diff --git a/2021 test code/.gitignore b/2021 test code/.gitignore
new file mode 100644
index 00000000..983678aa
--- /dev/null
+++ b/2021 test code/.gitignore	
@@ -0,0 +1,161 @@
+# Created by https://www.gitignore.io/api/c++,java,linux,macos,gradle,windows,visualstudiocode
+
+### 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
+.classpath
+.project
+.settings/
+bin/
+imgui.ini
+
+
+# End of https://www.gitignore.io/api/c++,java,linux,macos,gradle,windows,visualstudiocode
diff --git a/2021 test code/.vscode/launch.json b/2021 test code/.vscode/launch.json
new file mode 100644
index 00000000..c9c9713d
--- /dev/null
+++ b/2021 test code/.vscode/launch.json	
@@ -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,
+    }
+  ]
+}
diff --git a/2021 test code/.vscode/settings.json b/2021 test code/.vscode/settings.json
new file mode 100644
index 00000000..5e795ffd
--- /dev/null
+++ b/2021 test code/.vscode/settings.json	
@@ -0,0 +1,18 @@
+{
+  "java.configuration.updateBuildConfiguration": "disabled",
+  "java.import.gradle.enabled": false,
+  "files.exclude": {
+    "**/.git": true,
+    "**/.svn": true,
+    "**/.hg": true,
+    "**/CVS": true,
+    "**/.DS_Store": true,
+    "bin/": true,
+    "**/.classpath": true,
+    "**/.project": true,
+    "**/.settings": true,
+    "**/.factorypath": true,
+    "**/*~": true
+  },
+  "C_Cpp.default.configurationProvider": "vscode-wpilib"
+}
diff --git a/2021 test code/.wpilib/wpilib_preferences.json b/2021 test code/.wpilib/wpilib_preferences.json
new file mode 100644
index 00000000..4c5e070f
--- /dev/null
+++ b/2021 test code/.wpilib/wpilib_preferences.json	
@@ -0,0 +1,6 @@
+{
+    "enableCppIntellisense": true,
+    "currentLanguage": "cpp",
+    "projectYear": "2021",
+    "teamNumber": 114
+}
\ No newline at end of file
diff --git a/2021 test code/WPILib-License.md b/2021 test code/WPILib-License.md
new file mode 100644
index 00000000..3d5a824c
--- /dev/null
+++ b/2021 test code/WPILib-License.md	
@@ -0,0 +1,24 @@
+Copyright (c) 2009-2021 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.
diff --git a/2021 test code/build.gradle b/2021 test code/build.gradle
new file mode 100644
index 00000000..e9bea982
--- /dev/null
+++ b/2021 test code/build.gradle	
@@ -0,0 +1,105 @@
+plugins {
+    id "cpp"
+    id "google-test-test-suite"
+    id "edu.wpi.first.GradleRIO" version "2021.3.1"
+}
+
+// Define my targets (RoboRIO) and artifacts (deployable files)
+// This is added by GradleRIO's backing project EmbeddedTools.
+deploy {
+    targets {
+        roboRIO("roborio") {
+            // Team number is loaded either from the .wpilib/wpilib_preferences.json
+            // or from command line. If not found an exception will be thrown.
+            // You can use getTeamOrDefault(team) instead of getTeamNumber if you
+            // want to store a team number in this file.
+            team = frc.getTeamNumber()
+        }
+    }
+    artifacts {
+        frcNativeArtifact('frcCpp') {
+            targets << "roborio"
+            component = 'frcUserProgram'
+            // Debug can be overridden by command line, for use with VSCode
+            debug = frc.getDebugOrDefault(false)
+        }
+        // Built in artifact to deploy arbitrary files to the roboRIO.
+        fileTreeArtifact('frcStaticFileDeploy') {
+            // The directory below is the local directory to deploy
+            files = fileTree(dir: 'src/main/deploy')
+            // Deploy to RoboRIO target, into /home/lvuser/deploy
+            targets << "roborio"
+            directory = '/home/lvuser/deploy'
+        }
+    }
+}
+
+// Set this to true to include the src folder in the include directories passed
+// to the compiler. Some eclipse project imports depend on this behavior.
+// We recommend leaving this disabled if possible. Note for eclipse project
+// imports this is enabled by default. For new projects, its disabled
+def includeSrcInIncludeRoot = false
+
+// Set this to true to enable desktop support.
+def includeDesktopSupport = false
+
+// Enable simulation gui support. Must check the box in vscode to enable support
+// upon debugging
+dependencies {
+    simulation wpi.deps.sim.gui(wpi.platforms.desktop, true)
+    simulation wpi.deps.sim.driverstation(wpi.platforms.desktop, true)
+
+    // Websocket extensions require additional configuration.
+    // simulation wpi.deps.sim.ws_server(wpi.platforms.desktop, true)
+    // simulation wpi.deps.sim.ws_client(wpi.platforms.desktop, true)
+}
+
+// Simulation configuration (e.g. environment variables).
+sim {
+    // Sets the websocket client remote host.
+    // envVar "HALSIMWS_HOST", "10.0.0.2"
+}
+
+model {
+    components {
+        frcUserProgram(NativeExecutableSpec) {
+            targetPlatform wpi.platforms.roborio
+            if (includeDesktopSupport) {
+                targetPlatform wpi.platforms.desktop
+            }
+
+            sources.cpp {
+                source {
+                    srcDir 'src/main/cpp'
+                    include '**/*.cpp', '**/*.cc'
+                }
+                exportedHeaders {
+                    srcDir 'src/main/include'
+                    if (includeSrcInIncludeRoot) {
+                        srcDir 'src/main/cpp'
+                    }
+                }
+            }
+
+            // Defining my dependencies. In this case, WPILib (+ friends), and vendor libraries.
+            wpi.deps.vendor.cpp(it)
+            wpi.deps.wpilib(it)
+        }
+    }
+    testSuites {
+        frcUserProgramTest(GoogleTestTestSuiteSpec) {
+            testing $.components.frcUserProgram
+
+            sources.cpp {
+                source {
+                    srcDir 'src/test/cpp'
+                    include '**/*.cpp'
+                }
+            }
+
+            wpi.deps.vendor.cpp(it)
+            wpi.deps.wpilib(it)
+            wpi.deps.googleTest(it)
+        }
+    }
+}
diff --git a/2021 test code/gradle/wrapper/gradle-wrapper.jar b/2021 test code/gradle/wrapper/gradle-wrapper.jar
new file mode 100644
index 00000000..cc4fdc29
Binary files /dev/null and b/2021 test code/gradle/wrapper/gradle-wrapper.jar differ
diff --git a/2021 test code/gradle/wrapper/gradle-wrapper.properties b/2021 test code/gradle/wrapper/gradle-wrapper.properties
new file mode 100644
index 00000000..d050f177
--- /dev/null
+++ b/2021 test code/gradle/wrapper/gradle-wrapper.properties	
@@ -0,0 +1,5 @@
+distributionBase=GRADLE_USER_HOME
+distributionPath=permwrapper/dists
+distributionUrl=https\://services.gradle.org/distributions/gradle-6.0.1-bin.zip
+zipStoreBase=GRADLE_USER_HOME
+zipStorePath=permwrapper/dists
diff --git a/2021 test code/gradlew b/2021 test code/gradlew
new file mode 100644
index 00000000..2fe81a7d
--- /dev/null
+++ b/2021 test code/gradlew	
@@ -0,0 +1,183 @@
+#!/usr/bin/env sh
+
+#
+# Copyright 2015 the original author or 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.
+#
+
+##############################################################################
+##
+##  Gradle start up script for UN*X
+##
+##############################################################################
+
+# Attempt to set APP_HOME
+# Resolve links: $0 may be a link
+PRG="$0"
+# Need this for relative symlinks.
+while [ -h "$PRG" ] ; do
+    ls=`ls -ld "$PRG"`
+    link=`expr "$ls" : '.*-> \(.*\)$'`
+    if expr "$link" : '/.*' > /dev/null; then
+        PRG="$link"
+    else
+        PRG=`dirname "$PRG"`"/$link"
+    fi
+done
+SAVED="`pwd`"
+cd "`dirname \"$PRG\"`/" >/dev/null
+APP_HOME="`pwd -P`"
+cd "$SAVED" >/dev/null
+
+APP_NAME="Gradle"
+APP_BASE_NAME=`basename "$0"`
+
+# Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script.
+DEFAULT_JVM_OPTS='"-Xmx64m" "-Xms64m"'
+
+# Use the maximum available, or set MAX_FD != -1 to use that value.
+MAX_FD="maximum"
+
+warn () {
+    echo "$*"
+}
+
+die () {
+    echo
+    echo "$*"
+    echo
+    exit 1
+}
+
+# OS specific support (must be 'true' or 'false').
+cygwin=false
+msys=false
+darwin=false
+nonstop=false
+case "`uname`" in
+  CYGWIN* )
+    cygwin=true
+    ;;
+  Darwin* )
+    darwin=true
+    ;;
+  MINGW* )
+    msys=true
+    ;;
+  NONSTOP* )
+    nonstop=true
+    ;;
+esac
+
+CLASSPATH=$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: $JAVA_HOME
+
+Please set the JAVA_HOME variable in your environment to match the
+location of your Java installation."
+    fi
+else
+    JAVACMD="java"
+    which java >/dev/null 2>&1 || die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
+
+Please set the JAVA_HOME variable in your environment to match the
+location of your Java installation."
+fi
+
+# Increase the maximum file descriptors if we can.
+if [ "$cygwin" = "false" -a "$darwin" = "false" -a "$nonstop" = "false" ] ; then
+    MAX_FD_LIMIT=`ulimit -H -n`
+    if [ $? -eq 0 ] ; then
+        if [ "$MAX_FD" = "maximum" -o "$MAX_FD" = "max" ] ; then
+            MAX_FD="$MAX_FD_LIMIT"
+        fi
+        ulimit -n $MAX_FD
+        if [ $? -ne 0 ] ; then
+            warn "Could not set maximum file descriptor limit: $MAX_FD"
+        fi
+    else
+        warn "Could not query maximum file descriptor limit: $MAX_FD_LIMIT"
+    fi
+fi
+
+# For Darwin, add options to specify how the application appears in the dock
+if $darwin; then
+    GRADLE_OPTS="$GRADLE_OPTS \"-Xdock:name=$APP_NAME\" \"-Xdock:icon=$APP_HOME/media/gradle.icns\""
+fi
+
+# For Cygwin or MSYS, switch paths to Windows format before running java
+if [ "$cygwin" = "true" -o "$msys" = "true" ] ; then
+    APP_HOME=`cygpath --path --mixed "$APP_HOME"`
+    CLASSPATH=`cygpath --path --mixed "$CLASSPATH"`
+    JAVACMD=`cygpath --unix "$JAVACMD"`
+
+    # We build the pattern for arguments to be converted via cygpath
+    ROOTDIRSRAW=`find -L / -maxdepth 1 -mindepth 1 -type d 2>/dev/null`
+    SEP=""
+    for dir in $ROOTDIRSRAW ; do
+        ROOTDIRS="$ROOTDIRS$SEP$dir"
+        SEP="|"
+    done
+    OURCYGPATTERN="(^($ROOTDIRS))"
+    # Add a user-defined pattern to the cygpath arguments
+    if [ "$GRADLE_CYGPATTERN" != "" ] ; then
+        OURCYGPATTERN="$OURCYGPATTERN|($GRADLE_CYGPATTERN)"
+    fi
+    # Now convert the arguments - kludge to limit ourselves to /bin/sh
+    i=0
+    for arg in "$@" ; do
+        CHECK=`echo "$arg"|egrep -c "$OURCYGPATTERN" -`
+        CHECK2=`echo "$arg"|egrep -c "^-"`                                 ### Determine if an option
+
+        if [ $CHECK -ne 0 ] && [ $CHECK2 -eq 0 ] ; then                    ### Added a condition
+            eval `echo args$i`=`cygpath --path --ignore --mixed "$arg"`
+        else
+            eval `echo args$i`="\"$arg\""
+        fi
+        i=`expr $i + 1`
+    done
+    case $i in
+        0) set -- ;;
+        1) set -- "$args0" ;;
+        2) set -- "$args0" "$args1" ;;
+        3) set -- "$args0" "$args1" "$args2" ;;
+        4) set -- "$args0" "$args1" "$args2" "$args3" ;;
+        5) set -- "$args0" "$args1" "$args2" "$args3" "$args4" ;;
+        6) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" ;;
+        7) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" ;;
+        8) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" "$args7" ;;
+        9) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" "$args7" "$args8" ;;
+    esac
+fi
+
+# Escape application args
+save () {
+    for i do printf %s\\n "$i" | sed "s/'/'\\\\''/g;1s/^/'/;\$s/\$/' \\\\/" ; done
+    echo " "
+}
+APP_ARGS=`save "$@"`
+
+# Collect all arguments for the java command, following the shell quoting and substitution rules
+eval set -- $DEFAULT_JVM_OPTS $JAVA_OPTS $GRADLE_OPTS "\"-Dorg.gradle.appname=$APP_BASE_NAME\"" -classpath "\"$CLASSPATH\"" org.gradle.wrapper.GradleWrapperMain "$APP_ARGS"
+
+exec "$JAVACMD" "$@"
diff --git a/2021 test code/gradlew.bat b/2021 test code/gradlew.bat
new file mode 100644
index 00000000..9618d8d9
--- /dev/null
+++ b/2021 test code/gradlew.bat	
@@ -0,0 +1,100 @@
+@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
+
+@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=.
+set APP_BASE_NAME=%~n0
+set APP_HOME=%DIRNAME%
+
+@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%" == "0" goto init
+
+echo.
+echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
+echo.
+echo Please set the JAVA_HOME variable in your environment to match the
+echo location of your Java installation.
+
+goto fail
+
+:findJavaFromJavaHome
+set JAVA_HOME=%JAVA_HOME:"=%
+set JAVA_EXE=%JAVA_HOME%/bin/java.exe
+
+if exist "%JAVA_EXE%" goto init
+
+echo.
+echo ERROR: JAVA_HOME is set to an invalid directory: %JAVA_HOME%
+echo.
+echo Please set the JAVA_HOME variable in your environment to match the
+echo location of your Java installation.
+
+goto fail
+
+:init
+@rem Get command-line arguments, handling Windows variants
+
+if not "%OS%" == "Windows_NT" goto win9xME_args
+
+:win9xME_args
+@rem Slurp the command line arguments.
+set CMD_LINE_ARGS=
+set _SKIP=2
+
+:win9xME_args_slurp
+if "x%~1" == "x" goto execute
+
+set CMD_LINE_ARGS=%*
+
+:execute
+@rem Setup the command line
+
+set CLASSPATH=%APP_HOME%\gradle\wrapper\gradle-wrapper.jar
+
+@rem Execute Gradle
+"%JAVA_EXE%" %DEFAULT_JVM_OPTS% %JAVA_OPTS% %GRADLE_OPTS% "-Dorg.gradle.appname=%APP_BASE_NAME%" -classpath "%CLASSPATH%" org.gradle.wrapper.GradleWrapperMain %CMD_LINE_ARGS%
+
+:end
+@rem End local scope for the variables with windows NT shell
+if "%ERRORLEVEL%"=="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!
+if  not "" == "%GRADLE_EXIT_CONSOLE%" exit 1
+exit /b 1
+
+:mainEnd
+if "%OS%"=="Windows_NT" endlocal
+
+:omega
diff --git a/2021 test code/settings.gradle b/2021 test code/settings.gradle
new file mode 100644
index 00000000..0bc697ad
--- /dev/null
+++ b/2021 test code/settings.gradle	
@@ -0,0 +1,27 @@
+import org.gradle.internal.os.OperatingSystem
+
+pluginManagement {
+    repositories {
+        mavenLocal()
+        gradlePluginPortal()
+        String frcYear = '2021'
+        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
+        }
+    }
+}
diff --git a/2021 test code/src/main/cpp/Channel.cpp b/2021 test code/src/main/cpp/Channel.cpp
new file mode 100644
index 00000000..59c2c2b0
--- /dev/null
+++ b/2021 test code/src/main/cpp/Channel.cpp	
@@ -0,0 +1,17 @@
+#include "Channel.h"
+
+Channel::Channel()
+{
+
+}
+
+void Channel::periodic(Controls &controls)
+{
+    run(controls);
+}
+
+void Channel::run(Controls &controls)
+{
+    frontMotor.Set(ControlMode::PercentOutput, controls.intake() * -0.65); //test values
+    sideMotor.Set(ControlMode::PercentOutput, controls.intake() * -0.65); //test values, figure out sensor thing
+}
\ No newline at end of file
diff --git a/2021 test code/src/main/cpp/Controls.cpp b/2021 test code/src/main/cpp/Controls.cpp
new file mode 100644
index 00000000..e85d0482
--- /dev/null
+++ b/2021 test code/src/main/cpp/Controls.cpp	
@@ -0,0 +1,79 @@
+#include "Controls.h"
+
+Controls::Controls(controlMethod setMethod) : method{setMethod}, gamecube{setMethod - 1}, lJoy{setMethod * 2}, rJoy{setMethod + 1}
+{
+    //I know this is a horrible solution but I couldn't find a better one while still
+    //using an enum and I'm the only one using the gamecube so it should be fine
+}
+
+/**
+ * gets the input based on control method for throttle
+ */
+double Controls::throttle() 
+{ 
+    if(method == controlMethod::gamecubeController)
+    {
+        double value = -gamecube.GetRawAxis(1);
+        if (value > -0.08 || value < -0.28) 
+        { 
+            return value; 
+        } else {return 0;}
+    }else if (method == controlMethod::joysticks)
+    { 
+        return lJoy.GetY(); 
+    }else 
+    {
+        return 0;
+    }
+}
+/**
+ * gets the input based on control method for turn
+ */
+double Controls::turn() 
+{
+    if(method == controlMethod::gamecubeController)
+    {
+        double value = -gamecube.GetRawAxis(0);
+        if (value > 0.15 || value < -0.15) 
+        { 
+            return value; 
+        } else {return 0;} 
+    }else if(method == controlMethod::joysticks)
+    { 
+        return -rJoy.GetX(); 
+    }else 
+    {
+        return 0;
+    }
+    
+}
+
+bool Controls::readyShot() { return lJoy.GetTrigger(); } //unfished for gamecube
+bool Controls::shoot() { return rJoy.GetTrigger(); } //unfished for gamecube
+
+int Controls::intake() 
+{ 
+    if(method == controlMethod::gamecubeController)
+    {
+        return gamecube.GetRawButton(1) - gamecube.GetRawButton(2);
+    }else if(method == controlMethod::joysticks)
+    {
+        return lJoy.GetRawButton(3) - rJoy.GetRawButton(4);
+    }else 
+    {
+        return 0;
+    }
+}
+int Controls::deploy() { return lJoy.GetRawButton(2) - rJoy.GetRawButton(2); } //unfished for gamecube, probably don't need
+
+bool Controls::spinWheel() { return rJoy.GetRawButton(4); } //unfished for gamecube
+
+/*
+
+trigger 1 (check numbers)
+bottom 2
+left 3
+right 4
+other stuff
+
+*/
\ No newline at end of file
diff --git a/2021 test code/src/main/cpp/Drive.cpp b/2021 test code/src/main/cpp/Drive.cpp
new file mode 100644
index 00000000..0959722e
--- /dev/null
+++ b/2021 test code/src/main/cpp/Drive.cpp	
@@ -0,0 +1,32 @@
+#include "Drive.h"
+
+/**
+ * sets direction and slave master relationships
+ */
+Drive::Drive()
+{
+    leftM.SetInverted(TalonFXInvertType::CounterClockwise);
+    rightM.SetInverted(TalonFXInvertType::CounterClockwise);
+    leftS.SetInverted(TalonFXInvertType::FollowMaster);
+    rightS.SetInverted(TalonFXInvertType::CounterClockwise);
+
+    leftS.Follow(leftM);
+    rightS.Follow(rightM);
+}
+
+/**
+ * sets neutral mode and drives the robot
+ */
+void Drive::periodic(Controls& controls)
+{
+    leftM.SetNeutralMode(Brake);
+    leftS.SetNeutralMode(Brake);
+    rightM.SetNeutralMode(Brake);
+    rightS.SetNeutralMode(Brake);
+    driveSet.ArcadeDrive(controls.throttle(), controls.turn(), false);
+    
+}
+
+void Drive::drive(double throttle, double turn) { driveSet.ArcadeDrive(throttle, turn, false); }
+void Drive::autoDrive() { driveSet.ArcadeDrive(0.2, 0.0, false); }
+void Drive::stop() { driveSet.ArcadeDrive(0, 0, false); }
\ No newline at end of file
diff --git a/2021 test code/src/main/cpp/Intake.cpp b/2021 test code/src/main/cpp/Intake.cpp
new file mode 100644
index 00000000..f638f958
--- /dev/null
+++ b/2021 test code/src/main/cpp/Intake.cpp	
@@ -0,0 +1,70 @@
+#include "Intake.h"
+
+Intake::Intake()
+{
+    
+}
+
+/**
+ * right no just calls intake function
+ */
+void Intake::periodic(Controls &controls)
+{
+    intake(controls);
+    
+    /*switch(state)
+    {
+        case State::Intaking:
+            intake();
+            break;
+        case State::Unjamming:
+            unjam();
+            break;
+        case State::Idle:
+            intakeMotor.Set(ControlMode::PercentOutput, 0);
+            break;
+    }*/
+}
+
+/**
+ * sets the desired state for the intake
+ */
+void Intake::setState(Intake::State setState)
+{
+    state = setState;
+}
+
+/**
+ * sets the intake's motor speed based on control inputs, calls deploy function
+ */
+void Intake::intake(Controls &controls)
+{
+    if(controls.intake() != 0)
+    {
+        deploy();
+    }else
+    {
+        retract();
+    }
+    intakeMotor.Set(ControlMode::PercentOutput, controls.intake() * 0.65); //test powers
+}
+
+/**
+ * there is no motor or pneumatic to deploy the intake right now
+ */
+void Intake::deploy()
+{
+    if(isDeployed()/* || controls.deploy() == 0*/)
+        return;
+    //do something with pneumatics or motors
+    deployed = true;
+
+    
+}
+void Intake::retract()
+{
+    if(!isDeployed())
+        return;
+    //do something with pneumatics or motors
+    deployed = false;
+}
\ No newline at end of file
diff --git a/2021 test code/src/main/cpp/Limelight.cpp b/2021 test code/src/main/cpp/Limelight.cpp
new file mode 100644
index 00000000..4bfe2833
--- /dev/null
+++ b/2021 test code/src/main/cpp/Limelight.cpp	
@@ -0,0 +1,21 @@
+#include "Limelight.h"
+
+Limelight::Limelight() 
+{
+    table = nt::NetworkTableInstance::GetDefault().GetTable("limelight");
+}
+
+double Limelight::getX() { return table->GetNumber("tx", 100); }
+double Limelight::getY() { return table->GetNumber("ty", 100); }
+
+double Limelight::getDistance()
+{
+    //zero x?
+    double angle, y;
+    if((y = getY()) == 100)
+    {
+        return -1;
+    }
+    angle = y + VERTICAL_ANGLE_OFFSET;
+    return GOAL_HEIGHT / tan(angle);
+}
\ No newline at end of file
diff --git a/2021 test code/src/main/cpp/Robot.cpp b/2021 test code/src/main/cpp/Robot.cpp
new file mode 100644
index 00000000..fa218a42
--- /dev/null
+++ b/2021 test code/src/main/cpp/Robot.cpp	
@@ -0,0 +1,108 @@
+#include "Robot.h"
+#include <iostream>
+#include <frc/smartdashboard/SmartDashboard.h>
+
+/**
+ * nothing, mostly just use constructor instead
+ */
+void Robot::RobotInit() {}
+
+/**
+ * initiate robot, call subsystems' constructors
+ */
+Robot::Robot() : frc::TimedRobot{}, timer{}, controls{Controls::controlMethod::gamecubeController}, drive{}, intake{}, shoot{}
+{
+
+}
+
+/**
+ * This function is called every robot packet, no matter the mode. Use
+ * this for items like diagnostics that you want ran during disabled,
+ * autonomous, teleoperated and test.
+ *
+ * <p> This runs after the mode specific periodic functions, but before
+ * LiveWindow and SmartDashboard integrated updating.
+ */
+void Robot::RobotPeriodic() 
+{
+
+}
+
+/**
+ * This autonomous (along with the chooser code above) shows how to select
+ * between different autonomous modes using the dashboard. The sendable chooser
+ * code works with the Java SmartDashboard. If you prefer the LabVIEW Dashboard,
+ * remove all of the chooser code and uncomment the GetString line to get the
+ * auto name from the text box below the Gyro.
+ *
+ * You can add additional auto modes by adding additional comparisons to the
+ * if-else structure below with additional strings. If using the SendableChooser
+ * make sure to add them to the chooser code above as well.
+ */
+void Robot::AutonomousInit() 
+{
+    timer.Reset();
+    timer.Start();
+}
+void Robot::AutonomousPeriodic() 
+{
+    if (timer.Get() < 1)
+    {
+        drive.autoDrive();
+    }else
+    {
+        drive.stop();
+    }
+    
+}
+
+void Robot::TeleopInit() {}
+/**
+ * call subsystem periodics, probably other stuff later on
+ */
+void Robot::TeleopPeriodic() //I do like using a controls class, but passing it each time feels not right, is there a way to make like a global controls class
+{
+    timer.Stop();
+    drive.periodic(controls);
+    intake.periodic(controls);
+    channel.periodic(controls);
+
+    Shoot::state state = shoot.periodic(controls);
+    switch(state)
+    {
+        case Shoot::idle:
+            shoot.stop();
+            break;
+        case Shoot::aiming: //something about overriding drive?
+            drive.drive(0, shoot.horizontalAim());
+            //something with vertical hood
+            break;
+        case Shoot::shooting:
+            shoot.shootShot();
+            break;
+    }
+    
+}
+
+/**
+ * probably nothing, disabled shouldn't do anything
+ */
+void Robot::DisabledInit() {}
+/**
+ * probably nothing, don't want anybody dying when it's disabled
+ */
+void Robot::DisabledPeriodic() {}
+
+/**
+ * nothing, just test with main ones
+ */
+void Robot::TestInit() {}
+/**
+ * nothing, just test with main ones
+ */
+void Robot::TestPeriodic() {}
+
+#ifndef RUNNING_FRC_TESTS
+int main() { return frc::StartRobot<Robot>(); }
+#endif
+
diff --git a/2021 test code/src/main/cpp/Shoot.cpp b/2021 test code/src/main/cpp/Shoot.cpp
new file mode 100644
index 00000000..94a380e7
--- /dev/null
+++ b/2021 test code/src/main/cpp/Shoot.cpp	
@@ -0,0 +1,87 @@
+#include "Shoot.h"
+
+Shoot::Shoot() : limelight{}
+{
+    leftFly.SetInverted(TalonFXInvertType::Clockwise);   //TODO check for legit safety reasons
+    rightFly.SetInverted(TalonFXInvertType::CounterClockwise);
+
+    //shootS.Follow(shootM);
+}
+
+Shoot::state Shoot::periodic(Controls &controls)
+{
+    if(controls.readyShot())
+    {
+        if(controls.shoot())
+        {
+            currentState = Shoot::shooting;
+        }else
+        {
+            currentState = Shoot::aiming;
+        }
+    }else
+    {
+        currentState =  Shoot::idle;
+    }
+
+    return currentState;
+
+}
+
+void Shoot::spinUp(double speed)
+{
+
+    flywheelGroup.Set(speed); //PID?
+}
+
+void Shoot::stop()
+{
+    flywheelGroup.Set(0);
+    kicker.Set(0);
+    //something with hood
+}
+
+void Shoot::shootShot()
+{
+    kicker.Set(ControlMode::PercentOutput, 0.45); //TODO test value
+}
+
+double Shoot::horizontalAim() //TODO something with not finding a target
+{
+    double prevError, deltaError;
+    
+    prevError += hError;
+    hError = limelight.getX();
+    if( abs(hError) < 0.5 ) //TODO test this value, also is this need if I have a PID? I just don't think I can perfectly fix oscilations
+    {
+        return 0;
+    }
+    deltaError = hError - prevError;
+
+    double power = (aimTKp * hError) + (aimTKi * prevError) + (aimTKd * deltaError);
+
+    if (power < -0.85) power = -0.85;
+    if (power > 0.85) power = 0.85;
+
+    return power;
+}
+
+double Shoot::verticalAim()//TODO very unfinished
+{
+    double prevError, deltaError;
+    
+    prevError += vError;
+    //vError = something idk 
+    if( abs(vError) < 0.5 ) 
+    {
+        return 0;
+    }
+    deltaError = vError - prevError;
+
+    double power = (aimTKp * vError) + (aimTKi * prevError) + (aimTKd * deltaError);
+
+    if (power < -0.85) power = -0.85;
+    if (power > 0.85) power = 0.85;
+
+    return power;
+}
\ No newline at end of file
diff --git a/2021 test code/src/main/deploy/example.txt b/2021 test code/src/main/deploy/example.txt
new file mode 100644
index 00000000..68395391
--- /dev/null
+++ b/2021 test code/src/main/deploy/example.txt	
@@ -0,0 +1,4 @@
+Files placed in this directory will be deployed to the RoboRIO into the
+  'deploy' directory in the home folder. Use the 'frc::filesystem::GetDeployDirectory'
+  function from the 'frc/Filesystem.h' header to get a proper path relative to the deploy
+  directory.
\ No newline at end of file
diff --git a/2021 test code/src/main/include/Channel.h b/2021 test code/src/main/include/Channel.h
new file mode 100644
index 00000000..23f7c07e
--- /dev/null
+++ b/2021 test code/src/main/include/Channel.h	
@@ -0,0 +1,20 @@
+#pragma once
+
+#include "ctre/Phoenix.h"
+#include "frc/WPILib.h"
+#include <frc/Joystick.h>
+
+#include "Controls.h"
+
+class Channel
+{
+    public:
+        Channel();
+        void periodic(Controls &controls);
+        void run(Controls &controls);
+
+    private:
+        WPI_TalonSRX &frontMotor = *new WPI_TalonSRX(43);
+        WPI_TalonSRX &sideMotor = *new WPI_TalonSRX(44);
+
+};
\ No newline at end of file
diff --git a/2021 test code/src/main/include/Controls.h b/2021 test code/src/main/include/Controls.h
new file mode 100644
index 00000000..6a88ea4e
--- /dev/null
+++ b/2021 test code/src/main/include/Controls.h	
@@ -0,0 +1,33 @@
+#pragma once
+#include <frc/Joystick.h>
+#include "iostream"
+
+class Controls 
+{
+    public:
+        enum controlMethod
+        {
+            joysticks = 0,
+            gamecubeController = 1
+        };
+
+        Controls(controlMethod method);
+
+        double throttle();
+        double turn();
+
+        bool readyShot();
+        bool shoot();
+
+        int intake();
+        int deploy();
+
+        bool spinWheel();
+
+    private:
+        controlMethod method;
+        frc::Joystick gamecube;
+        frc::Joystick lJoy;
+        frc::Joystick rJoy;
+
+};
diff --git a/2021 test code/src/main/include/Drive.h b/2021 test code/src/main/include/Drive.h
new file mode 100644
index 00000000..d6b2c849
--- /dev/null
+++ b/2021 test code/src/main/include/Drive.h	
@@ -0,0 +1,51 @@
+#pragma once
+
+#include "ctre/Phoenix.h"
+#include "frc/WPILib.h"
+#include <frc/Joystick.h>
+#include <frc/SpeedControllerGroup.h>
+#include <frc/controller/PIDController.h>
+#include <frc/kinematics/DifferentialDriveKinematics.h>
+#include <frc/kinematics/DifferentialDriveOdometry.h>
+#include <frc/drive/DifferentialDrive.h>
+#include "Controls.h"
+#include <frc/SPI.h>
+#include <frc/kinematics/DifferentialDriveWheelSpeeds.h>
+#include <frc2/Timer.h>
+#include <units/units.h>
+#include "iostream"
+
+class Drive 
+{
+    public:
+        Drive();
+        void periodic(Controls& controls);
+        void autoDrive();
+        void drive(double throttle, double turn);
+        void stop();
+
+    private:
+        WPI_TalonFX &leftM = *new WPI_TalonFX(22);
+        WPI_TalonFX &leftS = *new WPI_TalonFX(21);
+        WPI_TalonFX &rightM = *new WPI_TalonFX(23);
+        WPI_TalonFX &rightS = *new WPI_TalonFX(24);
+        /*
+        25 - left flywheel
+        26 - right flywheel
+
+        2 - kicker
+        52 - hood
+        20 - intake
+        31 - wheel thing (not connected)
+        42 - connected to nothing (farthest towards the intake/right)
+        43 - serializer front (motor not connected)
+        44 - second section of serializer (motor not connected)
+        19 - connected to nothing
+
+        */
+
+        frc::SpeedControllerGroup leftGroup{leftM, leftS};
+        frc::SpeedControllerGroup rightGroup{rightM, rightS};
+        frc::DifferentialDrive driveSet{leftGroup, rightGroup};
+        
+};
diff --git a/2021 test code/src/main/include/Intake.h b/2021 test code/src/main/include/Intake.h
new file mode 100644
index 00000000..c5f4fc34
--- /dev/null
+++ b/2021 test code/src/main/include/Intake.h	
@@ -0,0 +1,34 @@
+#pragma once
+
+#include "ctre/Phoenix.h"
+#include "frc/WPILib.h"
+#include <frc/Joystick.h>
+
+#include "Controls.h"
+
+class Intake
+{
+    public: 
+        enum State //Here for if it is needed in the future, no use for it right now
+        {
+            Idle,
+            Intaking,
+            Unjamming
+        };
+
+        Intake();
+        void periodic(Controls &controls);
+        void setState(State state);
+
+        void intake(Controls &controls);
+        void deploy();
+        void retract();
+
+        bool isDeployed() {return deployed; };
+
+    private:
+        WPI_TalonSRX &intakeMotor = *new WPI_TalonSRX(20);
+        State state;
+        bool deployed = false;
+
+};
\ No newline at end of file
diff --git a/2021 test code/src/main/include/Limelight.h b/2021 test code/src/main/include/Limelight.h
new file mode 100644
index 00000000..e95bb23b
--- /dev/null
+++ b/2021 test code/src/main/include/Limelight.h	
@@ -0,0 +1,19 @@
+#include "networktables/NetworkTable.h"
+#include "networktables/NetworkTableInstance.h"
+#include <math.h>
+
+class Limelight{
+    public:
+        Limelight();
+        double getX();
+        double getY();
+        double getDistance();
+
+        const double VERTICAL_ANGLE_OFFSET = 0; //TODO measure values
+        const double VERTICAL_HEIGHT_OFFSET = 0; 
+        const double GOAL_HEIGHT = 0;
+
+    private:
+        std::shared_ptr<nt::NetworkTable> table; //TODO figure out what shared pointer is
+
+};
\ No newline at end of file
diff --git a/2021 test code/src/main/include/Robot.h b/2021 test code/src/main/include/Robot.h
new file mode 100644
index 00000000..007f13e4
--- /dev/null
+++ b/2021 test code/src/main/include/Robot.h	
@@ -0,0 +1,47 @@
+#pragma once
+
+#include <string>
+
+#include <frc/TimedRobot.h>
+#include <frc/smartdashboard/SendableChooser.h>
+#include <frc/Joystick.h>
+
+#include "Controls.h"
+#include "Drive.h"
+#include "Intake.h"
+#include "Channel.h"
+#include "Shoot.h"
+
+class Robot : public frc::TimedRobot {
+ public:
+
+  Robot();
+
+  void RobotInit() override;
+  void RobotPeriodic() override;
+
+  void AutonomousInit() override;
+  void AutonomousPeriodic() override;
+
+  void TeleopInit() override;
+  void TeleopPeriodic() override;
+
+  void DisabledInit() override;
+  void DisabledPeriodic() override;
+
+  void TestInit() override;
+  void TestPeriodic() override;
+
+ private:
+  /*frc::SendableChooser<std::string> m_chooser;
+  const std::string kAutoNameDefault = "Default";
+  const std::string kAutoNameCustom = "My Auto";
+  std::string m_autoSelected;*/
+
+  frc::Timer timer;
+  Controls controls;
+  Drive drive;
+  Intake intake;
+  Channel channel;
+  Shoot shoot;
+};
diff --git a/2021 test code/src/main/include/Shoot.h b/2021 test code/src/main/include/Shoot.h
new file mode 100644
index 00000000..8d46dc18
--- /dev/null
+++ b/2021 test code/src/main/include/Shoot.h	
@@ -0,0 +1,44 @@
+#pragma once
+
+#include <frc/TimedRobot.h>
+#include <frc/smartdashboard/SendableChooser.h>
+#include <frc/Joystick.h>
+#include "ctre/Phoenix.h"
+#include "frc/WPILib.h"
+#include <math.h>
+
+#include "Limelight.h"
+#include "Controls.h"
+
+class Shoot
+{
+    public:
+        enum state
+        {
+            aiming, shooting, idle
+        };
+        Shoot();
+        state periodic(Controls &controls);
+        void spinUp(double speed);
+        void shootShot();
+        void stop();
+        double horizontalAim();
+        double verticalAim();
+
+        const double aimTKi = 0.0; //TODO testing at some point
+        const double aimTKp = 0.0;
+        const double aimTKd = 0.0;
+        double hError = 0.0;
+        double vError = 0.0;
+        
+    private:
+        Limelight limelight;
+
+        WPI_TalonSRX &kicker = *new WPI_TalonSRX(2);
+        WPI_TalonFX &leftFly = *new WPI_TalonFX(25);
+        WPI_TalonFX &rightFly = *new WPI_TalonFX(26);
+
+        frc::SpeedControllerGroup flywheelGroup{leftFly, rightFly}; //hopefully they can go different directions
+        
+        state currentState;
+};
\ No newline at end of file
diff --git a/2021 test code/src/test/cpp/main.cpp b/2021 test code/src/test/cpp/main.cpp
new file mode 100644
index 00000000..b8b23d23
--- /dev/null
+++ b/2021 test code/src/test/cpp/main.cpp	
@@ -0,0 +1,10 @@
+#include <hal/HAL.h>
+
+#include "gtest/gtest.h"
+
+int main(int argc, char** argv) {
+  HAL_Initialize(500, 0);
+  ::testing::InitGoogleTest(&argc, argv);
+  int ret = RUN_ALL_TESTS();
+  return ret;
+}
diff --git a/2021 test code/vendordeps/Phoenix.json b/2021 test code/vendordeps/Phoenix.json
new file mode 100644
index 00000000..87f03cbf
--- /dev/null
+++ b/2021 test code/vendordeps/Phoenix.json	
@@ -0,0 +1,214 @@
+{
+    "fileName": "Phoenix.json",
+    "name": "CTRE-Phoenix",
+    "version": "5.19.4",
+    "uuid": "ab676553-b602-441f-a38d-f1296eff6537",
+    "mavenUrls": [
+        "https://devsite.ctr-electronics.com/maven/release/"
+    ],
+    "jsonUrl": "https://devsite.ctr-electronics.com/maven/release/com/ctre/phoenix/Phoenix-latest.json",
+    "javaDependencies": [
+        {
+            "groupId": "com.ctre.phoenix",
+            "artifactId": "api-java",
+            "version": "5.19.4"
+        },
+        {
+            "groupId": "com.ctre.phoenix",
+            "artifactId": "wpiapi-java",
+            "version": "5.19.4"
+        }
+    ],
+    "jniDependencies": [
+        {
+            "groupId": "com.ctre.phoenix",
+            "artifactId": "cci",
+            "version": "5.19.4",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "linuxathena"
+            ]
+        },
+        {
+            "groupId": "com.ctre.phoenix.sim",
+            "artifactId": "cci-sim",
+            "version": "5.19.4",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "osxx86-64"
+            ]
+        },
+        {
+            "groupId": "com.ctre.phoenix.sim",
+            "artifactId": "simTalonSRX",
+            "version": "5.19.4",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "osxx86-64"
+            ]
+        },
+        {
+            "groupId": "com.ctre.phoenix.sim",
+            "artifactId": "simVictorSPX",
+            "version": "5.19.4",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "osxx86-64"
+            ]
+        }
+    ],
+    "cppDependencies": [
+        {
+            "groupId": "com.ctre.phoenix",
+            "artifactId": "wpiapi-cpp",
+            "version": "5.19.4",
+            "libName": "CTRE_Phoenix_WPI",
+            "headerClassifier": "headers",
+            "sharedLibrary": false,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "linuxathena",
+                "windowsx86-64",
+                "linuxx86-64",
+                "osxx86-64"
+            ]
+        },
+        {
+            "groupId": "com.ctre.phoenix",
+            "artifactId": "api-cpp",
+            "version": "5.19.4",
+            "libName": "CTRE_Phoenix",
+            "headerClassifier": "headers",
+            "sharedLibrary": false,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "linuxathena",
+                "windowsx86-64",
+                "linuxx86-64",
+                "osxx86-64"
+            ]
+        },
+        {
+            "groupId": "com.ctre.phoenix",
+            "artifactId": "cci",
+            "version": "5.19.4",
+            "libName": "CTRE_PhoenixCCI",
+            "headerClassifier": "headers",
+            "sharedLibrary": false,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "linuxathena"
+            ]
+        },
+        {
+            "groupId": "com.ctre.phoenix.sim",
+            "artifactId": "cci-sim",
+            "version": "5.19.4",
+            "libName": "CTRE_PhoenixCCISim",
+            "headerClassifier": "headers",
+            "sharedLibrary": false,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "osxx86-64"
+            ]
+        },
+        {
+            "groupId": "com.ctre.phoenix",
+            "artifactId": "diagnostics",
+            "version": "5.19.4",
+            "libName": "CTRE_PhoenixDiagnostics",
+            "headerClassifier": "headers",
+            "sharedLibrary": false,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "linuxathena",
+                "windowsx86-64",
+                "linuxx86-64",
+                "osxx86-64"
+            ]
+        },
+        {
+            "groupId": "com.ctre.phoenix",
+            "artifactId": "canutils",
+            "version": "5.19.4",
+            "libName": "CTRE_PhoenixCanutils",
+            "headerClassifier": "headers",
+            "sharedLibrary": false,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "osxx86-64"
+            ]
+        },
+        {
+            "groupId": "com.ctre.phoenix",
+            "artifactId": "platform-sim",
+            "version": "5.19.4",
+            "libName": "CTRE_PhoenixPlatform",
+            "headerClassifier": "headers",
+            "sharedLibrary": false,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "osxx86-64"
+            ]
+        },
+        {
+            "groupId": "com.ctre.phoenix",
+            "artifactId": "core",
+            "version": "5.19.4",
+            "libName": "CTRE_PhoenixCore",
+            "headerClassifier": "headers",
+            "sharedLibrary": false,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "linuxathena",
+                "windowsx86-64",
+                "linuxx86-64",
+                "osxx86-64"
+            ]
+        },
+        {
+            "groupId": "com.ctre.phoenix.sim",
+            "artifactId": "simTalonSRX",
+            "version": "5.19.4",
+            "libName": "CTRE_SimTalonSRX",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "osxx86-64"
+            ]
+        },
+        {
+            "groupId": "com.ctre.phoenix.sim",
+            "artifactId": "simVictorSPX",
+            "version": "5.19.4",
+            "libName": "CTRE_SimVictorSPX",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "osxx86-64"
+            ]
+        }
+    ]
+}
\ No newline at end of file
diff --git a/2021 test code/vendordeps/WPILibNewCommands.json b/2021 test code/vendordeps/WPILibNewCommands.json
new file mode 100644
index 00000000..83de291e
--- /dev/null
+++ b/2021 test code/vendordeps/WPILibNewCommands.json	
@@ -0,0 +1,37 @@
+{
+    "fileName": "WPILibNewCommands.json",
+    "name": "WPILib-New-Commands",
+    "version": "2020.0.0",
+    "uuid": "111e20f7-815e-48f8-9dd6-e675ce75b266",
+    "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": [
+                "linuxathena",
+                "linuxraspbian",
+                "linuxaarch64bionic",
+                "windowsx86-64",
+                "windowsx86",
+                "linuxx86-64",
+                "osxx86-64"
+            ]
+        }
+    ]
+}
\ No newline at end of file
diff --git a/2021 test code/vendordeps/WPILibOldCommands.json b/2021 test code/vendordeps/WPILibOldCommands.json
new file mode 100644
index 00000000..7bdad212
--- /dev/null
+++ b/2021 test code/vendordeps/WPILibOldCommands.json	
@@ -0,0 +1,37 @@
+{
+  "fileName": "WPILibOldCommands.json",
+  "name": "WPILib-Old-Commands",
+  "version": "2020.0.0",
+  "uuid": "b066afc2-5c18-43c4-b758-43381fcb275e",
+  "mavenUrls": [],
+  "jsonUrl": "",
+  "javaDependencies": [
+      {
+          "groupId": "edu.wpi.first.wpilibOldCommands",
+          "artifactId": "wpilibOldCommands-java",
+          "version": "wpilib"
+      }
+  ],
+  "jniDependencies": [],
+  "cppDependencies": [
+      {
+          "groupId": "edu.wpi.first.wpilibOldCommands",
+          "artifactId": "wpilibOldCommands-cpp",
+          "version": "wpilib",
+          "libName": "wpilibOldCommands",
+          "headerClassifier": "headers",
+          "sourcesClassifier": "sources",
+          "sharedLibrary": true,
+          "skipInvalidPlatforms": true,
+          "binaryPlatforms": [
+              "linuxathena",
+              "linuxraspbian",
+              "linuxaarch64bionic",
+              "windowsx86-64",
+              "windowsx86",
+              "linuxx86-64",
+              "osxx86-64"
+          ]
+      }
+  ]
+}
diff --git a/2021 test code/vendordeps/navx_frc.json b/2021 test code/vendordeps/navx_frc.json
new file mode 100644
index 00000000..ad23f3b9
--- /dev/null
+++ b/2021 test code/vendordeps/navx_frc.json	
@@ -0,0 +1,35 @@
+{
+    "fileName": "navx_frc.json",
+    "name": "KauaiLabs_navX_FRC",
+    "version": "4.0.428",
+    "uuid": "cb311d09-36e9-4143-a032-55bb2b94443b",
+    "mavenUrls": [
+        "https://repo1.maven.org/maven2/"
+    ],
+    "jsonUrl": "https://www.kauailabs.com/dist/frc/2021/navx_frc.json",
+    "javaDependencies": [
+        {
+            "groupId": "com.kauailabs.navx.frc",
+            "artifactId": "navx-java",
+            "version": "4.0.428"
+        }
+    ],
+    "jniDependencies": [],
+    "cppDependencies": [
+        {
+            "groupId": "com.kauailabs.navx.frc",
+            "artifactId": "navx-cpp",
+            "version": "4.0.428",
+            "headerClassifier": "headers",
+            "sourcesClassifier": "sources",
+            "sharedLibrary": false,
+            "libName": "navx_frc",
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "linuxathena",
+                "linuxraspbian",
+                "windowsx86-64"
+            ]
+        }
+    ]
+}
\ No newline at end of file