diff --git a/src/main/deploy/pathplanner/autos/2-IJVK.auto b/src/main/deploy/pathplanner/autos/2-IJVK.auto
new file mode 100644
index 0000000..b9bf466
--- /dev/null
+++ b/src/main/deploy/pathplanner/autos/2-IJVK.auto
@@ -0,0 +1,43 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "PP1-J"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Sim L4 Right"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "PPJ-V"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "PPV-K"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Sim L4 Left"
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": null,
+  "choreoAuto": false
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/autos/3-IJVKVL.auto b/src/main/deploy/pathplanner/autos/3-IJVKVL.auto
new file mode 100644
index 0000000..72e5135
--- /dev/null
+++ b/src/main/deploy/pathplanner/autos/3-IJVKVL.auto
@@ -0,0 +1,61 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "PP1-J"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Sim L4 Right"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "PPJ-V"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "PPV-K"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Sim L4 Left"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "PPK-V"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "PPV-L"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Sim L4 Right"
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": null,
+  "choreoAuto": false
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/navgrid.json b/src/main/deploy/pathplanner/navgrid.json
index 690f5db..bbd9194 100644
--- a/src/main/deploy/pathplanner/navgrid.json
+++ b/src/main/deploy/pathplanner/navgrid.json
@@ -1,7 +1,7 @@
 {
   "field_size": {
-    "x": 16.54,
-    "y": 8.21
+    "x": 17.548,
+    "y": 8.052
   },
   "nodeSizeMeters": 0.3,
   "grid": [
@@ -61,6 +61,9 @@
       true,
       true,
       true,
+      true,
+      true,
+      true,
       true
     ],
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@@ -119,6 +122,9 @@
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@@ -127,7 +133,6 @@
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@@ -171,8 +176,12 @@
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@@ -184,7 +193,6 @@
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@@ -231,7 +239,11 @@
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@@ -291,6 +303,9 @@
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@@ -350,6 +365,9 @@
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@@ -408,6 +426,9 @@
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@@ -429,14 +450,6 @@
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@@ -447,9 +460,6 @@
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@@ -466,12 +476,6 @@
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@@ -487,8 +491,9 @@
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@@ -503,15 +508,8 @@
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@@ -524,12 +522,6 @@
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@@ -547,9 +539,6 @@
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@@ -563,15 +552,11 @@
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+      true
+    ],
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@@ -583,9 +568,9 @@
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@@ -602,15 +587,6 @@
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@@ -636,10 +612,6 @@
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@@ -654,13 +626,12 @@
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@@ -679,16 +650,20 @@
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@@ -711,6 +686,12 @@
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@@ -724,6 +705,9 @@
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@@ -732,6 +716,15 @@
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@@ -741,11 +734,10 @@
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+    ],
+    [
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@@ -757,9 +749,13 @@
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@@ -781,6 +777,15 @@
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@@ -790,6 +795,12 @@
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+    ],
+    [
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@@ -798,9 +809,11 @@
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@@ -815,9 +828,6 @@
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@@ -827,6 +837,11 @@
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+    ],
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@@ -849,9 +870,16 @@
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@@ -870,12 +898,12 @@
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@@ -886,14 +914,13 @@
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+    [
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@@ -904,6 +931,17 @@
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@@ -918,11 +956,6 @@
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@@ -931,9 +964,6 @@
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@@ -948,13 +978,37 @@
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@@ -973,6 +1027,8 @@
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@@ -983,18 +1039,10 @@
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@@ -1007,12 +1055,22 @@
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@@ -1043,16 +1101,9 @@
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@@ -1066,9 +1117,7 @@
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@@ -1084,11 +1133,8 @@
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@@ -1103,14 +1149,22 @@
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@@ -1125,9 +1179,6 @@
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@@ -1143,9 +1194,6 @@
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@@ -1158,17 +1206,26 @@
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@@ -1216,16 +1273,20 @@
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@@ -1275,9 +1336,14 @@
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@@ -1334,12 +1400,17 @@
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@@ -1395,9 +1466,13 @@
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@@ -1449,64 +1524,6 @@
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@@ -1569,6 +1586,9 @@
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+      true,
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       true
     ],
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@@ -1627,6 +1647,9 @@
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       true
     ]
   ]
diff --git a/src/main/deploy/pathplanner/paths/PP1-J.path b/src/main/deploy/pathplanner/paths/PP1-J.path
new file mode 100644
index 0000000..027d755
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/PP1-J.path
@@ -0,0 +1,54 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 7.17,
+        "y": 7.55
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 6.462893218813452,
+        "y": 6.842893218813452
+      },
+      "isLocked": false,
+      "linkedName": "1"
+    },
+    {
+      "anchor": {
+        "x": 5.205170454545455,
+        "y": 5.814900568181818
+      },
+      "prevControl": {
+        "x": 5.912277235732003,
+        "y": 6.522007349368366
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": "J"
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "pointTowardsZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": -119.99999999999999
+  },
+  "reversed": false,
+  "folder": null,
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": 180.0
+  },
+  "useDefaultConstraints": true
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/PPJ-V.path b/src/main/deploy/pathplanner/paths/PPJ-V.path
new file mode 100644
index 0000000..5f3258b
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/PPJ-V.path
@@ -0,0 +1,54 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 5.205170454545455,
+        "y": 5.814900568181818
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 4.705170454545455,
+        "y": 6.680925971966256
+      },
+      "isLocked": false,
+      "linkedName": "J"
+    },
+    {
+      "anchor": {
+        "x": 1.4624999999999997,
+        "y": 7.003944672131147
+      },
+      "prevControl": {
+        "x": 2.3285254037844387,
+        "y": 6.503944672131147
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": "V"
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "pointTowardsZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 127.00000000000001
+  },
+  "reversed": false,
+  "folder": null,
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": -119.99999999999999
+  },
+  "useDefaultConstraints": true
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/PPK-V.path b/src/main/deploy/pathplanner/paths/PPK-V.path
new file mode 100644
index 0000000..883e3b8
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/PPK-V.path
@@ -0,0 +1,54 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 3.6196875,
+        "y": 5.864758522727272
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 2.753662096215561,
+        "y": 6.364758522727272
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+      "isLocked": false,
+      "linkedName": "K"
+    },
+    {
+      "anchor": {
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+        "y": 7.003944672131147
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+      "prevControl": {
+        "x": 2.328525403784438,
+        "y": 6.503944672131147
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": "V"
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "pointTowardsZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 127.00000000000001
+  },
+  "reversed": false,
+  "folder": null,
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": -59.99999999999999
+  },
+  "useDefaultConstraints": true
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/PPV-K.path b/src/main/deploy/pathplanner/paths/PPV-K.path
new file mode 100644
index 0000000..acec0c7
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/PPV-K.path
@@ -0,0 +1,54 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 1.4624999999999997,
+        "y": 7.003944672131147
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 2.4624999999999995,
+        "y": 7.003944672131147
+      },
+      "isLocked": false,
+      "linkedName": "V"
+    },
+    {
+      "anchor": {
+        "x": 3.6196875,
+        "y": 5.864758522727272
+      },
+      "prevControl": {
+        "x": 3.1196875,
+        "y": 6.7307839265117115
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": "K"
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "pointTowardsZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": -59.99999999999999
+  },
+  "reversed": false,
+  "folder": null,
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": 127.00000000000001
+  },
+  "useDefaultConstraints": true
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/PPV-L.path b/src/main/deploy/pathplanner/paths/PPV-L.path
new file mode 100644
index 0000000..2374eee
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/PPV-L.path
@@ -0,0 +1,54 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 1.4624999999999997,
+        "y": 7.003944672131147
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 2.1696067811865474,
+        "y": 6.296837890944599
+      },
+      "isLocked": false,
+      "linkedName": "V"
+    },
+    {
+      "anchor": {
+        "x": 3.3105681818181814,
+        "y": 5.565610795454545
+      },
+      "prevControl": {
+        "x": 2.6034614006316343,
+        "y": 6.272717576641093
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": "L"
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "pointTowardsZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": -59.99999999999999
+  },
+  "reversed": false,
+  "folder": null,
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": 127.00000000000001
+  },
+  "useDefaultConstraints": true
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/settings.json b/src/main/deploy/pathplanner/settings.json
index 76ca88a..a010135 100644
--- a/src/main/deploy/pathplanner/settings.json
+++ b/src/main/deploy/pathplanner/settings.json
@@ -8,14 +8,25 @@
   "defaultMaxAccel": 3.0,
   "defaultMaxAngVel": 540.0,
   "defaultMaxAngAccel": 720.0,
+  "defaultNominalVoltage": 12.0,
   "robotMass": 74.088,
   "robotMOI": 6.883,
-  "robotWheelbase": 0.546,
   "robotTrackwidth": 0.546,
   "driveWheelRadius": 0.048,
   "driveGearing": 5.143,
   "maxDriveSpeed": 5.45,
   "driveMotorType": "vortex",
   "driveCurrentLimit": 60.0,
-  "wheelCOF": 1.2
+  "wheelCOF": 1.2,
+  "flModuleX": 0.273,
+  "flModuleY": 0.273,
+  "frModuleX": 0.273,
+  "frModuleY": -0.273,
+  "blModuleX": -0.273,
+  "blModuleY": 0.273,
+  "brModuleX": -0.273,
+  "brModuleY": -0.273,
+  "bumperOffsetX": 0.0,
+  "bumperOffsetY": 0.0,
+  "robotFeatures": []
 }
diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java
index 637d691..1e92b56 100644
--- a/src/main/java/frc/robot/Robot.java
+++ b/src/main/java/frc/robot/Robot.java
@@ -107,9 +107,7 @@ public void robotPeriodic() {
 
     /** This function is called once when the robot is disabled. */
     @Override
-    public void disabledInit() {
-        robotContainer.resetSimulationField();
-    }
+    public void disabledInit() {}
 
     /** This function is called periodically when disabled. */
     @Override
@@ -162,7 +160,9 @@ public void testPeriodic() {}
 
     /** This function is called once when the robot is first started up. */
     @Override
-    public void simulationInit() {}
+    public void simulationInit() {
+        robotContainer.resetSimulationField();
+    }
 
     /** This function is called periodically whilst in simulation. */
     @Override
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 466eaa3..9383a3a 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -17,6 +17,7 @@
 import static frc.robot.subsystems.vision.VisionConstants.robotToCamera1;
 
 import com.pathplanner.lib.auto.AutoBuilder;
+import com.pathplanner.lib.auto.NamedCommands;
 import edu.wpi.first.math.geometry.Pose2d;
 import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.wpilibj.GenericHID;
@@ -29,6 +30,7 @@
 import frc.robot.commands.SuperstructureCommands;
 import frc.robot.subsystems.drive.*;
 import frc.robot.subsystems.vision.*;
+import java.util.Map;
 import org.ironmaple.simulation.SimulatedArena;
 import org.ironmaple.simulation.drivesims.SwerveDriveSimulation;
 import org.littletonrobotics.junction.Logger;
@@ -114,6 +116,10 @@ public RobotContainer() {
                 break;
         }
 
+        NamedCommands.registerCommands(Map.of(
+                "Sim L4 Left", SuperstructureCommands.scoreLeftL4Sim(drive, driveSimulation),
+                "Sim L4 Right", SuperstructureCommands.scoreRightL4Sim(drive, driveSimulation)));
+
         // Set up auto routines
         autoChooser = new LoggedDashboardChooser<>("Auto Choices", AutoBuilder.buildAutoChooser());
 
diff --git a/vendordeps/PathplannerLib.json b/vendordeps/PathplannerLib-2025.2.7.json
similarity index 87%
rename from vendordeps/PathplannerLib.json
rename to vendordeps/PathplannerLib-2025.2.7.json
index 6ad6a51..d0b6939 100644
--- a/vendordeps/PathplannerLib.json
+++ b/vendordeps/PathplannerLib-2025.2.7.json
@@ -1,7 +1,7 @@
 {
-  "fileName": "PathplannerLib.json",
+  "fileName": "PathplannerLib-2025.2.7.json",
   "name": "PathplannerLib",
-  "version": "2025.2.6",
+  "version": "2025.2.7",
   "uuid": "1b42324f-17c6-4875-8e77-1c312bc8c786",
   "frcYear": "2025",
   "mavenUrls": [
@@ -12,7 +12,7 @@
     {
       "groupId": "com.pathplanner.lib",
       "artifactId": "PathplannerLib-java",
-      "version": "2025.2.6"
+      "version": "2025.2.7"
     }
   ],
   "jniDependencies": [],
@@ -20,7 +20,7 @@
     {
       "groupId": "com.pathplanner.lib",
       "artifactId": "PathplannerLib-cpp",
-      "version": "2025.2.6",
+      "version": "2025.2.7",
       "libName": "PathplannerLib",
       "headerClassifier": "headers",
       "sharedLibrary": false,
diff --git a/vendordeps/Phoenix6.json b/vendordeps/Phoenix6-frc2025-latest.json
similarity index 87%
rename from vendordeps/Phoenix6.json
rename to vendordeps/Phoenix6-frc2025-latest.json
index f378c13..ce44ce4 100644
--- a/vendordeps/Phoenix6.json
+++ b/vendordeps/Phoenix6-frc2025-latest.json
@@ -1,7 +1,7 @@
 {
   "fileName": "Phoenix6-frc2025-latest.json",
   "name": "CTRE-Phoenix (v6)",
-  "version": "25.3.1",
+  "version": "25.4.0",
   "frcYear": "2025",
   "uuid": "e995de00-2c64-4df5-8831-c1441420ff19",
   "mavenUrls": [
@@ -19,14 +19,14 @@
     {
       "groupId": "com.ctre.phoenix6",
       "artifactId": "wpiapi-java",
-      "version": "25.3.1"
+      "version": "25.4.0"
     }
   ],
   "jniDependencies": [
     {
       "groupId": "com.ctre.phoenix6",
       "artifactId": "api-cpp",
-      "version": "25.3.1",
+      "version": "25.4.0",
       "isJar": false,
       "skipInvalidPlatforms": true,
       "validPlatforms": [
@@ -40,7 +40,7 @@
     {
       "groupId": "com.ctre.phoenix6",
       "artifactId": "tools",
-      "version": "25.3.1",
+      "version": "25.4.0",
       "isJar": false,
       "skipInvalidPlatforms": true,
       "validPlatforms": [
@@ -54,7 +54,7 @@
     {
       "groupId": "com.ctre.phoenix6.sim",
       "artifactId": "api-cpp-sim",
-      "version": "25.3.1",
+      "version": "25.4.0",
       "isJar": false,
       "skipInvalidPlatforms": true,
       "validPlatforms": [
@@ -68,7 +68,7 @@
     {
       "groupId": "com.ctre.phoenix6.sim",
       "artifactId": "tools-sim",
-      "version": "25.3.1",
+      "version": "25.4.0",
       "isJar": false,
       "skipInvalidPlatforms": true,
       "validPlatforms": [
@@ -82,7 +82,7 @@
     {
       "groupId": "com.ctre.phoenix6.sim",
       "artifactId": "simTalonSRX",
-      "version": "25.3.1",
+      "version": "25.4.0",
       "isJar": false,
       "skipInvalidPlatforms": true,
       "validPlatforms": [
@@ -96,7 +96,7 @@
     {
       "groupId": "com.ctre.phoenix6.sim",
       "artifactId": "simVictorSPX",
-      "version": "25.3.1",
+      "version": "25.4.0",
       "isJar": false,
       "skipInvalidPlatforms": true,
       "validPlatforms": [
@@ -110,7 +110,7 @@
     {
       "groupId": "com.ctre.phoenix6.sim",
       "artifactId": "simPigeonIMU",
-      "version": "25.3.1",
+      "version": "25.4.0",
       "isJar": false,
       "skipInvalidPlatforms": true,
       "validPlatforms": [
@@ -124,7 +124,7 @@
     {
       "groupId": "com.ctre.phoenix6.sim",
       "artifactId": "simCANCoder",
-      "version": "25.3.1",
+      "version": "25.4.0",
       "isJar": false,
       "skipInvalidPlatforms": true,
       "validPlatforms": [
@@ -138,7 +138,7 @@
     {
       "groupId": "com.ctre.phoenix6.sim",
       "artifactId": "simProTalonFX",
-      "version": "25.3.1",
+      "version": "25.4.0",
       "isJar": false,
       "skipInvalidPlatforms": true,
       "validPlatforms": [
@@ -152,7 +152,7 @@
     {
       "groupId": "com.ctre.phoenix6.sim",
       "artifactId": "simProTalonFXS",
-      "version": "25.3.1",
+      "version": "25.4.0",
       "isJar": false,
       "skipInvalidPlatforms": true,
       "validPlatforms": [
@@ -166,7 +166,7 @@
     {
       "groupId": "com.ctre.phoenix6.sim",
       "artifactId": "simProCANcoder",
-      "version": "25.3.1",
+      "version": "25.4.0",
       "isJar": false,
       "skipInvalidPlatforms": true,
       "validPlatforms": [
@@ -180,7 +180,7 @@
     {
       "groupId": "com.ctre.phoenix6.sim",
       "artifactId": "simProPigeon2",
-      "version": "25.3.1",
+      "version": "25.4.0",
       "isJar": false,
       "skipInvalidPlatforms": true,
       "validPlatforms": [
@@ -194,7 +194,7 @@
     {
       "groupId": "com.ctre.phoenix6.sim",
       "artifactId": "simProCANrange",
-      "version": "25.3.1",
+      "version": "25.4.0",
       "isJar": false,
       "skipInvalidPlatforms": true,
       "validPlatforms": [
@@ -208,7 +208,21 @@
     {
       "groupId": "com.ctre.phoenix6.sim",
       "artifactId": "simProCANdi",
-      "version": "25.3.1",
+      "version": "25.4.0",
+      "isJar": false,
+      "skipInvalidPlatforms": true,
+      "validPlatforms": [
+        "windowsx86-64",
+        "linuxx86-64",
+        "linuxarm64",
+        "osxuniversal"
+      ],
+      "simMode": "swsim"
+    },
+    {
+      "groupId": "com.ctre.phoenix6.sim",
+      "artifactId": "simProCANdle",
+      "version": "25.4.0",
       "isJar": false,
       "skipInvalidPlatforms": true,
       "validPlatforms": [
@@ -224,7 +238,7 @@
     {
       "groupId": "com.ctre.phoenix6",
       "artifactId": "wpiapi-cpp",
-      "version": "25.3.1",
+      "version": "25.4.0",
       "libName": "CTRE_Phoenix6_WPI",
       "headerClassifier": "headers",
       "sharedLibrary": true,
@@ -240,7 +254,7 @@
     {
       "groupId": "com.ctre.phoenix6",
       "artifactId": "tools",
-      "version": "25.3.1",
+      "version": "25.4.0",
       "libName": "CTRE_PhoenixTools",
       "headerClassifier": "headers",
       "sharedLibrary": true,
@@ -256,7 +270,7 @@
     {
       "groupId": "com.ctre.phoenix6.sim",
       "artifactId": "wpiapi-cpp-sim",
-      "version": "25.3.1",
+      "version": "25.4.0",
       "libName": "CTRE_Phoenix6_WPISim",
       "headerClassifier": "headers",
       "sharedLibrary": true,
@@ -272,7 +286,7 @@
     {
       "groupId": "com.ctre.phoenix6.sim",
       "artifactId": "tools-sim",
-      "version": "25.3.1",
+      "version": "25.4.0",
       "libName": "CTRE_PhoenixTools_Sim",
       "headerClassifier": "headers",
       "sharedLibrary": true,
@@ -288,7 +302,7 @@
     {
       "groupId": "com.ctre.phoenix6.sim",
       "artifactId": "simTalonSRX",
-      "version": "25.3.1",
+      "version": "25.4.0",
       "libName": "CTRE_SimTalonSRX",
       "headerClassifier": "headers",
       "sharedLibrary": true,
@@ -304,7 +318,7 @@
     {
       "groupId": "com.ctre.phoenix6.sim",
       "artifactId": "simVictorSPX",
-      "version": "25.3.1",
+      "version": "25.4.0",
       "libName": "CTRE_SimVictorSPX",
       "headerClassifier": "headers",
       "sharedLibrary": true,
@@ -320,7 +334,7 @@
     {
       "groupId": "com.ctre.phoenix6.sim",
       "artifactId": "simPigeonIMU",
-      "version": "25.3.1",
+      "version": "25.4.0",
       "libName": "CTRE_SimPigeonIMU",
       "headerClassifier": "headers",
       "sharedLibrary": true,
@@ -336,7 +350,7 @@
     {
       "groupId": "com.ctre.phoenix6.sim",
       "artifactId": "simCANCoder",
-      "version": "25.3.1",
+      "version": "25.4.0",
       "libName": "CTRE_SimCANCoder",
       "headerClassifier": "headers",
       "sharedLibrary": true,
@@ -352,7 +366,7 @@
     {
       "groupId": "com.ctre.phoenix6.sim",
       "artifactId": "simProTalonFX",
-      "version": "25.3.1",
+      "version": "25.4.0",
       "libName": "CTRE_SimProTalonFX",
       "headerClassifier": "headers",
       "sharedLibrary": true,
@@ -368,7 +382,7 @@
     {
       "groupId": "com.ctre.phoenix6.sim",
       "artifactId": "simProTalonFXS",
-      "version": "25.3.1",
+      "version": "25.4.0",
       "libName": "CTRE_SimProTalonFXS",
       "headerClassifier": "headers",
       "sharedLibrary": true,
@@ -384,7 +398,7 @@
     {
       "groupId": "com.ctre.phoenix6.sim",
       "artifactId": "simProCANcoder",
-      "version": "25.3.1",
+      "version": "25.4.0",
       "libName": "CTRE_SimProCANcoder",
       "headerClassifier": "headers",
       "sharedLibrary": true,
@@ -400,7 +414,7 @@
     {
       "groupId": "com.ctre.phoenix6.sim",
       "artifactId": "simProPigeon2",
-      "version": "25.3.1",
+      "version": "25.4.0",
       "libName": "CTRE_SimProPigeon2",
       "headerClassifier": "headers",
       "sharedLibrary": true,
@@ -416,7 +430,7 @@
     {
       "groupId": "com.ctre.phoenix6.sim",
       "artifactId": "simProCANrange",
-      "version": "25.3.1",
+      "version": "25.4.0",
       "libName": "CTRE_SimProCANrange",
       "headerClassifier": "headers",
       "sharedLibrary": true,
@@ -432,7 +446,7 @@
     {
       "groupId": "com.ctre.phoenix6.sim",
       "artifactId": "simProCANdi",
-      "version": "25.3.1",
+      "version": "25.4.0",
       "libName": "CTRE_SimProCANdi",
       "headerClassifier": "headers",
       "sharedLibrary": true,
@@ -444,6 +458,22 @@
         "osxuniversal"
       ],
       "simMode": "swsim"
+    },
+    {
+      "groupId": "com.ctre.phoenix6.sim",
+      "artifactId": "simProCANdle",
+      "version": "25.4.0",
+      "libName": "CTRE_SimProCANdle",
+      "headerClassifier": "headers",
+      "sharedLibrary": true,
+      "skipInvalidPlatforms": true,
+      "binaryPlatforms": [
+        "windowsx86-64",
+        "linuxx86-64",
+        "linuxarm64",
+        "osxuniversal"
+      ],
+      "simMode": "swsim"
     }
   ]
 }
diff --git a/vendordeps/maple-sim.json b/vendordeps/maple-sim.json
index 0dcb2a0..65f4413 100644
--- a/vendordeps/maple-sim.json
+++ b/vendordeps/maple-sim.json
@@ -1,7 +1,7 @@
 {
   "fileName": "maple-sim.json",
   "name": "maplesim",
-  "version": "0.3.13",
+  "version": "0.3.14",
   "frcYear": "2025",
   "uuid": "c39481e8-4a63-4a4c-9df6-48d91e4da37b",
   "mavenUrls": [
@@ -13,7 +13,7 @@
     {
       "groupId": "org.ironmaple",
       "artifactId": "maplesim-java",
-      "version": "0.3.13"
+      "version": "0.3.14"
     },
     {
       "groupId": "org.dyn4j",
diff --git a/vendordeps/photonlib.json b/vendordeps/photonlib.json
index 32a648c..f7a03fa 100644
--- a/vendordeps/photonlib.json
+++ b/vendordeps/photonlib.json
@@ -1,7 +1,7 @@
 {
   "fileName": "photonlib.json",
   "name": "photonlib",
-  "version": "v2025.2.1",
+  "version": "v2025.3.1",
   "uuid": "515fe07e-bfc6-11fa-b3de-0242ac130004",
   "frcYear": "2025",
   "mavenUrls": [
@@ -13,7 +13,7 @@
     {
       "groupId": "org.photonvision",
       "artifactId": "photontargeting-cpp",
-      "version": "v2025.2.1",
+      "version": "v2025.3.1",
       "skipInvalidPlatforms": true,
       "isJar": false,
       "validPlatforms": [
@@ -28,7 +28,7 @@
     {
       "groupId": "org.photonvision",
       "artifactId": "photonlib-cpp",
-      "version": "v2025.2.1",
+      "version": "v2025.3.1",
       "libName": "photonlib",
       "headerClassifier": "headers",
       "sharedLibrary": true,
@@ -43,7 +43,7 @@
     {
       "groupId": "org.photonvision",
       "artifactId": "photontargeting-cpp",
-      "version": "v2025.2.1",
+      "version": "v2025.3.1",
       "libName": "photontargeting",
       "headerClassifier": "headers",
       "sharedLibrary": true,
@@ -60,12 +60,12 @@
     {
       "groupId": "org.photonvision",
       "artifactId": "photonlib-java",
-      "version": "v2025.2.1"
+      "version": "v2025.3.1"
     },
     {
       "groupId": "org.photonvision",
       "artifactId": "photontargeting-java",
-      "version": "v2025.2.1"
+      "version": "v2025.3.1"
     }
   ]
 }