From d120e2b1d6d68c7d59072b12b6c31fb2b3ced117 Mon Sep 17 00:00:00 2001
From: Rabbid59 <130868896+Rabbid59@users.noreply.github.com>
Date: Tue, 7 Apr 2026 17:00:09 -0700
Subject: [PATCH 1/2] 4/7 - Added Shot Compensation Commands

---
 src/main/java/frc/robot/BuildConstants.java   | 12 ++--
 src/main/java/frc/robot/RobotContainer.java   | 10 +--
 .../shooter/hood/HoodSubsystem.java           | 27 +++++++-
 vendordeps/AdvantageKit.json                  |  6 +-
 ...enix6-26.1.0.json => Phoenix6-26.1.3.json} | 62 +++++++++----------
 vendordeps/REVLib.json                        | 18 +++---
 vendordeps/photonlib.json                     | 12 ++--
 7 files changed, 84 insertions(+), 63 deletions(-)
 rename vendordeps/{Phoenix6-26.1.0.json => Phoenix6-26.1.3.json} (92%)

diff --git a/src/main/java/frc/robot/BuildConstants.java b/src/main/java/frc/robot/BuildConstants.java
index 24076b5..92af5fb 100644
--- a/src/main/java/frc/robot/BuildConstants.java
+++ b/src/main/java/frc/robot/BuildConstants.java
@@ -5,12 +5,12 @@ public final class BuildConstants {
   public static final String MAVEN_GROUP = "";
   public static final String MAVEN_NAME = "Code-2026";
   public static final String VERSION = "unspecified";
-  public static final int GIT_REVISION = 142;
-  public static final String GIT_SHA = "4fb583c31e5753e31de87fbdbbd55916f17e73f9";
-  public static final String GIT_DATE = "2026-04-04 15:52:37 EDT";
-  public static final String GIT_BRANCH = "test/2026/FullRobotV3";
-  public static final String BUILD_DATE = "2026-04-05 16:36:01 EDT";
-  public static final long BUILD_UNIX_TIME = 1775421361257L;
+  public static final int GIT_REVISION = 144;
+  public static final String GIT_SHA = "ed5c4acb30be119ccf1ebee35dda84bab265c54b";
+  public static final String GIT_DATE = "2026-04-07 02:03:10 EDT";
+  public static final String GIT_BRANCH = "test/2026/FinnTest";
+  public static final String BUILD_DATE = "2026-04-07 19:59:14 EDT";
+  public static final long BUILD_UNIX_TIME = 1775606354747L;
   public static final int DIRTY = 1;
 
   private BuildConstants() {}
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index c4a715b..b9cdb00 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -360,14 +360,10 @@ private void configureButtonBindings() {
                     swerveSubsystem)
                 .ignoringDisable(true));
 
-    driver.povUp().onTrue(Commands.runOnce(() -> hoodSubsystem.shotCompensation--, hoodSubsystem));
-    driver
-        .povDown()
-        .onTrue(Commands.runOnce(() -> hoodSubsystem.shotCompensation++, hoodSubsystem));
+    driver.povUp().onTrue(hoodSubsystem.decrementShotCompensationCommand());
+    driver.povDown().onTrue(hoodSubsystem.incrementShotCompensationCommand());
 
-    driver
-        .povLeft()
-        .onTrue(Commands.runOnce(() -> hoodSubsystem.shotCompensation = 0, hoodSubsystem));
+    driver.povLeft().onTrue(hoodSubsystem.resetShotCompensationCommand());
 
     driver.povRight().whileTrue(flywheelSubsystem.runDebuggingVelocityCommand());
 
diff --git a/src/main/java/frc/robot/subsystems/shooter/hood/HoodSubsystem.java b/src/main/java/frc/robot/subsystems/shooter/hood/HoodSubsystem.java
index a96a525..7e239db 100644
--- a/src/main/java/frc/robot/subsystems/shooter/hood/HoodSubsystem.java
+++ b/src/main/java/frc/robot/subsystems/shooter/hood/HoodSubsystem.java
@@ -21,7 +21,7 @@ public class HoodSubsystem extends FullSubsystem {
 
   private Alert masterDisconnected;
 
-  @AutoLogOutput public int shotCompensation = 0;
+  @AutoLogOutput private int shotCompensation = 0;
 
   /*
    * Defines all possible states for the hood. Each goal state has a DoubleSupplier arguement that updates from Robot State. Note: Only input static choices.
@@ -209,6 +209,19 @@ public Command stopCommand() {
     return runOnce(this::stop);
   }
 
+  // ----------------------------------SHOT COMPENSATION COMMANDS------------------------------//
+  public Command incrementShotCompensationCommand() {
+    return runOnce(() -> incrementShotCompensation());
+  }
+
+  public Command decrementShotCompensationCommand() {
+    return runOnce(() -> decrementShotCompensation());
+  }
+
+  public Command resetShotCompensationCommand() {
+    return runOnce(() -> resetShotCompensation());
+  }
+
   /**
    * Manual override command to run a specific velocity. Note: This bypasses the "state machine".
    */
@@ -219,4 +232,16 @@ public Command runSetAngularCommand(DoubleSupplier angle) {
   private void stop() {
     outputs.mode = HoodIOOutputMode.BRAKE;
   }
+
+  public void incrementShotCompensation() {
+    shotCompensation++;
+  }
+
+  public void decrementShotCompensation() {
+    shotCompensation--;
+  }
+
+  public void resetShotCompensation() {
+    shotCompensation = 0;
+  }
 }
diff --git a/vendordeps/AdvantageKit.json b/vendordeps/AdvantageKit.json
index 2faa4db..469ae54 100644
--- a/vendordeps/AdvantageKit.json
+++ b/vendordeps/AdvantageKit.json
@@ -1,7 +1,7 @@
 {
   "fileName": "AdvantageKit.json",
   "name": "AdvantageKit",
-  "version": "26.0.0",
+  "version": "26.0.2",
   "uuid": "d820cc26-74e3-11ec-90d6-0242ac120003",
   "frcYear": "2026",
   "mavenUrls": [
@@ -12,14 +12,14 @@
     {
       "groupId": "org.littletonrobotics.akit",
       "artifactId": "akit-java",
-      "version": "26.0.0"
+      "version": "26.0.2"
     }
   ],
   "jniDependencies": [
     {
       "groupId": "org.littletonrobotics.akit",
       "artifactId": "akit-wpilibio",
-      "version": "26.0.0",
+      "version": "26.0.2",
       "skipInvalidPlatforms": false,
       "isJar": false,
       "validPlatforms": [
diff --git a/vendordeps/Phoenix6-26.1.0.json b/vendordeps/Phoenix6-26.1.3.json
similarity index 92%
rename from vendordeps/Phoenix6-26.1.0.json
rename to vendordeps/Phoenix6-26.1.3.json
index 5d2d04d..f5da594 100644
--- a/vendordeps/Phoenix6-26.1.0.json
+++ b/vendordeps/Phoenix6-26.1.3.json
@@ -1,7 +1,7 @@
 {
-  "fileName": "Phoenix6-26.1.0.json",
+  "fileName": "Phoenix6-26.1.3.json",
   "name": "CTRE-Phoenix (v6)",
-  "version": "26.1.0",
+  "version": "26.1.3",
   "frcYear": "2026",
   "uuid": "e995de00-2c64-4df5-8831-c1441420ff19",
   "mavenUrls": [
@@ -19,14 +19,14 @@
     {
       "groupId": "com.ctre.phoenix6",
       "artifactId": "wpiapi-java",
-      "version": "26.1.0"
+      "version": "26.1.3"
     }
   ],
   "jniDependencies": [
     {
       "groupId": "com.ctre.phoenix6",
       "artifactId": "api-cpp",
-      "version": "26.1.0",
+      "version": "26.1.3",
       "isJar": false,
       "skipInvalidPlatforms": true,
       "validPlatforms": [
@@ -40,7 +40,7 @@
     {
       "groupId": "com.ctre.phoenix6",
       "artifactId": "tools",
-      "version": "26.1.0",
+      "version": "26.1.3",
       "isJar": false,
       "skipInvalidPlatforms": true,
       "validPlatforms": [
@@ -54,7 +54,7 @@
     {
       "groupId": "com.ctre.phoenix6.sim",
       "artifactId": "api-cpp-sim",
-      "version": "26.1.0",
+      "version": "26.1.3",
       "isJar": false,
       "skipInvalidPlatforms": true,
       "validPlatforms": [
@@ -68,7 +68,7 @@
     {
       "groupId": "com.ctre.phoenix6.sim",
       "artifactId": "tools-sim",
-      "version": "26.1.0",
+      "version": "26.1.3",
       "isJar": false,
       "skipInvalidPlatforms": true,
       "validPlatforms": [
@@ -82,7 +82,7 @@
     {
       "groupId": "com.ctre.phoenix6.sim",
       "artifactId": "simTalonSRX",
-      "version": "26.1.0",
+      "version": "26.1.3",
       "isJar": false,
       "skipInvalidPlatforms": true,
       "validPlatforms": [
@@ -96,7 +96,7 @@
     {
       "groupId": "com.ctre.phoenix6.sim",
       "artifactId": "simVictorSPX",
-      "version": "26.1.0",
+      "version": "26.1.3",
       "isJar": false,
       "skipInvalidPlatforms": true,
       "validPlatforms": [
@@ -110,7 +110,7 @@
     {
       "groupId": "com.ctre.phoenix6.sim",
       "artifactId": "simPigeonIMU",
-      "version": "26.1.0",
+      "version": "26.1.3",
       "isJar": false,
       "skipInvalidPlatforms": true,
       "validPlatforms": [
@@ -124,7 +124,7 @@
     {
       "groupId": "com.ctre.phoenix6.sim",
       "artifactId": "simProTalonFX",
-      "version": "26.1.0",
+      "version": "26.1.3",
       "isJar": false,
       "skipInvalidPlatforms": true,
       "validPlatforms": [
@@ -138,7 +138,7 @@
     {
       "groupId": "com.ctre.phoenix6.sim",
       "artifactId": "simProTalonFXS",
-      "version": "26.1.0",
+      "version": "26.1.3",
       "isJar": false,
       "skipInvalidPlatforms": true,
       "validPlatforms": [
@@ -152,7 +152,7 @@
     {
       "groupId": "com.ctre.phoenix6.sim",
       "artifactId": "simProCANcoder",
-      "version": "26.1.0",
+      "version": "26.1.3",
       "isJar": false,
       "skipInvalidPlatforms": true,
       "validPlatforms": [
@@ -166,7 +166,7 @@
     {
       "groupId": "com.ctre.phoenix6.sim",
       "artifactId": "simProPigeon2",
-      "version": "26.1.0",
+      "version": "26.1.3",
       "isJar": false,
       "skipInvalidPlatforms": true,
       "validPlatforms": [
@@ -180,7 +180,7 @@
     {
       "groupId": "com.ctre.phoenix6.sim",
       "artifactId": "simProCANrange",
-      "version": "26.1.0",
+      "version": "26.1.3",
       "isJar": false,
       "skipInvalidPlatforms": true,
       "validPlatforms": [
@@ -194,7 +194,7 @@
     {
       "groupId": "com.ctre.phoenix6.sim",
       "artifactId": "simProCANdi",
-      "version": "26.1.0",
+      "version": "26.1.3",
       "isJar": false,
       "skipInvalidPlatforms": true,
       "validPlatforms": [
@@ -208,7 +208,7 @@
     {
       "groupId": "com.ctre.phoenix6.sim",
       "artifactId": "simProCANdle",
-      "version": "26.1.0",
+      "version": "26.1.3",
       "isJar": false,
       "skipInvalidPlatforms": true,
       "validPlatforms": [
@@ -224,7 +224,7 @@
     {
       "groupId": "com.ctre.phoenix6",
       "artifactId": "wpiapi-cpp",
-      "version": "26.1.0",
+      "version": "26.1.3",
       "libName": "CTRE_Phoenix6_WPI",
       "headerClassifier": "headers",
       "sharedLibrary": true,
@@ -240,7 +240,7 @@
     {
       "groupId": "com.ctre.phoenix6",
       "artifactId": "tools",
-      "version": "26.1.0",
+      "version": "26.1.3",
       "libName": "CTRE_PhoenixTools",
       "headerClassifier": "headers",
       "sharedLibrary": true,
@@ -256,7 +256,7 @@
     {
       "groupId": "com.ctre.phoenix6.sim",
       "artifactId": "wpiapi-cpp-sim",
-      "version": "26.1.0",
+      "version": "26.1.3",
       "libName": "CTRE_Phoenix6_WPISim",
       "headerClassifier": "headers",
       "sharedLibrary": true,
@@ -272,7 +272,7 @@
     {
       "groupId": "com.ctre.phoenix6.sim",
       "artifactId": "tools-sim",
-      "version": "26.1.0",
+      "version": "26.1.3",
       "libName": "CTRE_PhoenixTools_Sim",
       "headerClassifier": "headers",
       "sharedLibrary": true,
@@ -288,7 +288,7 @@
     {
       "groupId": "com.ctre.phoenix6.sim",
       "artifactId": "simTalonSRX",
-      "version": "26.1.0",
+      "version": "26.1.3",
       "libName": "CTRE_SimTalonSRX",
       "headerClassifier": "headers",
       "sharedLibrary": true,
@@ -304,7 +304,7 @@
     {
       "groupId": "com.ctre.phoenix6.sim",
       "artifactId": "simVictorSPX",
-      "version": "26.1.0",
+      "version": "26.1.3",
       "libName": "CTRE_SimVictorSPX",
       "headerClassifier": "headers",
       "sharedLibrary": true,
@@ -320,7 +320,7 @@
     {
       "groupId": "com.ctre.phoenix6.sim",
       "artifactId": "simPigeonIMU",
-      "version": "26.1.0",
+      "version": "26.1.3",
       "libName": "CTRE_SimPigeonIMU",
       "headerClassifier": "headers",
       "sharedLibrary": true,
@@ -336,7 +336,7 @@
     {
       "groupId": "com.ctre.phoenix6.sim",
       "artifactId": "simProTalonFX",
-      "version": "26.1.0",
+      "version": "26.1.3",
       "libName": "CTRE_SimProTalonFX",
       "headerClassifier": "headers",
       "sharedLibrary": true,
@@ -352,7 +352,7 @@
     {
       "groupId": "com.ctre.phoenix6.sim",
       "artifactId": "simProTalonFXS",
-      "version": "26.1.0",
+      "version": "26.1.3",
       "libName": "CTRE_SimProTalonFXS",
       "headerClassifier": "headers",
       "sharedLibrary": true,
@@ -368,7 +368,7 @@
     {
       "groupId": "com.ctre.phoenix6.sim",
       "artifactId": "simProCANcoder",
-      "version": "26.1.0",
+      "version": "26.1.3",
       "libName": "CTRE_SimProCANcoder",
       "headerClassifier": "headers",
       "sharedLibrary": true,
@@ -384,7 +384,7 @@
     {
       "groupId": "com.ctre.phoenix6.sim",
       "artifactId": "simProPigeon2",
-      "version": "26.1.0",
+      "version": "26.1.3",
       "libName": "CTRE_SimProPigeon2",
       "headerClassifier": "headers",
       "sharedLibrary": true,
@@ -400,7 +400,7 @@
     {
       "groupId": "com.ctre.phoenix6.sim",
       "artifactId": "simProCANrange",
-      "version": "26.1.0",
+      "version": "26.1.3",
       "libName": "CTRE_SimProCANrange",
       "headerClassifier": "headers",
       "sharedLibrary": true,
@@ -416,7 +416,7 @@
     {
       "groupId": "com.ctre.phoenix6.sim",
       "artifactId": "simProCANdi",
-      "version": "26.1.0",
+      "version": "26.1.3",
       "libName": "CTRE_SimProCANdi",
       "headerClassifier": "headers",
       "sharedLibrary": true,
@@ -432,7 +432,7 @@
     {
       "groupId": "com.ctre.phoenix6.sim",
       "artifactId": "simProCANdle",
-      "version": "26.1.0",
+      "version": "26.1.3",
       "libName": "CTRE_SimProCANdle",
       "headerClassifier": "headers",
       "sharedLibrary": true,
diff --git a/vendordeps/REVLib.json b/vendordeps/REVLib.json
index bb613bf..e7a0655 100644
--- a/vendordeps/REVLib.json
+++ b/vendordeps/REVLib.json
@@ -1,7 +1,7 @@
 {
   "fileName": "REVLib.json",
   "name": "REVLib",
-  "version": "2026.0.1",
+  "version": "2026.0.5",
   "frcYear": "2026",
   "uuid": "3f48eb8c-50fe-43a6-9cb7-44c86353c4cb",
   "mavenUrls": [
@@ -12,14 +12,14 @@
     {
       "groupId": "com.revrobotics.frc",
       "artifactId": "REVLib-java",
-      "version": "2026.0.1"
+      "version": "2026.0.5"
     }
   ],
   "jniDependencies": [
     {
       "groupId": "com.revrobotics.frc",
       "artifactId": "REVLib-driver",
-      "version": "2026.0.1",
+      "version": "2026.0.5",
       "skipInvalidPlatforms": true,
       "isJar": false,
       "validPlatforms": [
@@ -34,7 +34,7 @@
     {
       "groupId": "com.revrobotics.frc",
       "artifactId": "RevLibBackendDriver",
-      "version": "2026.0.1",
+      "version": "2026.0.5",
       "skipInvalidPlatforms": true,
       "isJar": false,
       "validPlatforms": [
@@ -49,7 +49,7 @@
     {
       "groupId": "com.revrobotics.frc",
       "artifactId": "RevLibWpiBackendDriver",
-      "version": "2026.0.1",
+      "version": "2026.0.5",
       "skipInvalidPlatforms": true,
       "isJar": false,
       "validPlatforms": [
@@ -66,7 +66,7 @@
     {
       "groupId": "com.revrobotics.frc",
       "artifactId": "REVLib-cpp",
-      "version": "2026.0.1",
+      "version": "2026.0.5",
       "libName": "REVLib",
       "headerClassifier": "headers",
       "sharedLibrary": false,
@@ -83,7 +83,7 @@
     {
       "groupId": "com.revrobotics.frc",
       "artifactId": "REVLib-driver",
-      "version": "2026.0.1",
+      "version": "2026.0.5",
       "libName": "REVLibDriver",
       "headerClassifier": "headers",
       "sharedLibrary": false,
@@ -100,7 +100,7 @@
     {
       "groupId": "com.revrobotics.frc",
       "artifactId": "RevLibBackendDriver",
-      "version": "2026.0.1",
+      "version": "2026.0.5",
       "libName": "BackendDriver",
       "sharedLibrary": true,
       "skipInvalidPlatforms": true,
@@ -116,7 +116,7 @@
     {
       "groupId": "com.revrobotics.frc",
       "artifactId": "RevLibWpiBackendDriver",
-      "version": "2026.0.1",
+      "version": "2026.0.5",
       "libName": "REVLibWpi",
       "sharedLibrary": true,
       "skipInvalidPlatforms": true,
diff --git a/vendordeps/photonlib.json b/vendordeps/photonlib.json
index b0ac8fb..dacedf9 100644
--- a/vendordeps/photonlib.json
+++ b/vendordeps/photonlib.json
@@ -1,7 +1,7 @@
 {
   "fileName": "photonlib.json",
   "name": "photonlib",
-  "version": "v2026.1.1",
+  "version": "v2026.3.3",
   "uuid": "515fe07e-bfc6-11fa-b3de-0242ac130004",
   "frcYear": "2026",
   "mavenUrls": [
@@ -13,7 +13,7 @@
     {
       "groupId": "org.photonvision",
       "artifactId": "photontargeting-cpp",
-      "version": "v2026.1.1",
+      "version": "v2026.3.3",
       "skipInvalidPlatforms": true,
       "isJar": false,
       "validPlatforms": [
@@ -28,7 +28,7 @@
     {
       "groupId": "org.photonvision",
       "artifactId": "photonlib-cpp",
-      "version": "v2026.1.1",
+      "version": "v2026.3.3",
       "libName": "photonlib",
       "headerClassifier": "headers",
       "sharedLibrary": true,
@@ -43,7 +43,7 @@
     {
       "groupId": "org.photonvision",
       "artifactId": "photontargeting-cpp",
-      "version": "v2026.1.1",
+      "version": "v2026.3.3",
       "libName": "photontargeting",
       "headerClassifier": "headers",
       "sharedLibrary": true,
@@ -60,12 +60,12 @@
     {
       "groupId": "org.photonvision",
       "artifactId": "photonlib-java",
-      "version": "v2026.1.1"
+      "version": "v2026.3.3"
     },
     {
       "groupId": "org.photonvision",
       "artifactId": "photontargeting-java",
-      "version": "v2026.1.1"
+      "version": "v2026.3.3"
     }
   ]
 }

From db029cfcf1197c9592db3ccb929bbd2e2da3e3b1 Mon Sep 17 00:00:00 2001
From: Rabbid59 <130868896+Rabbid59@users.noreply.github.com>
Date: Tue, 14 Apr 2026 19:23:11 -0700
Subject: [PATCH 2/2] 4/14 Updated BuildConstants fix?

---
 src/main/java/frc/robot/BuildConstants.java | 14 +++++++-------
 1 file changed, 7 insertions(+), 7 deletions(-)

diff --git a/src/main/java/frc/robot/BuildConstants.java b/src/main/java/frc/robot/BuildConstants.java
index 92af5fb..c2dba55 100644
--- a/src/main/java/frc/robot/BuildConstants.java
+++ b/src/main/java/frc/robot/BuildConstants.java
@@ -5,13 +5,13 @@ public final class BuildConstants {
   public static final String MAVEN_GROUP = "";
   public static final String MAVEN_NAME = "Code-2026";
   public static final String VERSION = "unspecified";
-  public static final int GIT_REVISION = 144;
-  public static final String GIT_SHA = "ed5c4acb30be119ccf1ebee35dda84bab265c54b";
-  public static final String GIT_DATE = "2026-04-07 02:03:10 EDT";
-  public static final String GIT_BRANCH = "test/2026/FinnTest";
-  public static final String BUILD_DATE = "2026-04-07 19:59:14 EDT";
-  public static final long BUILD_UNIX_TIME = 1775606354747L;
+  public static final int GIT_REVISION = 158;
+  public static final String GIT_SHA = "b6c923628e233616407657cfb9223cd528923c30";
+  public static final String GIT_DATE = "2026-04-13 01:23:41 EDT";
+  public static final String GIT_BRANCH = "test/2026/FullRobotV3";
+  public static final String BUILD_DATE = "2026-04-13 23:35:41 EDT";
+  public static final long BUILD_UNIX_TIME = 1776137741238L;
   public static final int DIRTY = 1;
 
   private BuildConstants() {}
-}
+}
\ No newline at end of file