+# Fortran module files
+*.mod
+*.smod
+
+# Compiled Static libraries
+*.lai
+*.la
+*.a
+*.lib
+
+# Executables
+*.exe
+*.out
+*.app
+
+### Java ###
+# Compiled class file
+*.class
+
+# Log file
+*.log
+
+# BlueJ files
+*.ctxt
+
+# Mobile Tools for Java (J2ME)
+.mtj.tmp/
+
+# Package Files #
+*.jar
+*.war
+*.nar
+*.ear
+*.zip
+*.tar.gz
+*.rar
+
+# virtual machine crash logs, see http://www.java.com/en/download/help/error_hotspot.xml
+hs_err_pid*
+
+### Linux ###
+*~
+
+# temporary files which can be created if a process still has a handle open of a deleted file
+.fuse_hidden*
+
+# KDE directory preferences
+.directory
+
+# Linux trash folder which might appear on any partition or disk
+.Trash-*
+
+# .nfs files are created when an open file is removed but is still being accessed
+.nfs*
+
+### macOS ###
+# General
+.DS_Store
+.AppleDouble
+.LSOverride
+
+# Icon must end with two \r
+Icon
+
+# Thumbnails
+._*
+
+# Files that might appear in the root of a volume
+.DocumentRevisions-V100
+.fseventsd
+.Spotlight-V100
+.TemporaryItems
+.Trashes
+.VolumeIcon.icns
+.com.apple.timemachine.donotpresent
+
+# Directories potentially created on remote AFP share
+.AppleDB
+.AppleDesktop
+Network Trash Folder
+Temporary Items
+.apdisk
+
+### VisualStudioCode ###
+.vscode/*
+!.vscode/settings.json
+!.vscode/tasks.json
+!.vscode/launch.json
+!.vscode/extensions.json
+
+### Windows ###
+# Windows thumbnail cache files
+Thumbs.db
+ehthumbs.db
+ehthumbs_vista.db
+
+# Dump file
+*.stackdump
+
+# Folder config file
+[Dd]esktop.ini
+
+# Recycle Bin used on file shares
+$RECYCLE.BIN/
+
+# Windows Installer files
+*.cab
+*.msi
+*.msix
+*.msm
+*.msp
+
+# Windows shortcuts
+*.lnk
+
+### Gradle ###
+.gradle
+/build/
+
+# Ignore Gradle GUI config
+gradle-app.setting
+
+# Avoid ignoring Gradle wrapper jar file (.jar files are usually ignored)
+!gradle-wrapper.jar
+
+# Cache of project
+.gradletasknamecache
+
+# # Work around https://youtrack.jetbrains.com/issue/IDEA-116898
+# gradle/wrapper/gradle-wrapper.properties
+
+# # VS Code Specific Java Settings
+# DO NOT REMOVE .classpath and .project
+.classpath
+.project
+.settings/
+bin/
+
+# IntelliJ
+*.iml
+*.ipr
+*.iws
+.idea/
+out/
+
+# Fleet
+.fleet
+
+# Simulation GUI and other tools window save file
+networktables.json
+simgui.json
+*-window.json
+
+# Simulation data log directory
+logs/
+
+# Folder that has CTRE Phoenix Sim device config storage
+ctre_sim/
+
+# clangd
+/.cache
+compile_commands.json
+
+# Eclipse generated file for annotation processors
+.factorypath
@@ -0,0 +1,21 @@
+{
+  // Use IntelliSense to learn about possible attributes.
+  // Hover to view descriptions of existing attributes.
+  // For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387
+  "version": "0.2.0",
+  "configurations": [
+
+    {
+      "type": "wpilib",
+      "name": "WPILib Desktop Debug",
+      "request": "launch",
+      "desktop": true,
+    },
+    {
+      "type": "wpilib",
+      "name": "WPILib roboRIO Debug",
+      "request": "launch",
+      "desktop": false,
+    }
+  ]
+}
@@ -0,0 +1,61 @@
+{
+  "java.configuration.updateBuildConfiguration": "automatic",
+  "java.server.launchMode": "Standard",
+  "files.exclude": {
+    "**/.git": true,
+    "**/.svn": true,
+    "**/.hg": true,
+    "**/CVS": true,
+    "**/.DS_Store": true,
+    "bin/": true,
+    "**/.classpath": true,
+    "**/.project": true,
+    "**/.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",
+  "java.import.gradle.annotationProcessing.enabled": false,
+  "java.completion.favoriteStaticMembers": [
+    "org.junit.Assert.*",
+    "org.junit.Assume.*",
+    "org.junit.jupiter.api.Assertions.*",
+    "org.junit.jupiter.api.Assumptions.*",
+    "org.junit.jupiter.api.DynamicContainer.*",
+    "org.junit.jupiter.api.DynamicTest.*",
+    "org.mockito.Mockito.*",
+    "org.mockito.ArgumentMatchers.*",
+    "org.mockito.Answers.*",
+    "edu.wpi.first.units.Units.*"
+  ],
+  "java.completion.filteredTypes": [
+    "java.awt.*",
+    "com.sun.*",
+    "sun.*",
+    "jdk.*",
+    "org.graalvm.*",
+    "io.micrometer.shaded.*",
+    "java.beans.*",
+    "java.util.Base64.*",
+    "java.util.Timer",
+    "java.sql.*",
+    "javax.swing.*",
+    "javax.management.*",
+    "javax.smartcardio.*",
+    "edu.wpi.first.math.proto.*",
+    "edu.wpi.first.math.**.proto.*",
+    "edu.wpi.first.math.**.struct.*",
+  ],
+  "java.dependency.enableDependencyCheckup": false
+}
@@ -0,0 +1,6 @@
+{
+    "enableCppIntellisense": false,
+    "currentLanguage": "java",
+    "projectYear": "2026",
+    "teamNumber": 6494
+}␍
@@ -0,0 +1,24 @@
+Copyright (c) 2009-2024 FIRST and other WPILib contributors
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+   * Redistributions of source code must retain the above copyright
+     notice, this list of conditions and the following disclaimer.
+   * Redistributions in binary form must reproduce the above copyright
+     notice, this list of conditions and the following disclaimer in the
+     documentation and/or other materials provided with the distribution.
+   * Neither the name of FIRST, WPILib, nor the names of other WPILib
+     contributors may be used to endorse or promote products derived from
+     this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY FIRST AND OTHER WPILIB CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY NONINFRINGEMENT AND FITNESS FOR A PARTICULAR
+PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL FIRST OR CONTRIBUTORS BE LIABLE FOR
+ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
@@ -0,0 +1,106 @@
+plugins {
+    id "java"
+    id "edu.wpi.first.GradleRIO" version "2026.2.1"
+}
+
+java {
+    sourceCompatibility = JavaVersion.VERSION_17
+    targetCompatibility = JavaVersion.VERSION_17
+}
+
+def ROBOT_MAIN_CLASS = "frc.robot.Main"
+
+// Define my targets (RoboRIO) and artifacts (deployable files)
+// This is added by GradleRIO's backing project DeployUtils.
+deploy {
+    targets {
+        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 = 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'
+                    deleteOldFiles = false // Change to true to delete files on roboRIO that no
+                                           // longer exist in deploy directory of this project
+                }
+            }
+        }
+    }
+}
+
+def deployArtifact = deploy.targets.roborio.artifacts.frcJava
+
+// Set to true to use debug for all targets including JNI, which will drastically impact
+// performance.
+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 5.
+dependencies {
+    annotationProcessor wpi.java.deps.wpilibAnnotations()
+    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)
+
+    roborioRelease wpi.java.deps.wpilibJniRelease(wpi.platforms.roborio)
+    roborioRelease wpi.java.vendor.jniRelease(wpi.platforms.roborio)
+
+    nativeDebug wpi.java.deps.wpilibJniDebug(wpi.platforms.desktop)
+    nativeDebug wpi.java.vendor.jniDebug(wpi.platforms.desktop)
+    simulationDebug wpi.sim.enableDebug()
+
+    nativeRelease wpi.java.deps.wpilibJniRelease(wpi.platforms.desktop)
+    nativeRelease wpi.java.vendor.jniRelease(wpi.platforms.desktop)
+    simulationRelease wpi.sim.enableRelease()
+
+    testImplementation 'org.junit.jupiter:junit-jupiter:5.10.1'
+    testRuntimeOnly 'org.junit.platform:junit-platform-launcher'
+}
+
+test {
+    useJUnitPlatform()
+    systemProperty 'junit.jupiter.extensions.autodetection.enabled', 'true'
+}
+
+// Simulation configuration (e.g. environment variables).
+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
+// knows where to look for our Robot Class.
+jar {
+    from { configurations.runtimeClasspath.collect { it.isDirectory() ? it : zipTree(it) } }
+    from sourceSets.main.allSource
+    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)
+
+// Configure string concat to always inline compile
+tasks.withType(JavaCompile) {
+    options.compilerArgs.add '-XDstringConcat=inline'
+    options.encoding = "UTF-8"
+}
@@ -0,0 +1,7 @@
+distributionBase=GRADLE_USER_HOME
+distributionPath=permwrapper/dists
+distributionUrl=https\://services.gradle.org/distributions/gradle-8.11-bin.zip
+networkTimeout=10000
+validateDistributionUrl=true
+zipStoreBase=GRADLE_USER_HOME
+zipStorePath=permwrapper/dists
@@ -0,0 +1,252 @@
+#!/bin/sh
+
+#
+# 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.
+# You may obtain a copy of the License at
+#
+#      https://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+#
+# SPDX-License-Identifier: Apache-2.0
+#
+
+##############################################################################
+#
+#   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/HEAD/platforms/jvm/plugins-application/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
+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
+
+# This is normally unused
+# shellcheck disable=SC2034
+APP_BASE_NAME=${0##*/}
+# Discard cd standard output in case $CDPATH is set (https://github.com/gradle/gradle/issues/25036)
+APP_HOME=$( cd -P "${APP_HOME:-./}" > /dev/null && printf '%s
+' "$PWD" ) || exit
+
+# Use the maximum available, or set MAX_FD != -1 to use that value.
+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 "$( uname )" in                #(
+  CYGWIN* )         cygwin=true  ;; #(
+  Darwin* )         darwin=true  ;; #(
+  MSYS* | MINGW* )  msys=true    ;; #(
+  NONSTOP* )        nonstop=true ;;
+esac
+
+CLASSPATH=$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=$JAVA_HOME/jre/sh/java
+    else
+        JAVACMD=$JAVA_HOME/bin/java
+    fi
+    if [ ! -x "$JAVACMD" ] ; then
+        die "ERROR: JAVA_HOME is set to an invalid directory: $JAVA_HOME
+
+Please set the JAVA_HOME variable in your environment to match the
+location of your Java installation."
+    fi
+else
+    JAVACMD=java
+    if ! command -v java >/dev/null 2>&1
+    then
+        die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
+
+Please set the JAVA_HOME variable in your environment to match the
+location of your Java installation."
+    fi
+fi
+
+# Increase the maximum file descriptors if we can.
+if ! "$cygwin" && ! "$darwin" && ! "$nonstop" ; then
+    case $MAX_FD in #(
+      max*)
+        # In POSIX sh, ulimit -H is undefined. That's why the result is checked to see if it worked.
+        # shellcheck disable=SC2039,SC3045
+        MAX_FD=$( ulimit -H -n ) ||
+            warn "Could not query maximum file descriptor limit"
+    esac
+    case $MAX_FD in  #(
+      '' | soft) :;; #(
+      *)
+        # In POSIX sh, ulimit -n is undefined. That's why the result is checked to see if it worked.
+        # shellcheck disable=SC2039,SC3045
+        ulimit -n "$MAX_FD" ||
+            warn "Could not set maximum file descriptor limit to $MAX_FD"
+    esac
+fi
+
+# Collect all arguments for the java command, stacking in reverse order:
+#   * args from the command line
+#   * the main class name
+#   * -classpath
+#   * -D...appname settings
+#   * --module-path (only if needed)
+#   * DEFAULT_JVM_OPTS, JAVA_OPTS, and GRADLE_OPTS environment variables.
+
+# For Cygwin or MSYS, switch paths to Windows format before running java
+if "$cygwin" || "$msys" ; then
+    APP_HOME=$( 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
+    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
+        # 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
+fi
+
+
+# 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"'
+
+# Collect all arguments for the java command:
+#   * DEFAULT_JVM_OPTS, JAVA_OPTS, JAVA_OPTS, and optsEnvironmentVar are not allowed to contain shell fragments,
+#     and any embedded shellness will be escaped.
+#   * For example: A user cannot expect ${Hostname} to be expanded, as it is an environment variable and will be
+#     treated as '${Hostname}' itself on the command line.
+
+set -- \
+        "-Dorg.gradle.appname=$APP_BASE_NAME" \
+        -classpath "$CLASSPATH" \
+        org.gradle.wrapper.GradleWrapperMain \
+        "$@"
+
+# Stop when "xargs" is not available.
+if ! command -v xargs >/dev/null 2>&1
+then
+    die "xargs is not available"
+fi
+
+# Use "xargs" to parse quoted args.
+#
+# With -n1 it outputs one arg per line, with the quotes and backslashes removed.
+#
+# In Bash we could simply go:
+#
+#   readarray ARGS < <( xargs -n1 <<<"$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.
+#
+
+eval "set -- $(
+        printf '%s\n' "$DEFAULT_JVM_OPTS $JAVA_OPTS $GRADLE_OPTS" |
+        xargs -n1 |
+        sed ' s~[^-[:alnum:]+,./:=@_]~\\&~g; ' |
+        tr '\n' ' '
+    )" '"$@"'
+
+exec "$JAVACMD" "$@"
@@ -0,0 +1,94 @@
+@rem
+@rem Copyright 2015 the original author or authors.
+@rem
+@rem Licensed under the Apache License, Version 2.0 (the "License");
+@rem you may not use this file except in compliance with the License.
+@rem You may obtain a copy of the License at
+@rem
+@rem      https://www.apache.org/licenses/LICENSE-2.0
+@rem
+@rem Unless required by applicable law or agreed to in writing, software
+@rem distributed under the License is distributed on an "AS IS" BASIS,
+@rem WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+@rem See the License for the specific language governing permissions and
+@rem limitations under the License.
+@rem
+@rem SPDX-License-Identifier: Apache-2.0
+@rem
+
+@if "%DEBUG%"=="" @echo off
+@rem ##########################################################################
+@rem
+@rem  Gradle startup script for Windows
+@rem
+@rem ##########################################################################
+
+@rem Set local scope for the variables with windows NT shell
+if "%OS%"=="Windows_NT" setlocal
+
+set DIRNAME=%~dp0
+if "%DIRNAME%"=="" set DIRNAME=.
+@rem This is normally unused
+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"
+
+@rem Find java.exe
+if defined JAVA_HOME goto findJavaFromJavaHome
+
+set JAVA_EXE=java.exe
+%JAVA_EXE% -version >NUL 2>&1
+if %ERRORLEVEL% equ 0 goto execute
+
+echo. 1>&2
+echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH. 1>&2
+echo. 1>&2
+echo Please set the JAVA_HOME variable in your environment to match the 1>&2
+echo location of your Java installation. 1>&2
+
+goto fail
+
+:findJavaFromJavaHome
+set JAVA_HOME=%JAVA_HOME:"=%
+set JAVA_EXE=%JAVA_HOME%/bin/java.exe
+
+if exist "%JAVA_EXE%" goto execute
+
+echo. 1>&2
+echo ERROR: JAVA_HOME is set to an invalid directory: %JAVA_HOME% 1>&2
+echo. 1>&2
+echo Please set the JAVA_HOME variable in your environment to match the 1>&2
+echo location of your Java installation. 1>&2
+
+goto fail
+
+: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 %*
+
+:end
+@rem End local scope for the variables with windows NT shell
+if %ERRORLEVEL% equ 0 goto mainEnd
+
+:fail
+rem Set variable GRADLE_EXIT_CONSOLE if you need the _script_ return code instead of
+rem the _cmd.exe /c_ return code!
+set EXIT_CODE=%ERRORLEVEL%
+if %EXIT_CODE% equ 0 set EXIT_CODE=1
+if not ""=="%GRADLE_EXIT_CONSOLE%" exit %EXIT_CODE%
+exit /b %EXIT_CODE%
+
+:mainEnd
+if "%OS%"=="Windows_NT" endlocal
+
+:omega
@@ -0,0 +1,30 @@
+import org.gradle.internal.os.OperatingSystem
+
+pluginManagement {
+    repositories {
+        mavenLocal()
+        gradlePluginPortal()
+        String frcYear = '2026'
+        File frcHome
+        if (OperatingSystem.current().isWindows()) {
+            String publicFolder = System.getenv('PUBLIC')
+            if (publicFolder == null) {
+                publicFolder = "C:\\Users\\Public"
+            }
+            def homeRoot = new File(publicFolder, "wpilib")
+            frcHome = new File(homeRoot, frcYear)
+        } else {
+            def userFolder = System.getProperty("user.home")
+            def homeRoot = new File(userFolder, "wpilib")
+            frcHome = new File(homeRoot, frcYear)
+        }
+        def frcHomeMaven = new File(frcHome, 'maven')
+        maven {
+            name 'frcHome'
+            url frcHomeMaven
+        }
+    }
+}
+
+Properties props = System.getProperties();
+props.setProperty("org.gradle.internal.native.headers.unresolved.dependencies.ignore", "true");
@@ -0,0 +1,3 @@
+Files placed in this directory will be deployed to the RoboRIO into the
+'deploy' directory in the home folder. Use the 'Filesystem.getDeployDirectory' wpilib function
+to get a proper path relative to the deploy directory.
@@ -0,0 +1,19 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Line"
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": false,
+  "folder": null,
+  "choreoAuto": false
+}
@@ -0,0 +1,37 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Line"
+          }
+        },
+        {
+          "type": "wait",
+          "data": {
+            "waitTime": 1.0
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "LineBack"
+          }
+        },
+        {
+          "type": "wait",
+          "data": {
+            "waitTime": 1.0
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": false,
+  "folder": null,
+  "choreoAuto": false
+}
@@ -0,0 +1,19 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Rotate"
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": false,
+  "folder": null,
+  "choreoAuto": false
+}
@@ -0,0 +1,19 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "RotateAndLine"
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": false,
+  "folder": null,
+  "choreoAuto": false
+}
@@ -0,0 +1,54 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 14.314,
+        "y": 4.15
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 14.299415121255347,
+        "y": 4.61077032810271
+      },
+      "isLocked": false,
+      "linkedName": "StartingPointRed1"
+    },
+    {
+      "anchor": {
+        "x": 14.314,
+        "y": 6.668017118402283
+      },
+      "prevControl": {
+        "x": 14.247660485021397,
+        "y": 6.305734664764623
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "pointTowardsZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 1.5,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 360.0,
+    "maxAngularAcceleration": 720.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 180.0
+  },
+  "reversed": false,
+  "folder": null,
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": 180.0
+  },
+  "useDefaultConstraints": true
+}
@@ -0,0 +1,54 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 14.314,
+        "y": 6.668017118402283
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 14.299415121255347,
+        "y": 7.128787446504993
+      },
+      "isLocked": false,
+      "linkedName": "Point1"
+    },
+    {
+      "anchor": {
+        "x": 14.314,
+        "y": 4.15
+      },
+      "prevControl": {
+        "x": 14.299415121255347,
+        "y": 4.597831669044222
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": "StartingPointRed2"
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "pointTowardsZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 1.5,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 360.0,
+    "maxAngularAcceleration": 720.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 180.0
+  },
+  "reversed": false,
+  "folder": null,
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": 180.0
+  },
+  "useDefaultConstraints": true
+}
@@ -0,0 +1,54 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 14.314,
+        "y": 4.15
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 14.064,
+        "y": 4.15
+      },
+      "isLocked": false,
+      "linkedName": "StartingPointRed1"
+    },
+    {
+      "anchor": {
+        "x": 14.314,
+        "y": 4.15
+      },
+      "prevControl": {
+        "x": 14.650181888846735,
+        "y": 4.15
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "pointTowardsZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 1.5,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 360.0,
+    "maxAngularAcceleration": 720.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 0.0
+  },
+  "reversed": false,
+  "folder": null,
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": 180.0
+  },
+  "useDefaultConstraints": true
+}
@@ -0,0 +1,54 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 14.314,
+        "y": 4.15
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 14.312353780313838,
+        "y": 4.74015691868759
+      },
+      "isLocked": false,
+      "linkedName": "StartingPointRed1"
+    },
+    {
+      "anchor": {
+        "x": 14.314,
+        "y": 6.357489300998574
+      },
+      "prevControl": {
+        "x": 14.312353780313838,
+        "y": 6.098716119828817
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "pointTowardsZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 1.5,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 360.0,
+    "maxAngularAcceleration": 720.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 0.0
+  },
+  "reversed": false,
+  "folder": null,
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": 180.0
+  },
+  "useDefaultConstraints": true
+}
@@ -0,0 +1,34 @@
+{
+  "robotWidth": 0.85,
+  "robotLength": 0.85,
+  "holonomicMode": true,
+  "pathFolders": [],
+  "autoFolders": [],
+  "defaultMaxVel": 1.5,
+  "defaultMaxAccel": 3.0,
+  "defaultMaxAngVel": 360.0,
+  "defaultMaxAngAccel": 720.0,
+  "defaultNominalVoltage": 12.0,
+  "robotMass": 30.0,
+  "robotMOI": 3.6,
+  "robotTrackwidth": 0.546,
+  "driveWheelRadius": 0.045,
+  "driveGearing": 5.902,
+  "maxDriveSpeed": 4.89,
+  "driveMotorType": "krakenX60",
+  "driveCurrentLimit": 40.0,
+  "wheelCOF": 1.2,
+  "flModuleX": 0.289,
+  "flModuleY": 0.289,
+  "frModuleX": 0.289,
+  "frModuleY": -0.289,
+  "blModuleX": -0.289,
+  "blModuleY": 0.289,
+  "brModuleX": -0.289,
+  "brModuleY": -0.289,
+  "bumperOffsetX": 0.0,
+  "bumperOffsetY": 0.0,
+  "robotFeatures": [
+    "{\"name\":\"Circle\",\"type\":\"circle\",\"data\":{\"center\":{\"x\":0.0,\"y\":0.0},\"radius\":0.1,\"strokeWidth\":0.02,\"filled\":false}}"
+  ]
+}
@@ -0,0 +1,98 @@
+package frc.robot;
+
+import com.ctre.phoenix6.configs.Slot0Configs;
+import edu.wpi.first.math.geometry.Pose2d;
+
+public final class Constants {
+    public static final boolean LEDUsing = false;
+    public class Shooter {
+        public static final double conveyorSpeedkP = 10;
+        public static final Slot0Configs flyWheelSlot0Configs = new Slot0Configs()
+            .withKP(0.0).withKI(0).withKD(0)
+            .withKV(0.1).withKA(0.0).withKS(0.15);
+
+        public static final Slot0Configs conveyorSlot0Configs = new Slot0Configs()
+            .withKP(0.0).withKI(0).withKD(0)
+            .withKV(0.02).withKA(0.15).withKS(0);
+
+        public static final Slot0Configs backboardSlot0Configs = new Slot0Configs()
+            .withKP(0.01).withKI(0).withKD(0)
+            .withKV(0.008).withKA(0.0).withKS(0.010);
+
+        public class backboardPositionPID {
+            public static final double kP = 0.1;
+            public static final double kI = 0.0;
+            public static final double kD = 0.0;
+            
+        }
+        public static final double backboardSpeedMax = 60; //也就是output
+        // 背板的上下限位角度
+        public static final double backboardUpLimit = 3000.0;  // 背板上限角度（根据实际需求设置）
+        public static final double backboardDownLimit = 0.0;  // 背板下限角度（根据实际需求设置）
+    }
+    public class ShooterCalculation{
+        public static final double positionNear = 0;  // 近距离背板角度
+        public static final double positionMid  = 1600;  // 中距离背板角度
+        public static final double postionFar  = 3200;  // 远距离背板角度
+    }
+    public class AutoRotation {
+        public static final boolean autoRotationToHubEnabled = true;
+        public static final double autoRotationToHubkP = 0.12;
+        public static final boolean autoRotationForBump = false;
+        public static final double autoRotationForBumpkP = 0.2;
+        public static final double autoRotationForBumpTargetDegrees = 45;
+
+        public static final boolean teleopOffsetEnabled = true;
+        public static final double teleopOffsetkP = 15;
+    }
+
+    public class StartingPoints{
+        public class Red{
+            public static final Pose2d Point1 = new Pose2d(12.93, 7.47, edu.wpi.first.math.geometry.Rotation2d.fromDegrees(0));
+            public static final Pose2d Point2 = new Pose2d(14.314, 4.15, edu.wpi.first.math.geometry.Rotation2d.fromDegrees(-180));
+        }
+        
+    }
+
+    public enum DriveMode {
+        ROBOT_CENTRIC,
+        FIELD_CENTRIC,
+        SYSID,
+        OTHER
+    }
+    public class Pigeon {
+        public static final int CANID = 0;
+    }
+
+    public class Limelight {
+        public static final String LIMELIGHT_NAME = "limelight-zy";
+    }
+
+    public class Field {
+        public static final double RedHubPositionX = 11.914;
+        public static final double RedHubPositionY = 4.034;
+        
+    }
+
+    public class Intaker {
+
+    public static final double intakeRotaterUpLimit = 0.0;  // rotator上限角度
+    public static final double intakeRotaterDownLimit = 0.0;  // rotator下限角度
+
+    public static final Slot0Configs intakeGetterSlot0Configs = new Slot0Configs()
+        .withKP(0.00).withKI(0.00).withKD(0.00)
+        .withKV(0.00).withKA(0.00).withKS(0.00);
+    // getter 如果你只用固定速度开关，也可以先不启闭环；若用闭环速度，这里 kP/kV/KS 等需要实测调参(这句fromAI)
+
+    public static final Slot0Configs intakeRotaterSlot0Configs = new Slot0Configs()
+        .withKP(0.00).withKI(0.00).withKD(0.00)
+        .withKV(0.00).withKA(0.00).withKS(0.00);
+    //如果 rotater 受重力影响明显，可能需要用 withKG/withGravityType/withGravityArmPositionOffset（看机构形式）(这句fromAI)
+
+    public static final double IntakeGetterSpeed = 0.0;
+    // 单位RPS
+    public static final double positionToleranceRotations = 0.00;
+    //rotater容差
+    }   
+    
+}
@@ -0,0 +1,15 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot;
+
+import edu.wpi.first.wpilibj.RobotBase;
+
+public final class Main {
+  private Main() {}
+
+  public static void main(String... args) {
+    RobotBase.startRobot(Robot::new);
+  }
+}
@@ -0,0 +1,76 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot;
+import edu.wpi.first.wpilibj.TimedRobot;
+import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.CommandScheduler;
+
+public class Robot extends TimedRobot {
+    private Command m_autonomousCommand;
+
+    private final RobotContainer m_robotContainer;
+
+    public Robot() {
+        m_robotContainer = new RobotContainer();
+    }
+
+    @Override
+    public void robotPeriodic() {
+        CommandScheduler.getInstance().run(); 
+        m_robotContainer.tunerPeriodic();
+
+    }
+
+    @Override
+    public void disabledInit() {}
+
+    @Override
+    public void disabledPeriodic() {}
+
+    @Override
+    public void disabledExit() {}
+
+    @Override
+    public void autonomousInit() {
+        m_autonomousCommand = m_robotContainer.getAutonomousCommand();
+
+        if (m_autonomousCommand != null) {
+            CommandScheduler.getInstance().schedule(m_autonomousCommand);
+        }
+    }
+
+    @Override
+    public void autonomousPeriodic() {}
+
+    @Override
+    public void autonomousExit() {}
+
+    @Override
+    public void teleopInit() {
+        if (m_autonomousCommand != null) {
+            CommandScheduler.getInstance().cancel(m_autonomousCommand);
+        }
+    }
+
+    @Override
+    public void teleopPeriodic() {}
+
+    @Override
+    public void teleopExit() {}
+
+    @Override
+    public void testInit() {
+        CommandScheduler.getInstance().cancelAll();
+    }
+
+    @Override
+    public void testPeriodic() {}
+
+    @Override
+    public void testExit() {}
+
+    @Override
+    public void simulationPeriodic() {}
+}
@@ -0,0 +1,134 @@
+package frc.robot;
+
+import com.ctre.phoenix6.SignalLogger;
+import com.pathplanner.lib.auto.AutoBuilder;
+
+import edu.wpi.first.math.geometry.Pose2d;
+import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.Commands;
+import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
+import edu.wpi.first.wpilibj2.command.button.RobotModeTriggers;
+import frc.robot.controls.DriveControls;
+import frc.robot.controls.ShooterControls;
+import frc.robot.generated.TunerConstants;
+import frc.robot.subsystems.CommandSwerveDrivetrain;
+import frc.robot.subsystems.LEDSubsystem;
+import frc.robot.subsystems.ShooterSubsystem;
+import frc.robot.tuning.ConfigTalonFXMotorTuner;
+import frc.robot.tuning.ConfigTalonFXSMotorTuner;
+import frc.robot.tuning.DriveGainsTuner;
+import frc.robot.utils.LedBindings;
+
+public class RobotContainer {
+
+  /* ====================== */
+  /*         手柄            */
+  /* ====================== */
+
+  // 只使用一个 Xbox 手柄（端口 0）
+  private final CommandXboxController controller = new CommandXboxController(0);
+
+  /* ====================== */
+  /*         子系统           */
+  /* ====================== */
+
+  // Phoenix TunerX 生成的底盘
+  public final CommandSwerveDrivetrain drivetrain = TunerConstants.createDrivetrain();
+  public final ShooterSubsystem shooterSubsystem = new ShooterSubsystem();
+
+  // LED 子系统
+  private final LEDSubsystem leds = new LEDSubsystem(0, 72 ,0); // 总长度=72+72         
+
+  /* ====================== */
+  /*     控制封装/日志        */
+  /* ====================== */
+
+  private final DriveControls driveControls = new DriveControls(drivetrain, controller);
+  private final ShooterControls shooterControls = new ShooterControls(shooterSubsystem, controller);
+
+  private final DriveGainsTuner driveGainsTuner = new DriveGainsTuner(drivetrain);
+  private ConfigTalonFXMotorTuner configFlywheelTuner = new ConfigTalonFXMotorTuner(shooterSubsystem.flywheelMotorLeft, "flywheel", Constants.Shooter.flyWheelSlot0Configs);
+  private ConfigTalonFXMotorTuner configConveyorTuner = new ConfigTalonFXMotorTuner(shooterSubsystem.conveyorMotor, "conveyor", Constants.Shooter.conveyorSlot0Configs);
+  private ConfigTalonFXSMotorTuner configBackboardTuner = new ConfigTalonFXSMotorTuner(shooterSubsystem.backboardMotor, "backboard", Constants.Shooter.backboardSlot0Configs);
+
+  private final SendableChooser<Command> autoChooser;
+
+  public RobotContainer() {
+    SignalLogger.enableAutoLogging(false);
+    autoChooser = AutoBuilder.buildAutoChooser();
+    SmartDashboard.putData("Auto Chooser", autoChooser);
+    configueSwerve();
+    configueShooter();
+    bingdingLED();
+  }
+
+  /* ====================== */
+  /*        底盘配置          */
+  /* ====================== */
+
+  private void configueSwerve() {
+    Pose2d startingPose = Constants.StartingPoints.Red.Point2;
+    drivetrain.resetPose(startingPose);
+
+    // 默认驾驶命令
+    drivetrain.setDefaultCommand(driveControls.defaultDriveCommand());
+
+    // Disabled 时进入 idle（防止模块乱动）
+    RobotModeTriggers.disabled().whileTrue(driveControls.idleCommand());
+
+    
+    //左保险：按住刹车
+    controller.leftBumper()
+      .onTrue(Commands.runOnce(driveControls::emergencyStop))
+      .whileTrue(driveControls.brakeWhileHeld());
+
+    // Back：重置场地坐标系
+    controller.back().onTrue(drivetrain.runOnce(drivetrain::seedFieldCentric));
+    
+    // Start：切换场地/车体坐标系
+    controller.start().onTrue(Commands.runOnce(driveControls::toggleDriveFrame));
+
+    // 右保险：按住加速（Boost）
+    controller.rightBumper()
+        .onTrue(Commands.runOnce(() -> driveControls.setBoostEnabled(true)))
+        .onFalse(Commands.runOnce(() -> driveControls.setBoostEnabled(false)));
+
+    controller.a().whileTrue(drivetrain.runOnce(drivetrain::forceUsingLimelightMT2));
+
+  }
+
+  private void configueShooter(){
+    shooterSubsystem.setDefaultCommand(shooterControls.defaultShooterCommand());
+
+    controller.povLeft().onTrue(Commands.runOnce(() -> shooterControls.adjustFlywheelSpeedOffset(-5)));
+    controller.povRight().onTrue(Commands.runOnce(() -> shooterControls.adjustFlywheelSpeedOffset(5)));
+    controller.povUp().onTrue(Commands.runOnce(() -> shooterControls.adjustBackboardRateOffset(1500)));
+    controller.povDown().onTrue(Commands.runOnce(() -> shooterControls.adjustBackboardRateOffset(-1500)));
+
+    controller.b().onTrue(shooterControls.resetBackboardCommand());
+  }
+
+  /* ====================== */
+  /*        LED 绑定          */
+  /* ====================== */
+
+  private void bingdingLED() {
+    LedBindings.bindModeIndicators(leds);
+  }
+  
+  public Command getAutonomousCommand() {
+
+    return autoChooser.getSelected();
+  }
+
+  public void tunerPeriodic() {
+    driveGainsTuner.periodic();
+    configFlywheelTuner.periodic(() -> shooterSubsystem.applyLeftConfigurationToRight());
+    configConveyorTuner.periodic(null);
+    configBackboardTuner.periodic();
+    shooterSubsystem.setRightFollowLeft();
+  }
+
+}
@@ -0,0 +1,243 @@
+package frc.robot.controls;
+import static edu.wpi.first.units.Units.MetersPerSecond;
+import static edu.wpi.first.units.Units.RotationsPerSecond;
+import com.ctre.phoenix6.swerve.SwerveModule.DriveRequestType;
+import com.ctre.phoenix6.swerve.SwerveRequest;
+
+import edu.wpi.first.math.filter.SlewRateLimiter;
+import edu.wpi.first.math.geometry.Pose2d;
+import edu.wpi.first.networktables.NetworkTable;
+import edu.wpi.first.networktables.NetworkTableInstance;
+import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
+import frc.robot.Constants;
+import frc.robot.Constants.DriveMode;
+import frc.robot.generated.TunerConstants;
+import frc.robot.subsystems.CommandSwerveDrivetrain;
+
+public class DriveControls {
+    private final CommandSwerveDrivetrain drivetrain;
+    private final CommandXboxController driver;
+
+    private final double maxSpeed = TunerConstants.kSpeedAt12Volts.in(MetersPerSecond);
+    private final double maxAngularRate = RotationsPerSecond.of(0.75).in(edu.wpi.first.units.Units.RadiansPerSecond);
+
+    // 默认速度比例（平时开车）
+    private double normalDriveScale = 0.3;
+    private double normalTurnScale  = 0.7;
+
+    // 加速模式比例（按住 RB）
+    private double boostDriveScale = 1.0;
+    private double boostTurnScale  = 1.0;
+
+    private boolean boostEnabled = false;
+
+    private final SlewRateLimiter vxLimiter = new SlewRateLimiter(5.0);   // m/s^2 等效（调）
+    private final SlewRateLimiter vyLimiter = new SlewRateLimiter(5.0);
+    private final SlewRateLimiter omegaLimiter = new SlewRateLimiter(9.0); // rad/s^2 等效（调）
+
+    // ====== 类成员变量里新增：记录上一次输出 ======
+    private double lastVx = 0.0;
+    private double lastVy = 0.0;
+    private double lastOmega = 0.0;
+
+    private NetworkTable autoControlNetworkTable;
+    
+    public void setBoostEnabled(boolean enabled) {
+        boostEnabled = enabled;
+    }
+
+    // 新增：当前是否使用场地坐标系（默认 true）
+    private boolean fieldCentricEnabled = true;
+
+    private final SwerveRequest.FieldCentric fieldCentric =
+        new SwerveRequest.FieldCentric()
+            .withDeadband(maxSpeed * 0.05)
+            .withRotationalDeadband(maxAngularRate * 0.05)
+            .withDriveRequestType(DriveRequestType.Velocity);
+
+    private final SwerveRequest.RobotCentric robotCentric =
+    new SwerveRequest.RobotCentric()
+        .withDeadband(maxSpeed * 0.05)
+        .withRotationalDeadband(maxAngularRate * 0.05)
+        .withDriveRequestType(DriveRequestType.Velocity);
+    
+    public DriveControls(CommandSwerveDrivetrain drivetrain, CommandXboxController driver) {
+        this.drivetrain = drivetrain;
+        this.driver = driver;
+        autoControlNetworkTable = NetworkTableInstance.getDefault().getTable("AutoControl");
+    }
+    
+    public void toggleDriveFrame() {
+        fieldCentricEnabled = !fieldCentricEnabled;
+    }
+    
+    public boolean isFieldCentricEnabled() {
+        return fieldCentricEnabled;
+    }
+    public DriveMode getCurrentDriveMode() {
+        return fieldCentricEnabled ? DriveMode.FIELD_CENTRIC : DriveMode.ROBOT_CENTRIC;
+    }
+    /** 底盘的默认驾驶命令（teleop 期间持续执行） */
+    public Command defaultDriveCommand() {
+        return drivetrain.applyRequest(() -> {
+        double driveScale = boostEnabled ? boostDriveScale : normalDriveScale;
+        double turnScale  = boostEnabled ? boostTurnScale  : normalTurnScale;
+
+        double vx = -driver.getLeftY() * maxSpeed * driveScale;
+        double vy = -driver.getLeftX() * maxSpeed * driveScale;
+        double omega = -driver.getRightX() * maxAngularRate * turnScale;
+
+        // ====== execute 内替换 limiter：只限加速、不限减速 ======
+        double limitedVx = limitAccelOnly(vx, lastVx, vxLimiter);
+        double limitedVy = limitAccelOnly(vy, lastVy, vyLimiter);
+        double limitedOmega = limitAccelOnly(omega, lastOmega, omegaLimiter);
+
+        lastVx = limitedVx;
+        lastVy = limitedVy;
+        lastOmega = limitedOmega;
+
+        vx = limitedVx;
+        vy = limitedVy;
+        omega = limitedOmega;
+        
+        double[] distanceAndRotation = calculateDistanceAndRotationToHub();
+        // 将距离值写入 NetworkTable
+        autoControlNetworkTable.getEntry("distanceToHub").setDouble(distanceAndRotation[0]);
+        autoControlNetworkTable.getEntry("angleDifferenceToHub").setDouble(distanceAndRotation[1]);
+
+        if(Constants.AutoRotation.autoRotationToHubEnabled) {
+            double autoRotationPower = driver.getLeftTriggerAxis();
+            if(autoRotationPower > 0.1) {
+                autoControlNetworkTable.getEntry("autoRotationAvailable").setBoolean(true);
+
+                double angleDifference = distanceAndRotation[1];
+
+                // Calculate rotation speed using the angle difference
+                omega = calculateRotationSpeedFromRotationAngle(angleDifference, autoRotationPower);
+
+                autoControlNetworkTable.getEntry("autoRotationRate").setDouble(omega);
+            } else {
+                autoControlNetworkTable.getEntry("autoRotationAvailable").setBoolean(false);
+            }
+        }
+
+      
+
+        if (fieldCentricEnabled) {
+            return fieldCentric
+                .withVelocityX(vx)
+                .withVelocityY(vy)
+                .withRotationalRate(omega);
+        } else {
+            return robotCentric
+                .withVelocityX(vx)
+                .withVelocityY(vy)
+                .withRotationalRate(omega);
+        }
+        }, () -> fieldCentricEnabled ? DriveMode.FIELD_CENTRIC : DriveMode.ROBOT_CENTRIC);
+    }
+    
+    // Calculate distance and rotation (angle difference)
+    public double[] calculateDistanceAndRotationToHub() {
+        Pose2d currentPose = drivetrain.getState().Pose; // 获取机器人当前的位置和角度
+        double targetX = Constants.Field.RedHubPositionX;  // 目标 X 坐标
+        double targetY = Constants.Field.RedHubPositionY;  // 目标 Y 坐标
+
+        // 计算目标角度（相对于场地坐标系）
+        double deltaX = targetX - currentPose.getX();
+        double deltaY = targetY - currentPose.getY();
+        double targetAngle = Math.toDegrees(Math.atan2(deltaY, deltaX)); // 转换为度
+
+        // 当前机器人角度
+        double currentAngle = currentPose.getRotation().getDegrees();
+        double angleDifference = targetAngle - currentAngle;
+        // Normalize angle difference to the range [-180, 180]
+        if (angleDifference > 180) {
+            angleDifference -= 360;
+        } else if (angleDifference < -180) {
+            angleDifference += 360;
+        }
+
+        // 计算距离
+        double distance = Math.sqrt(deltaX * deltaX + deltaY * deltaY);
+                // 计算距离和旋转角度
+        double[] distanceAndRotation = new double[]{distance, angleDifference};
+
+        // 返回距离和角度差
+        return distanceAndRotation;
+    }
+
+    // Calculate rotation speed from rotation angle difference
+    public double calculateRotationSpeedFromRotationAngle(double angleDifference, double autoRotationPower) {
+        double calDifference = angleDifference;
+
+        // Optional: Apply teleop offset if enabled
+        if (Constants.AutoRotation.teleopOffsetEnabled) {
+            double teleopOffset = -driver.getRightX();
+            calDifference += teleopOffset * Constants.AutoRotation.teleopOffsetkP;
+        }
+
+        // If angle difference is within threshold, don't rotate
+        if (Math.abs(calDifference) > 1.0) {
+            return calDifference * autoRotationPower * Constants.AutoRotation.autoRotationToHubkP;
+        } else {
+            return 0;
+        }
+    }
+
+
+
+        /**
+     * 只限制“加速”（幅值变大），不限制“减速”（幅值变小）
+     * 这样松杆/刹车会更及时，同时 boost 仍然能抑制电流冲击
+     */
+    private double limitAccelOnly(double target, double last, SlewRateLimiter limiter) {
+        // 如果正在减速（幅值变小），直接放行到目标值
+        if (Math.abs(target) < Math.abs(last)) {
+        limiter.reset(target);  // 同步 limiter 内部状态，防止下一次突变
+        return target;
+        }
+        // 否则是加速，使用 limiter
+        return limiter.calculate(target);
+    }
+
+        /** 紧急停止：清零限速器，让速度输出立刻归零 */
+    public void emergencyStop() {
+        vxLimiter.reset(0.0);
+        vyLimiter.reset(0.0);
+        omegaLimiter.reset(0.0);
+
+        lastVx = 0.0;
+        lastVy = 0.0;
+        lastOmega = 0.0;
+    }
+
+    public Command idleCommand() {
+        final var idle = new SwerveRequest.Idle();
+        return drivetrain.applyRequest(() -> idle).ignoringDisable(true);
+    }
+    
+    public Command brakeWhileHeld() {
+        final var brake = new SwerveRequest.SwerveDriveBrake();
+        return drivetrain.applyRequest(() -> brake);
+    }
+    
+
+    public SwerveRequest.SwerveDriveBrake brakeRequest() {
+        return new SwerveRequest.SwerveDriveBrake();
+    }
+
+    public SwerveRequest.Idle idleRequest() {
+        return new SwerveRequest.Idle();
+    }
+
+    public double getMaxSpeed() {
+        return maxSpeed;
+    }
+
+    public double getMaxAngularRate() {
+        return maxAngularRate;
+    }
+
+}
@@ -0,0 +1,71 @@
+package frc.robot.controls;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.Commands;
+import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
+import frc.robot.subsystems.IntakerSubsystem;
+
+public class IntakerControls {
+    private final IntakerSubsystem intakerSubsystem;
+    private final CommandXboxController controller;
+
+    private static final double ROTATER_STEP_PER_CYCLE = 0.00; // 需要你按实际速度调：越大越快（fromAI）
+
+    public IntakerControls(IntakerSubsystem intakerSubsystem, CommandXboxController controller) {
+        this.intakerSubsystem = intakerSubsystem;
+        this.controller = controller;
+    }
+
+    public void configureBindings() {
+
+        //B.A：按住下降 + getter转；松开后 rotater保持当前位置，getter继续转
+        controller.a()
+            .whileTrue(
+                Commands.run(() -> {
+                    // rotater下降：范围会被 subsystem 限制
+                    double cur = intakerSubsystem.getIntakerotaterPosition();
+                    intakerSubsystem.setIntakerRotaterPosition(cur - ROTATER_STEP_PER_CYCLE);
+
+                    // getter 开
+                    intakerSubsystem.setIntakeGetterOn(true);
+                }, intakerSubsystem)
+            )
+            .onFalse(
+                Commands.runOnce(() -> {
+                    // 松：把当前位置作为target保持
+                    double cur = intakerSubsystem.getIntakerotaterPosition();
+                    intakerSubsystem.setIntakerRotaterPosition(cur);
+
+                    // gtter继续转
+                    intakerSubsystem.setIntakeGetterOn(true);
+                }, intakerSubsystem)
+            );
+
+        // === B.B：按住上升+getter停；松开后rotater保持当前位置
+        controller.b()
+            .whileTrue(
+                Commands.run(() -> {
+                    // rotater升
+                    double cur = intakerSubsystem.getIntakerotaterPosition();
+                    intakerSubsystem.setIntakerRotaterPosition(cur + ROTATER_STEP_PER_CYCLE);
+
+                    // getter关
+                    intakerSubsystem.setIntakeGetterOn(false);
+                }, intakerSubsystem)
+            )
+            .onFalse(
+                Commands.runOnce(() -> {
+                    // 松：保持当前位置
+                    double cur = intakerSubsystem.getIntakerotaterPosition();
+                    intakerSubsystem.setIntakerRotaterPosition(cur);
+
+                    // getter仍然停止
+                    intakerSubsystem.setIntakeGetterOn(false);
+                }, intakerSubsystem)
+            );
+    }
+
+    public Command defaultIntakerCommand() {
+        return Commands.none();
+    }
+}
@@ -0,0 +1,143 @@
+package frc.robot.controls;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.Commands;
+import edu.wpi.first.wpilibj2.command.RunCommand;
+import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
+import frc.robot.Constants;
+import frc.robot.subsystems.ShooterSubsystem;
+import frc.robot.subsystems.ShooterSubsystem.Mode;
+
+public class ShooterControls {
+    private final ShooterSubsystem shooterSubsystem;
+    private final CommandXboxController controller;
+
+    private double flywheelSpeedOffset = 0.0;
+    private double backboardPositionOffset = 0.0;
+
+    public ShooterControls(ShooterSubsystem shooterSubsystem, CommandXboxController controller) {
+        this.shooterSubsystem = shooterSubsystem;
+        this.controller = controller;
+    }
+
+    public Command defaultShooterCommand() {
+        return Commands.run(() -> {
+                // System.out.println("running");
+                if (controller.getRightTriggerAxis() < 0.1) {
+                    shooterSubsystem.setConveyorSpeedByRPS(0);
+                    shooterSubsystem.setFlywheelSpeedByRPS(0);
+                    return;
+                }
+                double flywheelSpeed;
+                double backboardPosition;
+                double conveyorSpeed;
+                flywheelSpeed = calculateFlywheelSpeedOnlywithOffset(20);
+                backboardPosition = calculateBackboardPositionOnlywithOffset(100);
+                conveyorSpeed = controller.getRightTriggerAxis() * Constants.Shooter.conveyorSpeedkP;
+
+                // double flywheelSpeed = calculateFlywheelSpeed(0);
+                // double BackboardPosition = calculateBackboardPosition(0);
+                // shooterSubsystem.setFlywheelSpeedByRPS(flywheelSpeed);
+                // shooterSubsystem.setConveyorSpeedByRPS(conveyorSpeed);
+                shooterSubsystem.setBackboardPosition(backboardPosition);
+        }, shooterSubsystem);
+    }
+
+    // public Command resetBackboardCommand(){
+    //     return 
+    //         Commands.runOnce(()->{
+    //             shooterSubsystem.backboardMotor.set(-0.1);
+    //             shooterSubsystem.currentBackboardInalyzeMode = Mode.Inalyzing;}, shooterSubsystem)
+    //         .andThen(
+    //             Commands.waitSeconds(0.5))
+    //         .andThen(Commands.runOnce(()->{
+    //             shooterSubsystem.backboardMotor.set(0);
+    //             shooterSubsystem.backboardEncoder.reset();
+    //             shooterSubsystem.backboardPID.reset(0);}, shooterSubsystem))
+    //         .andThen(
+    //             Commands.waitSeconds(1))
+    //         .andThen(Commands.runOnce(()->{
+    //             shooterSubsystem.currentBackboardInalyzeMode = Mode.Inalyzed;}, shooterSubsystem));
+    // }
+
+    public Command resetBackboardCommand(){
+        return 
+            Commands.runOnce(()->{
+                shooterSubsystem.backboardEncoder.reset();
+                shooterSubsystem.backboardPID.reset(0);}, shooterSubsystem);
+    }
+
+    //打表参数
+    private static final double[][] FLYWHEEL_TABLE = {
+    {1.5, 0.42},
+    {2.0, 0.46},
+    {2.5, 0.51},
+    {3.0, 0.57},
+    {3.5, 0.64},
+    {4.0, 0.72}
+    };
+
+    //线性插值函数
+    private static double lerp(double x0, double y0, double x1, double y1, double x)  {
+    if (Math.abs(x1 - x0) < 1e-9) {
+        return y0;
+    }
+    double t = (x - x0) / (x1 - x0);
+    return y0 + t * (y1 - y0);
+    }
+    private double calculateFlywheelSpeedOnlywithOffset(double defaultSpeed) {
+        return defaultSpeed + flywheelSpeedOffset;
+    }
+    private double calculateBackboardPositionOnlywithOffset(double defaultPosition) {
+        return defaultPosition + backboardPositionOffset;
+    }
+
+    private double calculateFlywheelSpeed(double distance) {
+        // 小于最小距离：用第一个点
+        if (distance <= FLYWHEEL_TABLE[0][0]) {
+        return FLYWHEEL_TABLE[0][1] + flywheelSpeedOffset;
+        }
+        // 大于最大距离：用最后一个点
+        int last = FLYWHEEL_TABLE.length - 1;
+        if (distance >= FLYWHEEL_TABLE[last][0]) {
+        return FLYWHEEL_TABLE[last][1] + flywheelSpeedOffset;
+        }
+        // 查找区间并插值
+        for (int i = 0; i < FLYWHEEL_TABLE.length - 1; i++) {
+            double d0 = FLYWHEEL_TABLE[i][0];
+            double s0 = FLYWHEEL_TABLE[i][1];
+            double d1 = FLYWHEEL_TABLE[i + 1][0];
+            double s1 = FLYWHEEL_TABLE[i + 1][1];
+            if (distance >= d0 && distance <= d1) {
+                return lerp(d0, s0, d1, s1, distance) + flywheelSpeedOffset;
+            }
+        }
+        return 0;
+    }
+    
+    private double calculateBackboardPosition(double distance) {
+        double BackboardPosition;
+        // 距离阈值（单位自己按distance进行修改）
+        final double DISTANCE_NEAR = 2.0;   // 近距离阈值
+        final double DISTANCE_MID  = 4.0;   // 中距离阈值
+        if (distance < DISTANCE_NEAR) {
+        BackboardPosition = Constants.ShooterCalculation.positionNear;
+        } 
+        else if (distance < DISTANCE_MID) {
+        BackboardPosition = Constants.ShooterCalculation.positionMid;
+        } 
+        else {
+        BackboardPosition = Constants.ShooterCalculation.postionFar;
+        }
+        BackboardPosition += backboardPositionOffset;
+        return BackboardPosition;
+    }
+
+    public void adjustFlywheelSpeedOffset(double offset) {
+        flywheelSpeedOffset += offset;
+    }
+
+    public void adjustBackboardRateOffset(double offset) {
+        backboardPositionOffset += offset;
+    }
+}
@@ -0,0 +1,286 @@
+package frc.robot.generated;
+
+import static edu.wpi.first.units.Units.*;
+
+import com.ctre.phoenix6.CANBus;
+import com.ctre.phoenix6.configs.*;
+import com.ctre.phoenix6.hardware.*;
+import com.ctre.phoenix6.signals.*;
+import com.ctre.phoenix6.swerve.*;
+import com.ctre.phoenix6.swerve.SwerveModuleConstants.*;
+
+import edu.wpi.first.math.Matrix;
+import edu.wpi.first.math.numbers.N1;
+import edu.wpi.first.math.numbers.N3;
+import edu.wpi.first.units.measure.*;
+
+import frc.robot.subsystems.CommandSwerveDrivetrain;
+
+// Generated by the 2026 Tuner X Swerve Project Generator
+// https://v6.docs.ctr-electronics.com/en/stable/docs/tuner/tuner-swerve/index.html
+public class TunerConstants {
+    // Both sets of gains need to be tuned to your individual robot.
+
+    // The steer motor uses any SwerveModule.SteerRequestType control request with the
+    // output type specified by SwerveModuleConstants.SteerMotorClosedLoopOutput
+    private static final Slot0Configs steerGains = new Slot0Configs()
+        .withKP(70).withKI(0).withKD(0.5)
+        .withKS(0.1).withKV(1.59).withKA(0)
+        .withStaticFeedforwardSign(StaticFeedforwardSignValue.UseClosedLoopSign);
+    // When using closed-loop control, the drive motor uses the control
+    // output type specified by SwerveModuleConstants.DriveMotorClosedLoopOutput
+    private static final Slot0Configs driveGains = new Slot0Configs()
+        .withKP(0.01).withKI(0).withKD(0)
+        .withKS(0.05).withKV(0.117);
+
+    // The closed-loop output type to use for the steer motors;
+    // This affects the PID/FF gains for the steer motors
+    private static final ClosedLoopOutputType kSteerClosedLoopOutput = ClosedLoopOutputType.Voltage;
+    // The closed-loop output type to use for the drive motors;
+    // This affects the PID/FF gains for the drive motors
+    private static final ClosedLoopOutputType kDriveClosedLoopOutput = ClosedLoopOutputType.Voltage;
+
+    // The type of motor used for the drive motor
+    private static final DriveMotorArrangement kDriveMotorType = DriveMotorArrangement.TalonFX_Integrated;
+    // The type of motor used for the drive motor
+    private static final SteerMotorArrangement kSteerMotorType = SteerMotorArrangement.TalonFX_Integrated;
+
+    // The remote sensor feedback type to use for the steer motors;
+    // When not Pro-licensed, Fused*/Sync* automatically fall back to Remote*
+    private static final SteerFeedbackType kSteerFeedbackType = SteerFeedbackType.FusedCANcoder;
+
+    // The stator current at which the wheels start to slip;
+    // This needs to be tuned to your individual robot
+    private static final Current kSlipCurrent = Amps.of(120);
+
+    // Initial configs for the drive and steer motors and the azimuth encoder; these cannot be null.
+    // Some configs will be overwritten; check the `with*InitialConfigs()` API documentation.
+    private static final TalonFXConfiguration driveInitialConfigs = new TalonFXConfiguration();
+    private static final TalonFXConfiguration steerInitialConfigs = new TalonFXConfiguration()
+        .withCurrentLimits(
+            new CurrentLimitsConfigs()
+                // Swerve azimuth does not require much torque output, so we can set a relatively low
+                // stator current limit to help avoid brownouts without impacting performance.
+                .withStatorCurrentLimit(Amps.of(60))
+                .withStatorCurrentLimitEnable(true)
+        );
+    private static final CANcoderConfiguration encoderInitialConfigs = new CANcoderConfiguration();
+    // Configs for the Pigeon 2; leave this null to skip applying Pigeon 2 configs
+    private static final Pigeon2Configuration pigeonConfigs = null;
+
+    // CAN bus that the devices are located on;
+    // All swerve devices must share the same CAN bus
+    public static final CANBus kCANBus = new CANBus("", "./logs/example.hoot");
+
+    // Theoretical free speed (m/s) at 12 V applied output;
+    // This needs to be tuned to your individual robot
+    public static final LinearVelocity kSpeedAt12Volts = MetersPerSecond.of(4.73);
+
+    // Every 1 rotation of the azimuth results in kCoupleRatio drive motor turns;
+    // This may need to be tuned to your individual robot
+    private static final double kCoupleRatio = 3.125;
+
+    private static final double kDriveGearRatio = 5.902777777777778;
+    private static final double kSteerGearRatio = 12.8;
+    private static final Distance kWheelRadius = Inches.of(1.81);
+
+    private static final boolean kInvertLeftSide = false;
+    private static final boolean kInvertRightSide = true;
+
+    private static final int kPigeonId = 0;
+
+    // These are only used for simulation
+    private static final MomentOfInertia kSteerInertia = KilogramSquareMeters.of(0.01);
+    private static final MomentOfInertia kDriveInertia = KilogramSquareMeters.of(0.01);
+    // Simulated voltage necessary to overcome friction
+    private static final Voltage kSteerFrictionVoltage = Volts.of(0.2);
+    private static final Voltage kDriveFrictionVoltage = Volts.of(0.2);
+
+    public static final SwerveDrivetrainConstants DrivetrainConstants = new SwerveDrivetrainConstants()
+            .withCANBusName(kCANBus.getName())
+            .withPigeon2Id(kPigeonId)
+            .withPigeon2Configs(pigeonConfigs);
+
+    private static final SwerveModuleConstantsFactory<TalonFXConfiguration, TalonFXConfiguration, CANcoderConfiguration> ConstantCreator =
+        new SwerveModuleConstantsFactory<TalonFXConfiguration, TalonFXConfiguration, CANcoderConfiguration>()
+            .withDriveMotorGearRatio(kDriveGearRatio)
+            .withSteerMotorGearRatio(kSteerGearRatio)
+            .withCouplingGearRatio(kCoupleRatio)
+            .withWheelRadius(kWheelRadius)
+            .withSteerMotorGains(steerGains)
+            .withDriveMotorGains(driveGains)
+            .withSteerMotorClosedLoopOutput(kSteerClosedLoopOutput)
+            .withDriveMotorClosedLoopOutput(kDriveClosedLoopOutput)
+            .withSlipCurrent(kSlipCurrent)
+            .withSpeedAt12Volts(kSpeedAt12Volts)
+            .withDriveMotorType(kDriveMotorType)
+            .withSteerMotorType(kSteerMotorType)
+            .withFeedbackSource(kSteerFeedbackType)
+            .withDriveMotorInitialConfigs(driveInitialConfigs)
+            .withSteerMotorInitialConfigs(steerInitialConfigs)
+            .withEncoderInitialConfigs(encoderInitialConfigs)
+            .withSteerInertia(kSteerInertia)
+            .withDriveInertia(kDriveInertia)
+            .withSteerFrictionVoltage(kSteerFrictionVoltage)
+            .withDriveFrictionVoltage(kDriveFrictionVoltage);
+
+
+    // Front Left
+    private static final int kFrontLeftDriveMotorId = 11;
+    private static final int kFrontLeftSteerMotorId = 12;
+    private static final int kFrontLeftEncoderId = 13;
+    private static final Angle kFrontLeftEncoderOffset = Rotations.of(-0.412841796875);
+    private static final boolean kFrontLeftSteerMotorInverted = false;
+    private static final boolean kFrontLeftEncoderInverted = false;
+
+    private static final Distance kFrontLeftXPos = Inches.of(11.375);
+    private static final Distance kFrontLeftYPos = Inches.of(11.375);
+
+    // Front Right
+    private static final int kFrontRightDriveMotorId = 21;
+    private static final int kFrontRightSteerMotorId = 22;
+    private static final int kFrontRightEncoderId = 23;
+    private static final Angle kFrontRightEncoderOffset = Rotations.of(-0.012939453125);
+    private static final boolean kFrontRightSteerMotorInverted = false;
+    private static final boolean kFrontRightEncoderInverted = false;
+
+    private static final Distance kFrontRightXPos = Inches.of(11.375);
+    private static final Distance kFrontRightYPos = Inches.of(-11.375);
+
+    // Back Left
+    private static final int kBackLeftDriveMotorId = 1;
+    private static final int kBackLeftSteerMotorId = 2;
+    private static final int kBackLeftEncoderId = 3;
+    private static final Angle kBackLeftEncoderOffset = Rotations.of(0.07275390625);
+    private static final boolean kBackLeftSteerMotorInverted = false;
+    private static final boolean kBackLeftEncoderInverted = false;
+
+    private static final Distance kBackLeftXPos = Inches.of(-11.375);
+    private static final Distance kBackLeftYPos = Inches.of(11.375);
+
+    // Back Right
+    private static final int kBackRightDriveMotorId = 31;
+    private static final int kBackRightSteerMotorId = 32;
+    private static final int kBackRightEncoderId = 33;
+    private static final Angle kBackRightEncoderOffset = Rotations.of(-0.4892578125);
+    private static final boolean kBackRightSteerMotorInverted = false;
+    private static final boolean kBackRightEncoderInverted = false;
+
+    private static final Distance kBackRightXPos = Inches.of(-11.375);
+    private static final Distance kBackRightYPos = Inches.of(-11.375);
+
+
+    public static final SwerveModuleConstants<TalonFXConfiguration, TalonFXConfiguration, CANcoderConfiguration> FrontLeft =
+        ConstantCreator.createModuleConstants(
+            kFrontLeftSteerMotorId, kFrontLeftDriveMotorId, kFrontLeftEncoderId, kFrontLeftEncoderOffset,
+            kFrontLeftXPos, kFrontLeftYPos, kInvertLeftSide, kFrontLeftSteerMotorInverted, kFrontLeftEncoderInverted
+        );
+    public static final SwerveModuleConstants<TalonFXConfiguration, TalonFXConfiguration, CANcoderConfiguration> FrontRight =
+        ConstantCreator.createModuleConstants(
+            kFrontRightSteerMotorId, kFrontRightDriveMotorId, kFrontRightEncoderId, kFrontRightEncoderOffset,
+            kFrontRightXPos, kFrontRightYPos, kInvertRightSide, kFrontRightSteerMotorInverted, kFrontRightEncoderInverted
+        );
+    public static final SwerveModuleConstants<TalonFXConfiguration, TalonFXConfiguration, CANcoderConfiguration> BackLeft =
+        ConstantCreator.createModuleConstants(
+            kBackLeftSteerMotorId, kBackLeftDriveMotorId, kBackLeftEncoderId, kBackLeftEncoderOffset,
+            kBackLeftXPos, kBackLeftYPos, kInvertLeftSide, kBackLeftSteerMotorInverted, kBackLeftEncoderInverted
+        );
+    public static final SwerveModuleConstants<TalonFXConfiguration, TalonFXConfiguration, CANcoderConfiguration> BackRight =
+        ConstantCreator.createModuleConstants(
+            kBackRightSteerMotorId, kBackRightDriveMotorId, kBackRightEncoderId, kBackRightEncoderOffset,
+            kBackRightXPos, kBackRightYPos, kInvertRightSide, kBackRightSteerMotorInverted, kBackRightEncoderInverted
+        );
+
+    /**
+     * Creates a CommandSwerveDrivetrain instance.
+     * This should only be called once in your robot program,.
+     */
+    public static CommandSwerveDrivetrain createDrivetrain() {
+        return new CommandSwerveDrivetrain(
+            DrivetrainConstants, FrontLeft, FrontRight, BackLeft, BackRight
+        );
+    }
+
+
+    /**
+     * Swerve Drive class utilizing CTR Electronics' Phoenix 6 API with the selected device types.
+     */
+    public static class TunerSwerveDrivetrain extends SwerveDrivetrain<TalonFX, TalonFX, CANcoder> {
+        /**
+         * Constructs a CTRE SwerveDrivetrain using the specified constants.
+         * <p>
+         * This constructs the underlying hardware devices, so users should not construct
+         * the devices themselves. If they need the devices, they can access them through
+         * getters in the classes.
+         *
+         * @param drivetrainConstants   Drivetrain-wide constants for the swerve drive
+         * @param modules               Constants for each specific module
+         */
+        public TunerSwerveDrivetrain(
+            SwerveDrivetrainConstants drivetrainConstants,
+            SwerveModuleConstants<?, ?, ?>... modules
+        ) {
+            super(
+                TalonFX::new, TalonFX::new, CANcoder::new,
+                drivetrainConstants, modules
+            );
+        }
+
+        /**
+         * Constructs a CTRE SwerveDrivetrain using the specified constants.
+         * <p>
+         * This constructs the underlying hardware devices, so users should not construct
+         * the devices themselves. If they need the devices, they can access them through
+         * getters in the classes.
+         *
+         * @param drivetrainConstants     Drivetrain-wide constants for the swerve drive
+         * @param odometryUpdateFrequency The frequency to run the odometry loop. If
+         *                                unspecified or set to 0 Hz, this is 250 Hz on
+         *                                CAN FD, and 100 Hz on CAN 2.0.
+         * @param modules                 Constants for each specific module
+         */
+        public TunerSwerveDrivetrain(
+            SwerveDrivetrainConstants drivetrainConstants,
+            double odometryUpdateFrequency,
+            SwerveModuleConstants<?, ?, ?>... modules
+        ) {
+            super(
+                TalonFX::new, TalonFX::new, CANcoder::new,
+                drivetrainConstants, odometryUpdateFrequency, modules
+            );
+        }
+
+        /**
+         * Constructs a CTRE SwerveDrivetrain using the specified constants.
+         * <p>
+         * This constructs the underlying hardware devices, so users should not construct
+         * the devices themselves. If they need the devices, they can access them through
+         * getters in the classes.
+         *
+         * @param drivetrainConstants       Drivetrain-wide constants for the swerve drive
+         * @param odometryUpdateFrequency   The frequency to run the odometry loop. If
+         *                                  unspecified or set to 0 Hz, this is 250 Hz on
+         *                                  CAN FD, and 100 Hz on CAN 2.0.
+         * @param odometryStandardDeviation The standard deviation for odometry calculation
+         *                                  in the form [x, y, theta]ᵀ, with units in meters
+         *                                  and radians
+         * @param visionStandardDeviation   The standard deviation for vision calculation
+         *                                  in the form [x, y, theta]ᵀ, with units in meters
+         *                                  and radians
+         * @param modules                   Constants for each specific module
+         */
+        public TunerSwerveDrivetrain(
+            SwerveDrivetrainConstants drivetrainConstants,
+            double odometryUpdateFrequency,
+            Matrix<N3, N1> odometryStandardDeviation,
+            Matrix<N3, N1> visionStandardDeviation,
+            SwerveModuleConstants<?, ?, ?>... modules
+        ) {
+            super(
+                TalonFX::new, TalonFX::new, CANcoder::new,
+                drivetrainConstants, odometryUpdateFrequency,
+                odometryStandardDeviation, visionStandardDeviation, modules
+            );
+        }
+    }
+}
@@ -0,0 +1,281 @@
+package frc.robot.subsystems;
+import java.util.Optional;
+import java.util.function.Supplier;
+
+import com.ctre.phoenix6.Utils;
+import com.ctre.phoenix6.swerve.SwerveDrivetrainConstants;
+import com.ctre.phoenix6.swerve.SwerveModuleConstants;
+import com.ctre.phoenix6.swerve.SwerveRequest;
+import com.pathplanner.lib.auto.AutoBuilder;
+import com.pathplanner.lib.config.PIDConstants;
+import com.pathplanner.lib.config.RobotConfig;
+import com.pathplanner.lib.controllers.PPHolonomicDriveController;
+
+import edu.wpi.first.math.Matrix;
+import edu.wpi.first.math.VecBuilder;
+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.numbers.N1;
+import edu.wpi.first.math.numbers.N3;
+import edu.wpi.first.wpilibj.DriverStation;
+import edu.wpi.first.wpilibj.DriverStation.Alliance;
+import edu.wpi.first.wpilibj.smartdashboard.Field2d;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.Subsystem;
+import frc.robot.Constants.DriveMode;
+import frc.robot.generated.TunerConstants.TunerSwerveDrivetrain;
+import frc.robot.Constants;
+
+import edu.wpi.first.networktables.*;
+
+
+/**
+ * Class that extends the Phoenix 6 SwerveDrivetrain class and implements
+ * Subsystem so it can easily be used in command-based projects.
+ *
+ * Generated by the 2026 Tuner X Swerve Project Generator
+ * https://v6.docs.ctr-electronics.com/en/stable/docs/tuner/tuner-swerve/index.html
+ */
+public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Subsystem {
+
+    /* Blue alliance sees forward as 0 degrees (toward red alliance wall) */
+    private static final Rotation2d kBlueAlliancePerspectiveRotation = Rotation2d.kZero;
+    /* Red alliance sees forward as 180 degrees (toward blue alliance wall) */
+    private static final Rotation2d kRedAlliancePerspectiveRotation = Rotation2d.kCW_90deg;
+    /* Keep track if we've ever applied the operator perspective before or not */
+    private boolean m_hasAppliedOperatorPerspective = false;
+
+    private DriveMode m_driveMode = DriveMode.OTHER;
+    
+    private NetworkTable positioningNetworkTable;
+    private NetworkTable driveNetworkTable;
+    
+    private final StructPublisher<Pose2d> posePub =
+    NetworkTableInstance.getDefault()
+        .getStructTopic("/Odometry/RobotPose", Pose2d.struct)
+        .publish();
+
+    private Field2d m_field;
+    public CommandSwerveDrivetrain(
+        SwerveDrivetrainConstants drivetrainConstants,
+        SwerveModuleConstants<?, ?, ?>... modules
+    ) {
+        super(drivetrainConstants, modules);
+        m_field = new Field2d();
+        SmartDashboard.putData("Field", m_field);
+        LimelightHelpers.SetIMUMode(Constants.Limelight.LIMELIGHT_NAME, 0);
+        positioningNetworkTable = NetworkTableInstance.getDefault().getTable("Positioning");
+        driveNetworkTable = NetworkTableInstance.getDefault().getTable("Drive");
+
+        configueAutoBuilder();
+
+    }
+
+
+    private void configueAutoBuilder(){
+        
+        RobotConfig config;
+        try {
+            config = RobotConfig.fromGUISettings();
+        } catch (Exception e) {
+            throw new RuntimeException("Failed to load PathPlanner RobotConfig", e);
+        }
+
+        AutoBuilder.configure(
+            this::getPose,                  // 当前机器人 Pose
+            this::resetPose,                // 重置里程计
+            this::getRobotRelativeSpeeds,   // ROBOT RELATIVE speeds
+            (speeds, feedforwards) -> driveRobotRelative(speeds),      // 用 speeds 驱动机器人
+            new PPHolonomicDriveController(
+                new PIDConstants(5.0, 0.0, 0.0),   // X/Y PID
+                new PIDConstants(5.0, 0.0, 0.0)    // Theta PID
+            ),
+            config,
+            () -> false,
+            this
+        );
+
+    }
+    public Pose2d getPose() {
+        return getState().Pose;
+    }
+
+    public ChassisSpeeds getRobotRelativeSpeeds() {
+        return getState().Speeds;
+    }
+
+    public void driveRobotRelative(ChassisSpeeds speeds) {
+        ChassisSpeeds scaled = new ChassisSpeeds(
+            speeds.vxMetersPerSecond,                 // X 不变
+            speeds.vyMetersPerSecond,                 // Y 不变
+            speeds.omegaRadiansPerSecond * 1.3        // 只放大旋转
+        );
+
+        setControl(
+            new SwerveRequest.ApplyRobotSpeeds().withSpeeds(scaled)
+        );
+    }
+
+
+
+        
+    private static final double kMaxVisionJumpMeters = 1.0;
+    private static final double kMaxOmegaDegPerSec = 360.0;
+
+    /**
+     * Returns a command that applies the specified control request to this swerve drivetrain.
+     *
+     * @param request Function returning the request to apply
+     * @return Command to run
+     */
+    public Command applyRequest(Supplier<SwerveRequest> request) {
+        return run(() -> this.setControl(request.get()));
+    }
+
+    public Command applyRequest(Supplier<SwerveRequest> requestSupplier, Supplier<DriveMode> driveModeSupplier) {
+        return run(() -> {
+            DriveMode mode = driveModeSupplier.get();
+            m_driveMode = mode;
+            this.setControl(requestSupplier.get());
+        });
+    }
+    
+    public void forceUsingLimelightMT2() {
+        LimelightHelpers.PoseEstimate mt2 =
+        LimelightHelpers.getBotPoseEstimate_wpiBlue_MegaTag2(Constants.Limelight.LIMELIGHT_NAME);
+
+        if (mt2 == null || mt2.tagCount == 0) {
+            return;
+        }
+
+        var stdDevs = VecBuilder.fill(0.7, 0.7, 9999999);
+        addVisionMeasurement(mt2.pose, mt2.timestampSeconds, stdDevs);
+    }
+    
+    private void fuseLimelightMT2() {
+        
+        LimelightHelpers.PoseEstimate mt2 =
+        LimelightHelpers.getBotPoseEstimate_wpiBlue_MegaTag2(Constants.Limelight.LIMELIGHT_NAME);
+
+        Pose2d current = getState().Pose;
+        Pose2d mt2Pose = mt2.pose;
+
+        double distance = current.getTranslation().getDistance(mt2Pose.getTranslation());
+        Rotation2d deltaRotation = current.getRotation().minus(mt2Pose.getRotation());
+
+        positioningNetworkTable.getEntry("CurrentPoseX").setDouble(current.getX());
+        positioningNetworkTable.getEntry("CurrentPoseY").setDouble(current.getY());
+        positioningNetworkTable.getEntry("MetaTag2PoseX").setDouble(mt2Pose.getX());
+        positioningNetworkTable.getEntry("MetaTag2PoseY").setDouble(mt2Pose.getY());
+        positioningNetworkTable.getEntry("PoseDistance").setDouble(distance);
+        positioningNetworkTable.getEntry("RotationDifference").setDouble(Math.abs(deltaRotation.getDegrees()));
+
+        // 1) 没看到 tag：拒绝
+        if (mt2 == null || mt2.tagCount == 0) {
+            positioningNetworkTable.getEntry("MetaTag2Available").setBoolean(false);
+            return;
+        }
+        // 2) 转太快：拒绝（角速度你可以从 Pigeon2 或 drivetrain state 拿）
+        double omegaDegPerSec = getPigeon2().getAngularVelocityZWorld().getValueAsDouble(); // 若你有这个信号
+        if (Math.abs(omegaDegPerSec) > kMaxOmegaDegPerSec) {
+            positioningNetworkTable.getEntry("MetaTag2Available").setBoolean(false);
+            System.out.println("NoUsingMetaTag2ForTooFastRotationSpeed");
+            return;
+        }      
+
+        // 3) 跳变太大：拒绝（Phoenix6 推荐的稳定策略）
+        //Pose2d current = getState().Pose;
+        if (current.getTranslation().getDistance(mt2.pose.getTranslation()) > kMaxVisionJumpMeters) {
+            positioningNetworkTable.getEntry("MetaTag2Available").setBoolean(false);
+            System.out.println("NoUsingMetaTag2ForTooChangingPose");
+            return;
+        }
+
+        // 4) 设置测量噪声（示例：theta 基本不信任就给极大）
+        // 你也可以根据 mt2.avgTagDist / mt2.tagSpan 动态调
+        var stdDevs = VecBuilder.fill(0.7, 0.7, 9999999);
+
+        // 5) 融合：注意 timestampSeconds 的处理
+        addVisionMeasurement(mt2.pose, mt2.timestampSeconds, stdDevs);
+        positioningNetworkTable.getEntry("MetaTag2Available").setBoolean(true);
+    }
+
+
+    @Override
+    public void periodic() {
+        Pose2d pose = getState().Pose;
+        m_field.setRobotPose(pose);
+        posePub.set(pose);
+        driveNetworkTable.getEntry("YawFromState").setDouble(getState().Pose.getRotation().getDegrees());
+        driveNetworkTable.getEntry("DriveMode").setString(m_driveMode.name());
+        driveNetworkTable.getEntry("IsFieldCentric").setBoolean(m_driveMode == DriveMode.FIELD_CENTRIC);
+
+        // 1) 每帧喂给 LL：机器人当前 yaw（度），其余先全 0
+        LimelightHelpers.SetRobotOrientation(
+            Constants.Limelight.LIMELIGHT_NAME,
+            pose.getRotation().getDegrees(), // 关键：要符合 wpiBlue 约定
+            0, 0, 0, 0, 0
+        );
+
+        fuseLimelightMT2();
+
+        if (!m_hasAppliedOperatorPerspective || DriverStation.isDisabled()) {
+            DriverStation.getAlliance().ifPresent(allianceColor -> {
+                setOperatorPerspectiveForward(
+                    allianceColor == Alliance.Red
+                        ? kRedAlliancePerspectiveRotation
+                        : kBlueAlliancePerspectiveRotation
+                );
+                m_hasAppliedOperatorPerspective = true;
+            });
+        }
+    }        
+        
+        
+            /**
+     * Adds a vision measurement to the Kalman Filter. This will correct the odometry pose estimate
+     * while still accounting for measurement noise.
+     *
+     * @param visionRobotPoseMeters The pose of the robot as measured by the vision camera.
+     * @param timestampSeconds The timestamp of the vision measurement in seconds.
+     */
+    @Override
+    public void addVisionMeasurement(Pose2d visionRobotPoseMeters, double timestampSeconds) {
+        super.addVisionMeasurement(visionRobotPoseMeters, Utils.fpgaToCurrentTime(timestampSeconds));
+    }
+
+    /**
+     * Adds a vision measurement to the Kalman Filter. This will correct the odometry pose estimate
+     * while still accounting for measurement noise.
+     * <p>
+     * Note that the vision measurement standard deviations passed into this method
+     * will continue to apply to future measurements until a subsequent call to
+     * {@link #setVisionMeasurementStdDevs(Matrix)} or this method.
+     *
+     * @param visionRobotPoseMeters The pose of the robot as measured by the vision camera.
+     * @param timestampSeconds The timestamp of the vision measurement in seconds.
+     * @param visionMeasurementStdDevs Standard deviations of the vision pose measurement
+     *     in the form [x, y, theta]ᵀ, with units in meters and radians.
+     */
+    @Override
+    public void addVisionMeasurement(
+        Pose2d visionRobotPoseMeters,
+        double timestampSeconds,
+        Matrix<N3, N1> visionMeasurementStdDevs
+    ) {
+        super.addVisionMeasurement(visionRobotPoseMeters, Utils.fpgaToCurrentTime(timestampSeconds), visionMeasurementStdDevs);
+    }
+
+    /**
+     * Return the pose at a given timestamp, if the buffer is not empty.
+     *
+     * @param timestampSeconds The timestamp of the pose in seconds.
+     * @return The pose at the given timestamp (or Optional.empty() if the buffer is empty).
+     */
+    @Override
+    public Optional<Pose2d> samplePoseAt(double timestampSeconds) {
+        return super.samplePoseAt(Utils.fpgaToCurrentTime(timestampSeconds));
+    }
+}
@@ -0,0 +1,67 @@
+package frc.robot.subsystems;
+
+import com.ctre.phoenix6.controls.PositionVoltage;
+import com.ctre.phoenix6.controls.VelocityVoltage;
+import com.ctre.phoenix6.hardware.TalonFX;
+
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import frc.robot.Constants;
+
+public class IntakerSubsystem extends SubsystemBase{
+    //定义intakerotater&intakegetter
+    private TalonFX intakerotater;
+    private TalonFX intakegetter;
+
+    //PID 
+    private final VelocityVoltage velocityRequest = new VelocityVoltage(0);
+    private final PositionVoltage positionRequest = new PositionVoltage(0);
+ 
+    private double intakeRotaterTargetPosition = 0.0;
+
+    public IntakerSubsystem() {
+        //初始化rotater&getter
+        intakegetter = new TalonFX(47);
+        intakerotater = new TalonFX(48);
+        intakegetter.getConfigurator().apply(Constants.Intaker.intakeGetterSlot0Configs);
+        intakerotater.getConfigurator().apply(Constants.Intaker.intakeRotaterSlot0Configs);        
+    }
+
+    public void setIntakerRotaterPosition(double targetPosition) {
+        //目标position
+        if (targetPosition > Constants.Intaker.intakeRotaterUpLimit) {
+            targetPosition = Constants.Intaker.intakeRotaterUpLimit;  // 限制最大上限
+        } else if (targetPosition < Constants.Intaker.intakeRotaterDownLimit) {
+            targetPosition = Constants.Intaker.intakeRotaterDownLimit;  // 限制最小下限
+        }
+
+        intakeRotaterTargetPosition = targetPosition;
+
+        intakerotater.setControl(positionRequest.withPosition(targetPosition)); // 设置rotater位置（TalonFX 内部闭环 PID）
+    }
+
+    // 获取intakerotater当前角度
+    public double getIntakerotaterPosition() {
+        return intakerotater.getPosition().getValueAsDouble();
+    }
+
+    public boolean isIntakerotaterAtTarget() {
+        // 到位判断容差
+        double error = Math.abs(intakeRotaterTargetPosition - getIntakerotaterPosition());
+        return error <= Constants.Intaker.positionToleranceRotations;
+    }
+
+     public void stopintakerotater() {
+        intakerotater.setControl(velocityRequest.withVelocity(0));
+        // 如果你希望停止后保持当前位置，建议改用中性模式/或维持 positionRequest（这句fromAI）
+    }
+
+    //intakegetter的on/off
+    public void setIntakeGetterOn(boolean on) {
+        if (on) {
+            intakegetter.setControl(velocityRequest.withVelocity(Constants.Intaker.IntakeGetterSpeed));
+        }
+        else {
+            intakegetter.setControl(velocityRequest.withVelocity(0));
+        }
+    }
+}
@@ -0,0 +1,151 @@
+package frc.robot.subsystems;
+
+import edu.wpi.first.wpilibj.AddressableLED;
+import edu.wpi.first.wpilibj.AddressableLEDBuffer;
+import edu.wpi.first.wpilibj.Timer;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import frc.robot.Constants;
+
+public class LEDSubsystem extends SubsystemBase {
+
+  public enum Mode {
+    OFF,
+    SOLID,
+    BREATH,
+    RAINBOW
+  }
+
+  private final AddressableLED led;
+  private final AddressableLEDBuffer buffer;
+  private final Timer timer = new Timer();
+
+  // 左右灯带分段（左 0~71，右 72~143）
+  private final int leftStart = 0;
+  private final int leftLen;
+  private final int rightStart;
+  private final int rightLen;
+
+  private Mode leftMode = Mode.OFF;
+  private Mode rightMode = Mode.OFF;
+
+  // 左右颜色
+  private int lr = 0, lg = 0, lb = 0;
+  private int rr = 0, rg = 0, rb = 0;
+
+  // 动画参数
+  private double leftBreathPeriodSec = 2.0;
+  private double rightBreathPeriodSec = 2.0;
+  private int leftRainbowOffset = 0;
+  private int rightRainbowOffset = 0;
+
+  /**
+   * @param pwmPort  PWM 端口（只能用一个！）
+   * @param leftCount 左灯数量
+   * @param rightCount 右灯数量
+   */
+  public LEDSubsystem(int pwmPort, int leftCount, int rightCount) {
+    this.leftLen = leftCount;
+    this.rightLen = rightCount;
+    this.rightStart = leftStart + leftLen;
+
+    led = new AddressableLED(pwmPort);
+    buffer = new AddressableLEDBuffer(leftLen + rightLen);
+
+    led.setLength(buffer.getLength());
+    led.start();
+
+    timer.start();
+  }
+
+  /* ====================== */
+  /*        对外API           */
+  /* ====================== */
+
+  public void offLeft() { leftMode = Mode.OFF; }
+  public void offRight() { rightMode = Mode.OFF; }
+  public void offAll() { leftMode = Mode.OFF; rightMode = Mode.OFF; }
+
+  public void solidLeft(int r, int g, int b) {
+    lr = clamp8(r); lg = clamp8(g); lb = clamp8(b);
+    leftMode = Mode.SOLID;
+  }
+
+  public void solidRight(int r, int g, int b) {
+    rr = clamp8(r); rg = clamp8(g); rb = clamp8(b);
+    rightMode = Mode.SOLID;
+  }
+
+  public void breathLeft(int r, int g, int b, double periodSeconds) {
+    lr = clamp8(r); lg = clamp8(g); lb = clamp8(b);
+    leftBreathPeriodSec = Math.max(0.2, periodSeconds);
+    leftMode = Mode.BREATH;
+  }
+
+  public void breathRight(int r, int g, int b, double periodSeconds) {
+    rr = clamp8(r); rg = clamp8(g); rb = clamp8(b);
+    rightBreathPeriodSec = Math.max(0.2, periodSeconds);
+    rightMode = Mode.BREATH;
+  }
+
+  public void rainbowLeft() { leftMode = Mode.RAINBOW; }
+  public void rainbowRight() { rightMode = Mode.RAINBOW; }
+  public void rainbowAll() { leftMode = Mode.RAINBOW; rightMode = Mode.RAINBOW; }
+
+  @Override
+  public void periodic() {
+    if(!Constants.LEDUsing) {led.close(); return;}
+    // 左段
+    switch (leftMode) {
+      case OFF -> setRange(leftStart, leftLen, 0, 0, 0);
+      case SOLID -> setRange(leftStart, leftLen, lr, lg, lb);
+      case BREATH -> updateBreath(leftStart, leftLen, lr, lg, lb, leftBreathPeriodSec);
+      case RAINBOW -> updateRainbow(leftStart, leftLen, true);
+    }
+
+    // 右段
+    switch (rightMode) {
+      case OFF -> setRange(rightStart, rightLen, 0, 0, 0);
+      case SOLID -> setRange(rightStart, rightLen, rr, rg, rb);
+      case BREATH -> updateBreath(rightStart, rightLen, rr, rg, rb, rightBreathPeriodSec);
+      case RAINBOW -> updateRainbow(rightStart, rightLen, false);
+    }
+
+    led.setData(buffer);
+  }
+
+  /* ====================== */
+  /*        内部实现          */
+  /* ====================== */
+
+  private void setRange(int start, int len, int r, int g, int b) {
+    for (int i = 0; i < len; i++) {
+      buffer.setRGB(start + i, r, g, b);
+    }
+  }
+
+  private void updateBreath(int start, int len, int r, int g, int b, double periodSec) {
+    double t = timer.get();
+    double phase = (t % periodSec) / periodSec; // 0..1
+    double brightness = 0.5 * (1.0 + Math.sin(2.0 * Math.PI * phase)); // 0..1
+    int rr = (int) (r * brightness);
+    int gg = (int) (g * brightness);
+    int bb = (int) (b * brightness);
+    setRange(start, len, rr, gg, bb);
+  }
+
+  private void updateRainbow(int start, int len, boolean isLeft) {
+    int offset = isLeft ? leftRainbowOffset : rightRainbowOffset;
+
+    for (int i = 0; i < len; i++) {
+      int hue = (offset + (i * 180 / len)) % 180;
+      buffer.setHSV(start + i, hue, 255, 128);
+    }
+
+    if (isLeft) leftRainbowOffset = (leftRainbowOffset + 2) % 180;
+    else rightRainbowOffset = (rightRainbowOffset + 2) % 180;
+  }
+
+  private static int clamp8(int v) {
+    return Math.max(0, Math.min(255, v));
+  }
+}
@@ -0,0 +1,171 @@
+package frc.robot.subsystems;
+
+import com.ctre.phoenix6.configs.MotorOutputConfigs;
+import com.ctre.phoenix6.configs.Slot0Configs;
+import com.ctre.phoenix6.controls.Follower;
+import com.ctre.phoenix6.controls.VelocityDutyCycle;
+import com.ctre.phoenix6.hardware.TalonFX;
+import com.ctre.phoenix6.hardware.TalonFXS;
+import com.ctre.phoenix6.signals.InvertedValue;
+import com.ctre.phoenix6.signals.MotorAlignmentValue;
+
+import edu.wpi.first.math.controller.ProfiledPIDController;
+import edu.wpi.first.math.trajectory.TrapezoidProfile.Constraints;
+import edu.wpi.first.networktables.NetworkTable;
+import edu.wpi.first.networktables.NetworkTableInstance;
+import edu.wpi.first.wpilibj.Encoder;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import frc.robot.Constants;
+
+public class ShooterSubsystem extends SubsystemBase {
+    // 定义飞轮、传动和背板电机
+    public TalonFX flywheelMotorLeft;
+    private TalonFX flywheelMotorRight;
+    public TalonFX conveyorMotor;
+    public TalonFXS backboardMotor;
+    public Encoder backboardEncoder;
+
+    // PID 控制器，控制背板角度
+    public ProfiledPIDController backboardPID;
+    private Follower flyWheelFollower;
+
+    private NetworkTable shooterNetworkTable;
+
+    private final VelocityDutyCycle velocityRequest = new VelocityDutyCycle(0);
+
+    public enum Mode{
+        Inalyzed,
+        UnInalyed,
+        Inalyzing;
+    }
+    public Mode currentBackboardInalyzeMode;
+    // 初始化各个部件
+    public ShooterSubsystem() {
+        // 初始化飞轮电机
+        flywheelMotorLeft = new TalonFX(41);  // 41是飞轮left的CAN ID
+        flywheelMotorRight = new TalonFX(42);  // 42是飞轮right的CAN ID
+        flywheelMotorLeft.getConfigurator().apply(Constants.Shooter.flyWheelSlot0Configs);
+        flywheelMotorRight.getConfigurator().apply(Constants.Shooter.flyWheelSlot0Configs);
+        // 初始化传动电机
+        conveyorMotor = new TalonFX(43);
+        conveyorMotor.getConfigurator().apply(Constants.Shooter.conveyorSlot0Configs);
+
+        var configs1 = new MotorOutputConfigs();
+        configs1.Inverted = InvertedValue.Clockwise_Positive;
+        flywheelMotorLeft.getConfigurator().apply(configs1);
+        flyWheelFollower = new Follower(flywheelMotorLeft.getDeviceID(), MotorAlignmentValue.Opposed).withUpdateFreqHz(50);
+        
+        var configs2 = new MotorOutputConfigs();
+        configs2.Inverted = InvertedValue.Clockwise_Positive;
+        conveyorMotor.getConfigurator().apply(configs2);
+        
+        // 初始化背板电机和编码器
+        backboardMotor = new TalonFXS(44);  
+        backboardMotor.getConfigurator().apply(Constants.Shooter.backboardSlot0Configs);
+        backboardEncoder = new Encoder(0, 1, false, Encoder.EncodingType.k4X);
+        backboardEncoder.setSamplesToAverage(5);
+        backboardEncoder.setMinRate(1.0);
+        backboardEncoder.setDistancePerPulse(1);
+        
+        // 初始化背板的PID控制器
+        backboardPID = new ProfiledPIDController(Constants.Shooter.backboardPositionPID.kP, Constants.Shooter.backboardPositionPID.kI, Constants.Shooter.backboardPositionPID.kD,
+                                                    new Constraints(10000,100000));
+        
+        backboardPID.setTolerance(10.0); 
+        
+        shooterNetworkTable = NetworkTableInstance.getDefault().getTable("Shooter");
+
+        currentBackboardInalyzeMode = Mode.UnInalyed;
+    }
+
+    public void setRightFollowLeft(){
+        flywheelMotorRight.setControl(flyWheelFollower);
+    }
+
+    public void applyLeftConfigurationToRight(){
+        Slot0Configs configs = new Slot0Configs();
+        flywheelMotorLeft.getConfigurator().refresh(configs);
+        flywheelMotorRight.getConfigurator().apply(configs);
+    }
+
+
+    // 设置飞轮的速度
+    public void setFlywheelSpeedByRPS(double targetSpeed) {
+        flywheelMotorLeft.setControl(velocityRequest.withVelocity(targetSpeed)); //RPS 转每秒
+        setRightFollowLeft();
+        // System.out.println("set flywheel "+targetSpeed);
+    }
+
+    // 设置传动的速度
+    public void setConveyorSpeedByRPS(double speed) {
+        conveyorMotor.setControl(velocityRequest.withVelocity(speed));  // 设置传动电机速度
+    }
+
+    //调试用
+    public void setBackboardSpeedByRPS(double speed){
+        backboardMotor.setControl(velocityRequest.withVelocity(speed));
+    }
+
+    // 设置背板的目标位置，通过PID控制器来调整  范围0-3000
+    public void setBackboardPosition(double targetPosition) {
+        // 限制目标位置在上下限之间
+        if (targetPosition > Constants.Shooter.backboardUpLimit) {
+            targetPosition = Constants.Shooter.backboardUpLimit;  // 限制最大上限
+        } else if (targetPosition < Constants.Shooter.backboardDownLimit) {
+            targetPosition = Constants.Shooter.backboardDownLimit;  // 限制最小下限
+        }
+        backboardPID.setGoal(targetPosition);
+    }
+    public void outputBackboard(){
+
+        // 使用PID控制器来计算背板的运动速度
+        double pidOutput = backboardPID.calculate(getBackboardPosition());
+        pidOutput = Math.max(-Constants.Shooter.backboardSpeedMax, Math.min(Constants.Shooter.backboardSpeedMax, pidOutput)); // 限制输出范围在-1到1之间
+        shooterNetworkTable.getEntry("backboardPIDOutput").setDouble(pidOutput);
+        // // 设置背板电机的速度，根据PID输出进行调整
+        setBackboardSpeedByRPS(pidOutput);
+    }
+    // 停止所有电机
+    public void stopMotors() {
+        flywheelMotorLeft.set(0);
+        flywheelMotorRight.set(0);
+        conveyorMotor.set(0);
+        backboardMotor.set(0);
+    }
+
+    // 获取背板当前角度
+    public double getBackboardPosition() {
+        return backboardEncoder.getDistance();  // 返回背板电机编码器的当前角度
+    }
+
+    // 检查背板是否到达目标角度
+    public boolean isBackboardAtTarget() {
+        return backboardPID.atGoal();  // 判断背板是否到达目标角度
+    }
+
+    @Override
+    public void periodic() {
+        if(currentBackboardInalyzeMode != Mode.Inalyzing){
+            backboardPID.calculate(getBackboardPosition());
+            if(isBackboardAtTarget()){
+                backboardMotor.set(0);
+            }else{
+                outputBackboard();
+            }
+        }
+        shooterNetworkTable.getEntry("flywheelSpeed").setDouble(flywheelMotorLeft.getVelocity().getValueAsDouble());
+        shooterNetworkTable.getEntry("flywheelPIDReference").setDouble(flywheelMotorLeft.getClosedLoopReference().getValueAsDouble());
+        shooterNetworkTable.getEntry("conveyorSpeed").setDouble(conveyorMotor.getVelocity().getValueAsDouble());
+        shooterNetworkTable.getEntry("conveyorPIDReference").setDouble(conveyorMotor.getClosedLoopReference().getValueAsDouble());
+        shooterNetworkTable.getEntry("backboardCurrentRate").setDouble(getBackboardPosition());
+        shooterNetworkTable.getEntry("backboardTargetRate").setDouble(backboardPID.getSetpoint().position);
+        shooterNetworkTable.getEntry("isBackboardAtTarget").setBoolean(isBackboardAtTarget());
+        shooterNetworkTable.getEntry("distanceGetted").setDouble(getDistance());
+        shooterNetworkTable.getEntry("InalyzeBackboardMode").setString(currentBackboardInalyzeMode.name());
+    }
+
+    private double getDistance(){
+        //获得车子距离Hub的距离
+        return NetworkTableInstance.getDefault().getTable("AutoControl").getEntry("distanceToHub").getDouble(0.0);
+    }
+}
@@ -0,0 +1,92 @@
+package frc.robot.tuning;
+import java.util.function.Function;
+
+import com.ctre.phoenix6.configs.Slot0Configs;
+import com.ctre.phoenix6.controls.VelocityDutyCycle;
+import com.ctre.phoenix6.hardware.TalonFX;
+import edu.wpi.first.networktables.*;
+
+public class ConfigTalonFXMotorTuner {
+  private final TalonFX motor;
+  private final String motorName;
+  private final Slot0Configs motorSlot0Configs;
+  private final NetworkTable table;
+
+  // ---- Subscribers：读取 Elastic 改过的新值 ----
+  private final BooleanSubscriber enableSub;
+  private final DoubleSubscriber KpSub;
+  private final DoubleSubscriber KiSub;
+  private final DoubleSubscriber KdSub;
+  private final DoubleSubscriber KvSub;
+  private final DoubleSubscriber KaSub;
+  private final DoubleSubscriber KsSub;
+
+  private final BooleanSubscriber enableRuningSub;
+  private final DoubleSubscriber runningSpeedRPS;
+  private double lastKp = 0, lastKi = 0, lastKd = 0, lastKv = 0, lastKa = 0, lastKs = 0;
+  
+  private final VelocityDutyCycle velocityRequest = new VelocityDutyCycle(0);
+  public ConfigTalonFXMotorTuner(TalonFX motor_, String motorName_, Slot0Configs motorSlot0Configs_) {
+    this.motor = motor_;
+    this.motorName = motorName_;
+    this.motorSlot0Configs = motorSlot0Configs_;
+
+    this.table = NetworkTableInstance.getDefault().getTable("Tuning/" + motorName);
+
+    table.getBooleanTopic(motorName+"Enable").publish().set(false);
+    table.getDoubleTopic(motorName+"kP").publish().set(motorSlot0Configs.kP);;
+    table.getDoubleTopic(motorName+"kI").publish().set(motorSlot0Configs.kI);
+    table.getDoubleTopic(motorName+"kD").publish().set(motorSlot0Configs.kD);
+    table.getDoubleTopic(motorName+"kV").publish().set(motorSlot0Configs.kV);
+    table.getDoubleTopic(motorName+"kA").publish().set(motorSlot0Configs.kA);
+    table.getDoubleTopic(motorName+"kS").publish().set(motorSlot0Configs.kS);
+
+    table.getBooleanTopic(motorName+"EnableRunning").publish().set(false);;
+    table.getDoubleTopic(motorName+"RunningSpeedRPS").publish().set(0);;
+    
+    this.enableSub = table.getBooleanTopic(motorName+"Enable").subscribe(false);
+    this.KpSub = table.getDoubleTopic(motorName+"kP").subscribe(motorSlot0Configs.kP);
+    this.KiSub = table.getDoubleTopic(motorName+"kI").subscribe(motorSlot0Configs.kI);
+    this.KdSub = table.getDoubleTopic(motorName+"kD").subscribe(motorSlot0Configs.kD);
+    this.KvSub = table.getDoubleTopic(motorName+"kV").subscribe(motorSlot0Configs.kV);
+    this.KaSub = table.getDoubleTopic(motorName+"kA").subscribe(motorSlot0Configs.kA);
+    this.KsSub = table.getDoubleTopic(motorName+"kS").subscribe(motorSlot0Configs.kS);
+    this.enableRuningSub = table.getBooleanTopic(motorName+"EnableRunning").subscribe(false);
+    this.runningSpeedRPS = table.getDoubleTopic(motorName+"RunningSpeedRPS").subscribe(0);
+  }
+
+  public void periodic(Runnable func) {
+    if (!enableSub.get()) return;
+    double kp = KpSub.get();
+    double ki = KiSub.get();
+    double kd = KdSub.get();
+    double kv = KvSub.get();
+    double ka = KaSub.get();
+    double ks = KsSub.get();
+
+    if (!(kp == lastKp && ki == lastKi && kd == lastKd && kv == lastKv && ka == lastKa && ks == lastKs)) {
+
+      Slot0Configs slot0 = new Slot0Configs()
+          .withKP(kp).withKI(ki).withKD(kd).withKV(kv).withKA(ka).withKS(ks);
+        
+      motor.getConfigurator().apply(slot0);
+      System.out.println("applyed settings: "+motorName);
+
+      lastKp = kp; lastKi = ki; lastKd = kd; lastKv = kv; lastKa = ka; lastKs = ks;
+
+      if(func!=null){
+        func.run();
+      }
+    }
+    
+    if (enableRuningSub.get()) {;
+      double speed = runningSpeedRPS.get();
+      motor.setControl(velocityRequest.withVelocity(speed));
+    // System.out.println("running motor with speed: "+speed+" on motor: "+motorName);
+    }else{
+      motor.setControl(velocityRequest.withVelocity(0));
+    }
+  }
+
+  
+}
@@ -0,0 +1,86 @@
+package frc.robot.tuning;
+import com.ctre.phoenix6.configs.Slot0Configs;
+import com.ctre.phoenix6.controls.VelocityDutyCycle;
+import com.ctre.phoenix6.controls.VelocityVoltage;
+import com.ctre.phoenix6.hardware.TalonFXS;
+
+import edu.wpi.first.networktables.*;
+
+public class ConfigTalonFXSMotorTuner {
+  private final TalonFXS motor;
+  private final String motorName;
+  private final Slot0Configs motorSlot0Configs;
+  private final NetworkTable table;
+
+  // ---- Subscribers：读取 Elastic 改过的新值 ----
+  private final BooleanSubscriber enableSub;
+  private final DoubleSubscriber KpSub;
+  private final DoubleSubscriber KiSub;
+  private final DoubleSubscriber KdSub;
+  private final DoubleSubscriber KvSub;
+  private final DoubleSubscriber KaSub;
+  private final DoubleSubscriber KsSub;
+
+  private final BooleanSubscriber enableRuningSub;
+  private final DoubleSubscriber runningSpeedRPS;
+  private double lastKp = 0, lastKi = 0, lastKd = 0, lastKv = 0, lastKa = 0, lastKs = 0;
+  
+  private final VelocityDutyCycle velocityRequest = new VelocityDutyCycle(0);
+  public ConfigTalonFXSMotorTuner(TalonFXS motor_, String motorName_, Slot0Configs motorSlot0Configs_) {
+    this.motor = motor_;
+    this.motorName = motorName_;
+    this.motorSlot0Configs = motorSlot0Configs_;
+
+    this.table = NetworkTableInstance.getDefault().getTable("Tuning/" + motorName);
+    table.getBooleanTopic(motorName+"Enable").publish().set(false);
+    table.getDoubleTopic(motorName+"kP").publish().set(motorSlot0Configs.kP);
+    table.getDoubleTopic(motorName+"kI").publish().set(motorSlot0Configs.kI);
+    table.getDoubleTopic(motorName+"kD").publish().set(motorSlot0Configs.kD);
+    table.getDoubleTopic(motorName+"kV").publish().set(motorSlot0Configs.kV);
+    table.getDoubleTopic(motorName+"kA").publish().set(motorSlot0Configs.kA);
+    table.getDoubleTopic(motorName+"kS").publish().set(motorSlot0Configs.kS);
+
+    table.getBooleanTopic(motorName+"EnableRunning").publish().set(false);
+    table.getDoubleTopic(motorName+"RunningSpeedRPS").publish().set(0);
+    
+    this.enableSub = table.getBooleanTopic(motorName+"Enable").subscribe(false);
+    this.KpSub = table.getDoubleTopic(motorName+"kP").subscribe(motorSlot0Configs.kP);
+    this.KiSub = table.getDoubleTopic(motorName+"kI").subscribe(motorSlot0Configs.kI);
+    this.KdSub = table.getDoubleTopic(motorName+"kD").subscribe(motorSlot0Configs.kD);
+    this.KvSub = table.getDoubleTopic(motorName+"kV").subscribe(motorSlot0Configs.kV);
+    this.KaSub = table.getDoubleTopic(motorName+"kA").subscribe(motorSlot0Configs.kA);
+    this.KsSub = table.getDoubleTopic(motorName+"kS").subscribe(motorSlot0Configs.kS);
+    this.enableRuningSub = table.getBooleanTopic(motorName+"EnableRunning").subscribe(false);
+    this.runningSpeedRPS = table.getDoubleTopic(motorName+"RunningSpeedRPS").subscribe(0);
+  }
+
+  public void periodic() {
+    if (!enableSub.get()) return;
+
+    double kp = KpSub.get();
+    double ki = KiSub.get();
+    double kd = KdSub.get();
+    double kv = KvSub.get();
+    double ka = KaSub.get();
+    double ks = KsSub.get();
+
+    if (!(kp == lastKp && ki == lastKi && kd == lastKd && kv == lastKv && ka == lastKa && ks == lastKs)) {
+
+      Slot0Configs slot0 = new Slot0Configs()
+          .withKP(kp).withKI(ki).withKD(kd).withKV(kv).withKA(ka).withKS(ks);
+        
+      motor.getConfigurator().apply(slot0);
+      System.out.println("applyed settings: "+motorName);
+
+      lastKp = kp; lastKi = ki; lastKd = kd; lastKv = kv; lastKa = ka; lastKs = ks;
+    }
+    
+    if (enableRuningSub.get()) {;
+      double speed = runningSpeedRPS.get();
+      motor.setControl(velocityRequest.withVelocity(speed));
+    // System.out.println("running motor with speed: "+speed+" on motor: "+motorName);
+    }else{
+      motor.setControl(velocityRequest.withVelocity(0));
+    }
+  }
+}
@@ -0,0 +1,68 @@
+package frc.robot.tuning;
+
+import com.ctre.phoenix6.configs.Slot0Configs;
+import com.ctre.phoenix6.hardware.TalonFX;
+import com.ctre.phoenix6.swerve.SwerveDrivetrain;
+import edu.wpi.first.networktables.*;
+
+public class DriveGainsTuner {
+  private final NetworkTable table =
+      NetworkTableInstance.getDefault().getTable("Tuning/Drive");
+
+  // ---- Publishers：让 Elastic 能“看到”这些键，并给初值 ----
+  private final BooleanPublisher enablePub =
+      table.getBooleanTopic("Enable").publish();
+  
+  private final DoublePublisher kpPub = table.getDoubleTopic("kP").publish();
+  private final DoublePublisher kiPub = table.getDoubleTopic("kI").publish();
+  private final DoublePublisher kdPub = table.getDoubleTopic("kD").publish();
+  private final DoublePublisher kvPub = table.getDoubleTopic("kV").publish();
+
+  // ---- Subscribers：读取 Elastic 改过的新值 ----
+  private final BooleanSubscriber enableSub =
+      table.getBooleanTopic("Enable").subscribe(false);
+
+  private final DoubleSubscriber kpSub = table.getDoubleTopic("kP").subscribe(0.01);
+  private final DoubleSubscriber kiSub = table.getDoubleTopic("kI").subscribe(0.0);
+  private final DoubleSubscriber kdSub = table.getDoubleTopic("kD").subscribe(0.0);
+  private final DoubleSubscriber kvSub = table.getDoubleTopic("kV").subscribe(0.124);
+
+  private double lastKP = Double.NaN, lastKI = Double.NaN, lastKD = Double.NaN, lastKV = Double.NaN;
+
+  private final TalonFX[] driveMotors;
+
+  public DriveGainsTuner(SwerveDrivetrain<?, ?, ?> drivetrain) {
+    // 发布初始值（这一步做完 Elastic 就能看到这些键）
+    enablePub.set(false);
+    kpPub.set(0.01);
+    kiPub.set(0.0);
+    kdPub.set(0.0);
+    kvPub.set(0.124);
+
+    var modules = drivetrain.getModules();
+    driveMotors = new TalonFX[modules.length];
+    for (int i = 0; i < modules.length; i++) {
+      driveMotors[i] = (TalonFX) modules[i].getDriveMotor();
+    }
+  }
+
+  public void periodic() {
+    if (!enableSub.get()) return;
+
+    double kp = kpSub.get();
+    double ki = kiSub.get();
+    double kd = kdSub.get();
+    double kv = kvSub.get();
+
+    if (kp == lastKP && ki == lastKI && kd == lastKD && kv == lastKV) return;
+
+    Slot0Configs slot0 = new Slot0Configs()
+        .withKP(kp).withKI(ki).withKD(kd).withKV(kv);
+
+    for (TalonFX m : driveMotors) {
+      m.getConfigurator().apply(slot0);
+    }
+
+    lastKP = kp; lastKI = ki; lastKD = kd; lastKV = kv;
+  }
+}
@@ -0,0 +1,32 @@
+package frc.robot.utils;
+
+import edu.wpi.first.wpilibj2.command.Commands;
+import edu.wpi.first.wpilibj2.command.button.RobotModeTriggers;
+import frc.robot.subsystems.LEDSubsystem;
+
+public final class LedBindings {
+  private LedBindings() {}
+
+  public static void bindModeIndicators(LEDSubsystem leds) {
+    // Disabled：左右红色呼吸（允许在禁用状态运行）
+    RobotModeTriggers.disabled().onTrue(
+        Commands.runOnce(() -> {
+          leds.breathLeft(255, 0, 0, 1.0);
+          leds.breathRight(255, 0, 0, 1.0);
+        }, leds).ignoringDisable(true)
+    );
+
+    // Teleop：左右彩虹
+    RobotModeTriggers.teleop().onTrue(
+        Commands.runOnce(leds::rainbowAll, leds)
+    );
+
+    // Auto：左右蓝色常亮
+    RobotModeTriggers.autonomous().onTrue(
+        Commands.runOnce(() -> {
+          leds.solidLeft(0, 0, 255);
+          leds.solidRight(0, 0, 255);
+        }, leds)
+    );
+  }
+}
@@ -0,0 +1,232 @@
+{
+  "Version": "1.0.0.0",
+  "LastState": 11,
+  "Modules": [
+    {
+      "ModuleName": "Front Left",
+      "ModuleId": 0,
+      "Encoder": {
+        "Id": 13,
+        "Name": "Mod1 Cancoder",
+        "Model": "CANCoder vers. H",
+        "CANbus": "rio",
+        "CANbusFriendly": "",
+        "SelectedMotorType": null
+      },
+      "SteerMotor": {
+        "Id": 12,
+        "Name": "Mod1 Angle",
+        "Model": "Talon FX",
+        "CANbus": "rio",
+        "CANbusFriendly": "",
+        "SelectedMotorType": {
+          "Name": "WCP Kraken x60",
+          "FreeSpeedRps": 96.7,
+          "SlipCurrentLimit": 120,
+          "StatorCurrentLimit": 60
+        }
+      },
+      "DriveMotor": {
+        "Id": 11,
+        "Name": "Mod1 Drive",
+        "Model": "Talon FX vers. C",
+        "CANbus": "rio",
+        "CANbusFriendly": "",
+        "SelectedMotorType": {
+          "Name": "WCP Kraken x60",
+          "FreeSpeedRps": 96.7,
+          "SlipCurrentLimit": 120,
+          "StatorCurrentLimit": 60
+        }
+      },
+      "IsEncoderInverted": false,
+      "IsSteerInverted": false,
+      "SelectedEncoderType": "CANcoder",
+      "EncoderOffset": -0.412841796875,
+      "DriveMotorSelectionState": 1,
+      "SteerMotorSelectionState": 1,
+      "SteerEncoderSelectionState": 1,
+      "IsModuleValidationComplete": true,
+      "ValidatedSteerId": 12,
+      "ValidatedDriveId": 11,
+      "ValidatedEncoderId": 13
+    },
+    {
+      "ModuleName": "Front Right",
+      "ModuleId": 1,
+      "Encoder": {
+        "Id": 23,
+        "Name": "Mod2 Cancoder",
+        "Model": "CANCoder vers. H",
+        "CANbus": "rio",
+        "CANbusFriendly": "",
+        "SelectedMotorType": null
+      },
+      "SteerMotor": {
+        "Id": 22,
+        "Name": "Mod2 Angle",
+        "Model": "Talon FX",
+        "CANbus": "rio",
+        "CANbusFriendly": "",
+        "SelectedMotorType": {
+          "Name": "WCP Kraken x60",
+          "FreeSpeedRps": 96.7,
+          "SlipCurrentLimit": 120,
+          "StatorCurrentLimit": 60
+        }
+      },
+      "DriveMotor": {
+        "Id": 21,
+        "Name": "Mod2 Drive",
+        "Model": "Talon FX vers. C",
+        "CANbus": "rio",
+        "CANbusFriendly": "",
+        "SelectedMotorType": {
+          "Name": "WCP Kraken x60",
+          "FreeSpeedRps": 96.7,
+          "SlipCurrentLimit": 120,
+          "StatorCurrentLimit": 60
+        }
+      },
+      "IsEncoderInverted": false,
+      "IsSteerInverted": false,
+      "SelectedEncoderType": "CANcoder",
+      "EncoderOffset": -0.012939453125,
+      "DriveMotorSelectionState": 1,
+      "SteerMotorSelectionState": 1,
+      "SteerEncoderSelectionState": 1,
+      "IsModuleValidationComplete": true,
+      "ValidatedSteerId": 22,
+      "ValidatedDriveId": 21,
+      "ValidatedEncoderId": 23
+    },
+    {
+      "ModuleName": "Back Left",
+      "ModuleId": 2,
+      "Encoder": {
+        "Id": 3,
+        "Name": "Mod0 Cancoder",
+        "Model": "CANCoder",
+        "CANbus": "rio",
+        "CANbusFriendly": "",
+        "SelectedMotorType": null
+      },
+      "SteerMotor": {
+        "Id": 2,
+        "Name": "Mod0 Angle",
+        "Model": "Talon FX",
+        "CANbus": "rio",
+        "CANbusFriendly": "",
+        "SelectedMotorType": {
+          "Name": "WCP Kraken x60",
+          "FreeSpeedRps": 96.7,
+          "SlipCurrentLimit": 120,
+          "StatorCurrentLimit": 60
+        }
+      },
+      "DriveMotor": {
+        "Id": 1,
+        "Name": "Mod0 Drive",
+        "Model": "Talon FX vers. C",
+        "CANbus": "rio",
+        "CANbusFriendly": "",
+        "SelectedMotorType": {
+          "Name": "WCP Kraken x60",
+          "FreeSpeedRps": 96.7,
+          "SlipCurrentLimit": 120,
+          "StatorCurrentLimit": 60
+        }
+      },
+      "IsEncoderInverted": false,
+      "IsSteerInverted": false,
+      "SelectedEncoderType": "CANcoder",
+      "EncoderOffset": 0.07275390625,
+      "DriveMotorSelectionState": 1,
+      "SteerMotorSelectionState": 1,
+      "SteerEncoderSelectionState": 1,
+      "IsModuleValidationComplete": true,
+      "ValidatedSteerId": 2,
+      "ValidatedDriveId": 1,
+      "ValidatedEncoderId": 3
+    },
+    {
+      "ModuleName": "Back Right",
+      "ModuleId": 3,
+      "Encoder": {
+        "Id": 33,
+        "Name": "Mod3 Cancoder",
+        "Model": "CANCoder vers. H",
+        "CANbus": "rio",
+        "CANbusFriendly": "",
+        "SelectedMotorType": null
+      },
+      "SteerMotor": {
+        "Id": 32,
+        "Name": "Mod3 Angle",
+        "Model": "Talon FX",
+        "CANbus": "rio",
+        "CANbusFriendly": "",
+        "SelectedMotorType": {
+          "Name": "WCP Kraken x60",
+          "FreeSpeedRps": 96.7,
+          "SlipCurrentLimit": 120,
+          "StatorCurrentLimit": 60
+        }
+      },
+      "DriveMotor": {
+        "Id": 31,
+        "Name": "Mod3 Drive",
+        "Model": "Talon FX vers. C",
+        "CANbus": "rio",
+        "CANbusFriendly": "",
+        "SelectedMotorType": {
+          "Name": "WCP Kraken x60",
+          "FreeSpeedRps": 96.7,
+          "SlipCurrentLimit": 120,
+          "StatorCurrentLimit": 60
+        }
+      },
+      "IsEncoderInverted": false,
+      "IsSteerInverted": false,
+      "SelectedEncoderType": "CANcoder",
+      "EncoderOffset": -0.4892578125,
+      "DriveMotorSelectionState": 1,
+      "SteerMotorSelectionState": 1,
+      "SteerEncoderSelectionState": 1,
+      "IsModuleValidationComplete": true,
+      "ValidatedSteerId": 32,
+      "ValidatedDriveId": 31,
+      "ValidatedEncoderId": 33
+    }
+  ],
+  "SwerveOptions": {
+    "Gyro": {
+      "Id": 0,
+      "Name": "Pigeon 2 vers. S (Device ID 0)",
+      "Model": "Pigeon 2 vers. S",
+      "CANbus": "rio",
+      "CANbusFriendly": "",
+      "SelectedMotorType": null
+    },
+    "IsValidGyroCANbus": true,
+    "VerticalTrackSizeInches": 22.75,
+    "HorizontalTrackSizeInches": 22.75,
+    "WheelRadiusInches": 1.81,
+    "IsLeftSideInverted": false,
+    "IsRightSideInverted": true,
+    "SwerveModuleType": 6,
+    "SwerveModuleConfiguration": {
+      "ModuleBrand": 6,
+      "DriveRatio": 5.902777777777778,
+      "SteerRatio": 12.8,
+      "CouplingRatio": 3.125,
+      "CustomName": "L2+"
+    },
+    "HasVerifiedSteer": true,
+    "SelectedModuleManufacturer": "Swerve Drive Specialties (SDS)",
+    "HasVerifiedDrive": true,
+    "IsValidConfiguration": true
+  },
+  "TeamNumber": 6494,
+  "schema_version": "1"
+}
@@ -0,0 +1,38 @@
+{
+    "fileName": "PathplannerLib-2026.1.2.json",
+    "name": "PathplannerLib",
+    "version": "2026.1.2",
+    "uuid": "1b42324f-17c6-4875-8e77-1c312bc8c786",
+    "frcYear": "2026",
+    "mavenUrls": [
+        "https://3015rangerrobotics.github.io/pathplannerlib/repo"
+    ],
+    "jsonUrl": "https://3015rangerrobotics.github.io/pathplannerlib/PathplannerLib.json",
+    "javaDependencies": [
+        {
+            "groupId": "com.pathplanner.lib",
+            "artifactId": "PathplannerLib-java",
+            "version": "2026.1.2"
+        }
+    ],
+    "jniDependencies": [],
+    "cppDependencies": [
+        {
+            "groupId": "com.pathplanner.lib",
+            "artifactId": "PathplannerLib-cpp",
+            "version": "2026.1.2",
+            "libName": "PathplannerLib",
+            "headerClassifier": "headers",
+            "sharedLibrary": false,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "osxuniversal",
+                "linuxathena",
+                "linuxarm32",
+                "linuxarm64"
+            ]
+        }
+    ]
+}
@@ -0,0 +1,449 @@
+{
+    "fileName": "Phoenix6-26.1.1.json",
+    "name": "CTRE-Phoenix (v6)",
+    "version": "26.1.1",
+    "frcYear": "2026",
+    "uuid": "e995de00-2c64-4df5-8831-c1441420ff19",
+    "mavenUrls": [
+        "https://maven.ctr-electronics.com/release/"
+    ],
+    "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2026-latest.json",
+    "conflictsWith": [
+        {
+            "uuid": "e7900d8d-826f-4dca-a1ff-182f658e98af",
+            "errorMessage": "Users can not have both the replay and regular Phoenix 6 vendordeps in their robot program.",
+            "offlineFileName": "Phoenix6-replay-frc2026-latest.json"
+        }
+    ],
+    "javaDependencies": [
+        {
+            "groupId": "com.ctre.phoenix6",
+            "artifactId": "wpiapi-java",
+            "version": "26.1.1"
+        }
+    ],
+    "jniDependencies": [
+        {
+            "groupId": "com.ctre.phoenix6",
+            "artifactId": "api-cpp",
+            "version": "26.1.1",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "linuxathena"
+            ],
+            "simMode": "hwsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6",
+            "artifactId": "tools",
+            "version": "26.1.1",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "linuxathena"
+            ],
+            "simMode": "hwsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "api-cpp-sim",
+            "version": "26.1.1",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "tools-sim",
+            "version": "26.1.1",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simTalonSRX",
+            "version": "26.1.1",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simVictorSPX",
+            "version": "26.1.1",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simPigeonIMU",
+            "version": "26.1.1",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simProTalonFX",
+            "version": "26.1.1",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simProTalonFXS",
+            "version": "26.1.1",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simProCANcoder",
+            "version": "26.1.1",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simProPigeon2",
+            "version": "26.1.1",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simProCANrange",
+            "version": "26.1.1",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simProCANdi",
+            "version": "26.1.1",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simProCANdle",
+            "version": "26.1.1",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        }
+    ],
+    "cppDependencies": [
+        {
+            "groupId": "com.ctre.phoenix6",
+            "artifactId": "wpiapi-cpp",
+            "version": "26.1.1",
+            "libName": "CTRE_Phoenix6_WPI",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "linuxathena"
+            ],
+            "simMode": "hwsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6",
+            "artifactId": "tools",
+            "version": "26.1.1",
+            "libName": "CTRE_PhoenixTools",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "linuxathena"
+            ],
+            "simMode": "hwsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "wpiapi-cpp-sim",
+            "version": "26.1.1",
+            "libName": "CTRE_Phoenix6_WPISim",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "tools-sim",
+            "version": "26.1.1",
+            "libName": "CTRE_PhoenixTools_Sim",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simTalonSRX",
+            "version": "26.1.1",
+            "libName": "CTRE_SimTalonSRX",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simVictorSPX",
+            "version": "26.1.1",
+            "libName": "CTRE_SimVictorSPX",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simPigeonIMU",
+            "version": "26.1.1",
+            "libName": "CTRE_SimPigeonIMU",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simProTalonFX",
+            "version": "26.1.1",
+            "libName": "CTRE_SimProTalonFX",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simProTalonFXS",
+            "version": "26.1.1",
+            "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": "26.1.1",
+            "libName": "CTRE_SimProCANcoder",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simProPigeon2",
+            "version": "26.1.1",
+            "libName": "CTRE_SimProPigeon2",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simProCANrange",
+            "version": "26.1.1",
+            "libName": "CTRE_SimProCANrange",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simProCANdi",
+            "version": "26.1.1",
+            "libName": "CTRE_SimProCANdi",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simProCANdle",
+            "version": "26.1.1",
+            "libName": "CTRE_SimProCANdle",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        }
+    ]
+}
@@ -0,0 +1,39 @@
+{
+  "fileName": "WPILibNewCommands.json",
+  "name": "WPILib-New-Commands",
+  "version": "1.0.0",
+  "uuid": "111e20f7-815e-48f8-9dd6-e675ce75b266",
+  "frcYear": "2026",
+  "mavenUrls": [],
+  "jsonUrl": "",
+  "javaDependencies": [
+    {
+      "groupId": "edu.wpi.first.wpilibNewCommands",
+      "artifactId": "wpilibNewCommands-java",
+      "version": "wpilib"
+    }
+  ],
+  "jniDependencies": [],
+  "cppDependencies": [
+    {
+      "groupId": "edu.wpi.first.wpilibNewCommands",
+      "artifactId": "wpilibNewCommands-cpp",
+      "version": "wpilib",
+      "libName": "wpilibNewCommands",
+      "headerClassifier": "headers",
+      "sourcesClassifier": "sources",
+      "sharedLibrary": true,
+      "skipInvalidPlatforms": true,
+      "binaryPlatforms": [
+        "linuxsystemcore",
+        "linuxathena",
+        "linuxarm32",
+        "linuxarm64",
+        "windowsx86-64",
+        "windowsx86",
+        "linuxx86-64",
+        "osxuniversal"
+      ]
+    }
+  ]
+}