Upgrade to wpilib alpha-6 (#2434)

Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com> Co-authored-by: Ryanforce08 <rradtke1208@gmail.com> Co-authored-by: PJ Reiniger <pj.reiniger@gmail.com> Co-authored-by: Jade Turner <spacey-sooty@proton.me> Co-authored-by: Matt Morley <matthew.morley.ca@gmail.com>
2026-06-19 00:41:41 +00:00 · 2026-05-26 21:47:48 -04:00
parent d3de87f72b
commit e9006a2803
97 changed files with 732 additions and 1139 deletions
--- a/.github/workflows/build.yml
+++ b/.github/workflows/build.yml
@@ -62,7 +62,7 @@ jobs:
  #           name: maven-${{ matrix.artifact-name }}
  #       - uses: actions/download-artifact@v7
  #         with:
-  #         name: maven-Athena
+  #           name: maven-SystemCore
  #       - name: Move to maven local
  #         run: |
  #           mkdir -p ~/.m2/repository/
@@ -237,9 +237,9 @@ jobs:
      fail-fast: false
      matrix:
        include:
-#          - os: windows-2022
-#            artifact-name: Win64
-          - os: macos-15  # TODO: Restore to macos-26 with WPILib alpha-6
+         - os: windows-2022
+           artifact-name: Win64
+         - os: macos-26
           artifact-name: macOS
         - os: ubuntu-24.04
           artifact-name: Linux
@@ -345,7 +345,7 @@ jobs:
        include:
          - os: ubuntu-24.04
            artifact-name: Linux
-            arch-override: linuxx64
+            arch-override: linuxx86-64
          - os: ubuntu-24.04
            artifact-name: LinuxArm64
            arch-override: linuxarm64
@@ -401,7 +401,7 @@ jobs:
            arch-override: macarm64
          - os: macos-latest
            artifact-name: macOS
-            arch-override: macx64
+            arch-override: macx86-64

    runs-on: ${{ matrix.os }}
    name: "Build fat JAR - ${{ matrix.artifact-name }}"
@@ -416,8 +416,8 @@ jobs:
      matrix:
        include:
          - os: windows-latest
-            artifact-name: Win64
-            arch-override: winx64
+            artifact-name: Win
+            arch-override: winx86-64

    runs-on: ${{ matrix.os }}
    name: "Build fat JAR - ${{ matrix.artifact-name }}"
@@ -432,10 +432,10 @@ jobs:
      matrix:
        include:
          - os: ubuntu-24.04
-            artifact-name: photonvision-*-linuxx64.jar
+            artifact-name: photonvision-*-linuxx86-64.jar
            extraOpts: -Djdk.lang.Process.launchMechanism=vfork
          - os: windows-latest
-            artifact-name: photonvision-*-winx64.jar
+            artifact-name: photonvision-*-winx86-64.jar
          - os: macos-latest
            artifact-name: photonvision-*-macarm64.jar
          - os: ubuntu-24.04-arm
--- a/.github/workflows/python.yml
+++ b/.github/workflows/python.yml
@@ -12,134 +12,136 @@ concurrency:
  cancel-in-progress: true

 jobs:
-#  build-py:
-#    runs-on: ubuntu-24.04
-#
-#    steps:
-#      - name: Checkout code
-#        uses: actions/checkout@v6
-#        with:
-#          fetch-depth: 0
-#
-#      - name: Set up Python
-#        uses: actions/setup-python@v6
-#        with:
-#          python-version: 3.14
-#
-#      - name: Install dependencies
-#        run: |
-#          python -m pip install --upgrade pip
-#          pip install setuptools wheel
-#
-#      - name: Build wheel
-#        working-directory: ./photon-lib/py
-#        run: python setup.py sdist bdist_wheel
-#
-#      - name: Upload artifacts
-#        uses: actions/upload-artifact@v7
-#        with:
-#          name: dist
-#          path: ./photon-lib/py/dist/
-#
-#  test-py:
-#    needs: build-py
-#    runs-on: ubuntu-24.04
-#
-#    steps:
-#      - name: Checkout code
-#        uses: actions/checkout@v6
-#        with:
-#          fetch-depth: 0
-#
-#      - name: Set up Python
-#        uses: actions/setup-python@v6
-#        with:
-#          python-version: 3.14
-#
-#      - name: Install dependencies
-#        run: |
-#          python -m pip install --upgrade pip
-#          pip install pytest mypy
-#
-#      - name: Download artifacts
-#        uses: actions/download-artifact@v8
-#        with:
-#          name: dist
-#          path: dist/
-#
-#      - name: Install package
-#        shell: bash
-#        run: pip install --no-cache-dir dist/*.whl
-#
-#      - name: Run Unit Tests
-#        shell: bash
-#        run: pytest --import-mode=importlib photon-lib/py/test/
-#
-#      - name: Run mypy type checking
-#        run: mypy --show-column-numbers --config-file photon-lib/py/pyproject.toml photon-lib
-#
-#  build-python-examples:
-#    needs: build-py
-#    strategy:
-#      matrix:
-#        os: [ubuntu-24.04, windows-2022, macos-14]
-#    runs-on: ${{ matrix.os }}
-#
-#    steps:
-#
-#      - name: Checkout code
-#        uses: actions/checkout@v6
-#        with:
-#          fetch-depth: 0
-#
-#      - name: Set up Python
-#        uses: actions/setup-python@v6
-#        with:
-#          python-version: 3.14
-#
-#      - name: Install dependencies
-#        run: |
-#          python -m pip install --upgrade pip
-#
-#      - name: Download artifacts
-#        uses: actions/download-artifact@v8
-#        with:
-#          name: dist
-#          path: ./photon-lib/py/dist/
-#
-#      - name: Install PhotonLibPy package
-#        working-directory: ./photon-lib/py
-#        shell: bash
-#        run: |
-#            pip install --no-cache-dir dist/*.whl
-#
-#      - name: Build Python examples
-#        working-directory: photonlib-python-examples
-#        shell: bash
-#        run: |
-#          for folder in */;
-#          do
-#            echo $folder
-#            ./run.sh $folder
-#          done
-#
-#  deploy:
-#    needs: [test-py, build-python-examples]
-#    runs-on: ubuntu-24.04
-#    # Only upload on tags
-#    if: startsWith(github.ref, 'refs/tags/v')
-#
-#    steps:
-#      - name: Download artifacts
-#        uses: actions/download-artifact@v8
-#        with:
-#          name: dist
-#          path: dist/
-#
-#      - name: Publish package distributions to PyPI
-#        uses: pypa/gh-action-pypi-publish@release/v1
-#        with:
-#          packages-dir: ./dist/
-#
-#    permissions:
-#      id-token: write  # IMPORTANT: this permission is mandatory for trusted publishing
+  build-py:
+    runs-on: ubuntu-24.04
+
+    steps:
+      - name: Checkout code
+        uses: actions/checkout@v6
+        with:
+          fetch-depth: 0
+
+      - name: Set up Python
+        uses: actions/setup-python@v6
+        with:
+          python-version: 3.14
+
+      - name: Install dependencies
+        run: |
+          python -m pip install --upgrade pip
+          pip install setuptools wheel
+
+      - name: Build wheel
+        working-directory: ./photon-lib/py
+        run: python setup.py sdist bdist_wheel
+
+      - name: Upload artifacts
+        uses: actions/upload-artifact@v7
+        with:
+          name: dist
+          path: ./photon-lib/py/dist/
+
+  test-py:
+    needs: build-py
+    runs-on: ubuntu-24.04
+
+    steps:
+      - name: Checkout code
+        uses: actions/checkout@v6
+        with:
+          fetch-depth: 0
+
+      - name: Set up Python
+        uses: actions/setup-python@v6
+        with:
+          python-version: 3.14
+
+      - name: Install dependencies
+        run: |
+          python -m pip install --upgrade pip
+          pip install pytest mypy
+
+      - name: Download artifacts
+        uses: actions/download-artifact@v8
+        with:
+          name: dist
+          path: dist/
+
+      - name: Install package
+        shell: bash
+        run: pip install --no-cache-dir dist/*.whl
+
+      - name: Run Unit Tests
+        shell: bash
+        run: pytest --import-mode=importlib photon-lib/py/test/
+
+      - name: Run mypy type checking
+        run: mypy --show-column-numbers --config-file photon-lib/py/pyproject.toml photon-lib
+
+  # build-python-examples:
+  #   needs: build-py
+  #   strategy:
+  #     matrix:
+  #       os: [ubuntu-24.04, windows-2022, macos-14]
+  #   runs-on: ${{ matrix.os }}
+
+  #   steps:
+
+  #     - name: Checkout code
+  #       uses: actions/checkout@v6
+  #       with:
+  #         fetch-depth: 0
+
+  #     - name: Set up Python
+  #       uses: actions/setup-python@v6
+  #       with:
+  #         python-version: 3.14
+
+  #     - name: Install dependencies
+  #       run: |
+  #         python -m pip install --upgrade pip
+  #         python -m pip install mypy
+
+  #     - name: Download artifacts
+  #       uses: actions/download-artifact@v8
+  #       with:
+  #         name: dist
+  #         path: ./photon-lib/py/dist/
+
+  #     - name: Install PhotonLibPy package
+  #       working-directory: ./photon-lib/py
+  #       shell: bash
+  #       run: |
+  #           pip install --no-cache-dir dist/*.whl
+
+  #     - name: Build Python examples
+  #       working-directory: photonlib-python-examples
+  #       shell: bash
+  #       run: |
+  #         for folder in */;
+  #         do
+  #           echo $folder
+  #           ./run.sh $folder
+  #         done
+
+  deploy:
+    # TODO: BRING BACK PYTHON EXAMPLES
+    needs: [test-py]
+    runs-on: ubuntu-24.04
+    # Only upload on tags
+    if: startsWith(github.ref, 'refs/tags/v')
+
+    steps:
+      - name: Download artifacts
+        uses: actions/download-artifact@v8
+        with:
+          name: dist
+          path: dist/
+
+      - name: Publish package distributions to PyPI
+        uses: pypa/gh-action-pypi-publish@release/v1
+        with:
+          packages-dir: ./dist/
+
+    permissions:
+      id-token: write  # IMPORTANT: this permission is mandatory for trusted publishing
--- a/README.md
+++ b/README.md
@@ -32,11 +32,11 @@ You can run one of the many built in examples straight from the command line, to
 Note that these are case sensitive!

 * `-PArchOverride=foobar`: builds for a target system other than your current architecture. [Valid overrides](https://github.com/wpilibsuite/wpilib-tool-plugin/blob/main/src/main/java/edu/wpi/first/tools/NativePlatforms.java) are:
-    * winx64
+    * winx86-64
    * winarm64
-    * macx64
+    * macx86-64
    * macarm64
-    * linuxx64
+    * linuxx86-64
    * linuxarm64
    * linuxathena
 - `-PtgtIP`: Specifies where `./gradlew deploy` should try to copy the fat JAR to
--- a/build.gradle
+++ b/build.gradle
@@ -4,9 +4,9 @@ plugins {
    id "cpp"
    id "com.diffplug.spotless" version "8.1.0"
    id "org.wpilib.WPILibRepositoriesPlugin" version "2027.0.0"
-    id 'org.wpilib.NativeUtils' version '2027.5.1' apply false
+    id 'org.wpilib.NativeUtils' version '2027.7.1' apply false
    id 'org.wpilib.DeployUtils' version '2027.1.0' apply false
-    id 'org.photonvision.tools.WpilibTools' version '3.0.0-photon'
+    id 'org.photonvision.tools.WpilibTools' version 'v5.0.1'
    id 'com.google.protobuf' version '0.9.5' apply false
    id 'org.wpilib.GradleJni' version '2027.0.0'
    id "org.ysb33r.doxygen" version "2.0.0" apply false
@@ -30,27 +30,21 @@ allprojects {
 ext.localMavenURL = file("$project.buildDir/outputs/maven")
 ext.allOutputsFolder = file("$project.buildDir/outputs")

-// Configure the version number.
-apply from: "versioningHelper.gradle"
-
 ext {
-    wpilibVersion = "2027.0.0-alpha-4"
-    wpimathVersion = wpilibVersion
-    openCVYear = "2025"
-    openCVversion = "4.10.0-3"
+    wpilibVersion = "2027.0.0-alpha-6"
+    openCVversion = "2027-4.13.0-3"
    ejmlVersion = "0.43.1";
-    jacksonVersion = "2.15.2";
    avajeJsonbVersion = "3.14-RC4";
    msgpackVersion = "0.9.0";
    quickbufVersion = "1.3.3";
    jacocoVersion = "0.8.14";

    javalinVersion = "6.7.0"
-    libcameraDriverVersion = "dev-v2026.0.0-2-gef3d7a0"
-    rknnVersion = "dev-v2026.0.1-1-g89b2888"
-    rubikVersion = "dev-v2026.0.1-4-g13d6279"
-    frcYear = "2027_alpha4"
-    mrcalVersion = "v2027.0.1";
+    libcameraDriverVersion = "v2027.0.0-alpha-1"
+    rknnVersion = "dev-v2026.0.1-3-g14c3ecb"
+    tfliteVersion = "v2027.0.2-alpha-1"
+    year = "2027_alpha5"
+    mrcalVersion = "v2027.0.2";

    pubVersion = versionString
    isDev = pubVersion.startsWith("dev")
--- a/docs/source/docs/advanced-installation/sw_install/linux-pc.md
+++ b/docs/source/docs/advanced-installation/sw_install/linux-pc.md
@@ -25,7 +25,7 @@ Go to the [GitHub releases page](https://github.com/PhotonVision/photonvision/re
 :::{note}
 If your coprocessor has a 64 bit ARM based CPU architecture (OrangePi, Raspberry Pi, etc.), download the LinuxArm64.jar file.

-If your coprocessor has an 64 bit x86 based CPU architecture (Mini PC, laptop, etc.), download the Linuxx64.jar file.
+If your coprocessor has an 64 bit x86 based CPU architecture (Mini PC, laptop, etc.), download the Linuxx86-64.jar file.
 :::

 :::{warning}
--- a/docs/source/docs/advanced-installation/sw_install/windows-pc.md
+++ b/docs/source/docs/advanced-installation/sw_install/windows-pc.md
@@ -16,7 +16,7 @@ PhotonVision requires a JDK installed and on the system path. **JDK 17 is needed

 ## Downloading the Latest Stable Release of PhotonVision

-Go to the [GitHub releases page](https://github.com/PhotonVision/photonvision/releases) and download the winx64.jar file.
+Go to the [GitHub releases page](https://github.com/PhotonVision/photonvision/releases) and download the winx86-64.jar file.

 ## Running PhotonVision

--- a/docs/source/docs/contributing/design-descriptions/e2e-latency.md
+++ b/docs/source/docs/contributing/design-descriptions/e2e-latency.md
@@ -79,9 +79,9 @@ public class Robot extends TimedRobot {
                camera.getAllUnreadResults();
            }

-            var t1 = Timer.getFPGATimestamp();
+            var t1 = Timer.getMonotonicTimestamp();
            light.set(true);
-            var t2 = Timer.getFPGATimestamp();
+            var t2 = Timer.getMonotonicTimestamp();


            for (int i = 0; i < 100; i++) {
--- a/photon-core/build.gradle
+++ b/photon-core/build.gradle
@@ -28,7 +28,7 @@ dependencies {
    wpilibNatives wpilibTools.deps.wpilib("cscore")
    wpilibNatives wpilibTools.deps.wpilib("apriltag")
    wpilibNatives wpilibTools.deps.wpilib("hal")
-    wpilibNatives wpilibTools.deps.wpilibOpenCv("frc" + openCVYear, openCVversion)
+    wpilibNatives wpilibTools.deps.wpilibOpenCv(openCVversion)

    // These stay as implementation dependencies since they don't have native code that gets packaged
    implementation 'org.zeroturnaround:zt-zip:1.14'
@@ -41,7 +41,7 @@ dependencies {
        wpilibNatives("org.photonvision:rknn_jni-jni:$rknnVersion:$jniPlatform") {
            transitive = false
        }
-        wpilibNatives("org.photonvision:rubik_jni-jni:$rubikVersion:$jniPlatform") {
+        wpilibNatives("org.photonvision:tflite_jni-jni:$tfliteVersion:$jniPlatform") {
            transitive = false
        }
        wpilibNatives("org.photonvision:photon-libcamera-gl-driver-jni:$libcameraDriverVersion:$jniPlatform") {
@@ -49,11 +49,17 @@ dependencies {
        }
    }

+    if (jniPlatform == "linuxx86-64") {
+        wpilibNatives("org.photonvision:tflite_jni-jni:$tfliteVersion:$jniPlatform") {
+            transitive = false
+        }
+    }
+
    implementation("org.photonvision:rknn_jni-java:$rknnVersion") {
        transitive = false
    }

-    implementation("org.photonvision:rubik_jni-java:$rubikVersion") {
+    implementation("org.photonvision:tflite_jni-java:$tfliteVersion") {
        transitive = false
    }

--- a/photon-core/src/main/java/org/photonvision/common/LoadJNI.java
+++ b/photon-core/src/main/java/org/photonvision/common/LoadJNI.java
@@ -26,7 +26,7 @@ public class LoadJNI {
    private static HashMap<JNITypes, Boolean> loadedMap = new HashMap<>();

    public enum JNITypes {
-        RUBIK_DETECTOR("tensorflowlite", "tensorflowlite_c", "external_delegate", "rubik_jni"),
+        RUBIK_DETECTOR("tflite_jni"),
        RKNN_DETECTOR("rga", "rknnrt", "rknn_jni"),
        MRCAL("mrcal_jni"),
        LIBCAMERA("photonlibcamera");
--- a/photon-core/src/main/java/org/photonvision/common/dataflow/networktables/NTDataChangeListener.java
+++ b/photon-core/src/main/java/org/photonvision/common/dataflow/networktables/NTDataChangeListener.java
@@ -36,7 +36,7 @@ public class NTDataChangeListener {
        this.instance = instance;
        listenerID =
                this.instance.addListener(
-                        watchedEntry, EnumSet.of(NetworkTableEvent.Kind.kValueAll), dataChangeConsumer);
+                        watchedEntry, EnumSet.of(NetworkTableEvent.Kind.VALUE_ALL), dataChangeConsumer);
    }

    public void remove() {
--- a/photon-core/src/main/java/org/photonvision/common/dataflow/networktables/NTDriverStation.java
+++ b/photon-core/src/main/java/org/photonvision/common/dataflow/networktables/NTDriverStation.java
@@ -68,9 +68,9 @@ public class NTDriverStation {

        fmsTable.addListener(
                "FMSControlData",
-                EnumSet.of(Kind.kValueAll),
+                EnumSet.of(Kind.VALUE_ALL),
                (table, key, event) -> {
-                    if (event.is(Kind.kValueAll) && event.valueData.value.isInteger()) {
+                    if (event.is(Kind.VALUE_ALL) && event.valueData.value.isInteger()) {
                        // Logger totally isnt thread safe but whatevs
                        var word = NTDriverStation.getControlWord(event.valueData.value.getInteger());

--- a/photon-core/src/main/java/org/photonvision/common/dataflow/networktables/NetworkTablesManager.java
+++ b/photon-core/src/main/java/org/photonvision/common/dataflow/networktables/NetworkTablesManager.java
@@ -86,11 +86,11 @@ public class NetworkTablesManager {

    private NetworkTablesManager() {
        ntInstance.addLogger(
-                LogMessage.kInfo, LogMessage.kCritical, this::logNtMessage); // to hide error messages
+                LogMessage.INFO, LogMessage.CRITICAL, this::logNtMessage); // to hide error messages
        ntInstance.addConnectionListener(true, this::checkNtConnectState); // to hide error messages

        ntInstance.addListener(
-                m_fieldLayoutSubscriber, EnumSet.of(Kind.kValueAll), this::onFieldLayoutChanged);
+                m_fieldLayoutSubscriber, EnumSet.of(Kind.VALUE_ALL), this::onFieldLayoutChanged);

        ntDriverStation = new NTDriverStation(this.getNTInst());

@@ -127,16 +127,16 @@ public class NetworkTablesManager {
    private void logNtMessage(NetworkTableEvent event) {
        String levelmsg = "DEBUG";
        LogLevel pvlevel = LogLevel.DEBUG;
-        if (event.logMessage.level >= LogMessage.kCritical) {
+        if (event.logMessage.level >= LogMessage.CRITICAL) {
            pvlevel = LogLevel.ERROR;
            levelmsg = "CRITICAL";
-        } else if (event.logMessage.level >= LogMessage.kError) {
+        } else if (event.logMessage.level >= LogMessage.ERROR) {
            pvlevel = LogLevel.ERROR;
            levelmsg = "ERROR";
-        } else if (event.logMessage.level >= LogMessage.kWarning) {
+        } else if (event.logMessage.level >= LogMessage.WARNING) {
            pvlevel = LogLevel.WARN;
            levelmsg = "WARNING";
-        } else if (event.logMessage.level >= LogMessage.kInfo) {
+        } else if (event.logMessage.level >= LogMessage.INFO) {
            pvlevel = LogLevel.INFO;
            levelmsg = "INFO";
        }
@@ -157,16 +157,14 @@ public class NetworkTablesManager {
    }

    public void checkNtConnectState(NetworkTableEvent event) {
-        var isConnEvent = event.is(Kind.kConnected);
-        var isDisconnEvent = event.is(Kind.kDisconnected);
+        var isConnEvent = event.is(Kind.CONNECTED);
+        var isDisconnEvent = event.is(Kind.DISCONNECTED);

        if (isDisconnEvent) {
            var msg =
                    String.format(
                            "NT lost connection to %s:%d! (NT version %d). Will retry in background.",
-                            event.connInfo.remote_ip,
-                            event.connInfo.remote_port,
-                            event.connInfo.protocol_version);
+                            event.connInfo.remoteIp, event.connInfo.remotePort, event.connInfo.protocolVersion);
            logger.error(msg);
            HardwareManager.getInstance().setNTConnected(false);

@@ -175,9 +173,7 @@ public class NetworkTablesManager {
            var msg =
                    String.format(
                            "NT connected to %s:%d! (NT version %d)",
-                            event.connInfo.remote_ip,
-                            event.connInfo.remote_port,
-                            event.connInfo.protocol_version);
+                            event.connInfo.remoteIp, event.connInfo.remotePort, event.connInfo.protocolVersion);
            logger.info(msg);
            HardwareManager.getInstance().setNTConnected(true);

@@ -226,7 +222,7 @@ public class NetworkTablesManager {
        if (ntInstance.isConnected()) {
            var connections = ntInstance.getConnections();
            if (connections.length > 0) {
-                subMap.put("address", connections[0].remote_ip + ":" + connections[0].remote_port);
+                subMap.put("address", connections[0].remoteIp + ":" + connections[0].remotePort);
            }
            subMap.put("clients", connections.length);
        }
--- a/photon-core/src/main/java/org/photonvision/common/dataflow/networktables/TimeSyncManager.java
+++ b/photon-core/src/main/java/org/photonvision/common/dataflow/networktables/TimeSyncManager.java
@@ -112,7 +112,7 @@ public class TimeSyncManager {
            var conns = ntInstance.getConnections();

            if (conns.length > 0) {
-                var newServer = conns[0].remote_ip;
+                var newServer = conns[0].remoteIp;
                if (!m_client.getServer().equals(newServer)) {
                    logger.debug("Changing TimeSyncClient server to " + newServer);
                    m_client.setServer(newServer);
--- a/photon-core/src/main/java/org/photonvision/common/networking/NetworkUtils.java
+++ b/photon-core/src/main/java/org/photonvision/common/networking/NetworkUtils.java
@@ -267,8 +267,8 @@ public class NetworkUtils {
                // Use NT client IP address to find the interface in use
                if (!config.runNTServer) {
                    var conn = NetworkTableInstance.getDefault().getConnections();
-                    if (conn.length > 0 && !conn[0].remote_ip.equals("127.0.0.1")) {
-                        var addr = InetAddress.getByName(conn[0].remote_ip);
+                    if (conn.length > 0 && !conn[0].remoteIp.equals("127.0.0.1")) {
+                        var addr = InetAddress.getByName(conn[0].remoteIp);
                        return formatMacAddress(NetworkInterface.getByInetAddress(addr).getHardwareAddress());
                    }
                }
--- a/photon-core/src/main/java/org/photonvision/common/util/file/AprilTagFieldLayoutJsonAdapter.java
+++ b/photon-core/src/main/java/org/photonvision/common/util/file/AprilTagFieldLayoutJsonAdapter.java
@@ -1,83 +0,0 @@
-/*
- * Copyright (C) Photon Vision.
- *
- * This program is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program.  If not, see <https://www.gnu.org/licenses/>.
- */
-
-package org.photonvision.common.util.file;
-
-import io.avaje.json.JsonAdapter;
-import io.avaje.json.JsonReader;
-import io.avaje.json.JsonWriter;
-import io.avaje.json.PropertyNames;
-import io.avaje.jsonb.CustomAdapter;
-import io.avaje.jsonb.Json;
-import io.avaje.jsonb.Jsonb;
-import io.avaje.jsonb.Types;
-import java.util.List;
-import org.wpilib.vision.apriltag.AprilTag;
-import org.wpilib.vision.apriltag.AprilTagFieldLayout;
-
-@Json.Import(AprilTag.class)
-@CustomAdapter
-public class AprilTagFieldLayoutJsonAdapter implements JsonAdapter<AprilTagFieldLayout> {
-    @Json
-    record FieldDimensions(double length, double width) {}
-
-    JsonAdapter<List<AprilTag>> aprilTagListJsonAdapter;
-    JsonAdapter<FieldDimensions> fieldDimensionsJsonAdapter;
-    PropertyNames names;
-
-    public AprilTagFieldLayoutJsonAdapter(Jsonb jsonb) {
-        aprilTagListJsonAdapter = jsonb.adapter(Types.listOf(AprilTag.class));
-        fieldDimensionsJsonAdapter = jsonb.adapter(FieldDimensions.class);
-        names = jsonb.properties("tags", "field");
-    }
-
-    @Override
-    public void toJson(JsonWriter writer, AprilTagFieldLayout value) {
-        writer.beginObject(names);
-        writer.name(0);
-        aprilTagListJsonAdapter.toJson(writer, value.getTags());
-        writer.name(1);
-        fieldDimensionsJsonAdapter.toJson(
-                writer, new FieldDimensions(value.getFieldLength(), value.getFieldWidth()));
-        writer.endObject();
-    }
-
-    @Override
-    public AprilTagFieldLayout fromJson(JsonReader reader) {
-        List<AprilTag> tags = null;
-        FieldDimensions field = null;
-
-        reader.beginObject();
-        while (reader.hasNextField()) {
-            final String fieldName = reader.nextField();
-            switch (fieldName) {
-                case "tags":
-                    tags = aprilTagListJsonAdapter.fromJson(reader);
-                    break;
-                case "field":
-                    field = fieldDimensionsJsonAdapter.fromJson(reader);
-                    break;
-                default:
-                    reader.unmappedField(fieldName);
-                    reader.skipValue();
-            }
-        }
-        reader.endObject();
-
-        return new AprilTagFieldLayout(tags, field.length, field.width);
-    }
-}
--- a/photon-core/src/main/java/org/photonvision/common/util/file/Pose3dJsonAdapter.java
+++ b/photon-core/src/main/java/org/photonvision/common/util/file/Pose3dJsonAdapter.java
@@ -1,103 +0,0 @@
-/*
- * Copyright (C) Photon Vision.
- *
- * This program is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program.  If not, see <https://www.gnu.org/licenses/>.
- */
-
-package org.photonvision.common.util.file;
-
-import io.avaje.json.JsonAdapter;
-import io.avaje.json.JsonReader;
-import io.avaje.json.JsonWriter;
-import io.avaje.json.PropertyNames;
-import io.avaje.json.view.ViewBuilder;
-import io.avaje.json.view.ViewBuilderAware;
-import io.avaje.jsonb.CustomAdapter;
-import io.avaje.jsonb.Jsonb;
-import java.lang.invoke.MethodHandle;
-import org.wpilib.math.geometry.Pose3d;
-import org.wpilib.math.geometry.Rotation3d;
-import org.wpilib.math.geometry.Translation3d;
-
-@CustomAdapter
-public class Pose3dJsonAdapter implements JsonAdapter<Pose3d>, ViewBuilderAware {
-    private final JsonAdapter<Translation3d> translation3dJsonAdapter;
-    private final JsonAdapter<Rotation3d> rotation3dJsonAdapter;
-    private final PropertyNames names;
-
-    public Pose3dJsonAdapter(Jsonb jsonb) {
-        this.translation3dJsonAdapter = jsonb.adapter(Translation3d.class);
-        this.rotation3dJsonAdapter = jsonb.adapter(Rotation3d.class);
-        this.names = jsonb.properties("translation", "rotation");
-    }
-
-    @Override
-    public void toJson(JsonWriter writer, Pose3d value) {
-        writer.beginObject(names);
-        writer.name(0);
-        translation3dJsonAdapter.toJson(writer, value.getTranslation());
-        writer.name(1);
-        rotation3dJsonAdapter.toJson(writer, value.getRotation());
-        writer.endObject();
-    }
-
-    @Override
-    public Pose3d fromJson(JsonReader reader) {
-        Translation3d translation = null;
-        Rotation3d rotation = null;
-
-        reader.beginObject(names);
-        while (reader.hasNextField()) {
-            final String fieldName = reader.nextField();
-            switch (fieldName) {
-                case "translation":
-                    translation = translation3dJsonAdapter.fromJson(reader);
-                    break;
-                case "rotation":
-                    rotation = rotation3dJsonAdapter.fromJson(reader);
-                    break;
-                default:
-                    reader.unmappedField(fieldName);
-                    reader.skipValue();
-            }
-        }
-        reader.endObject();
-
-        return new Pose3d(translation, rotation);
-    }
-
-    @Override
-    public boolean isViewBuilderAware() {
-        return true;
-    }
-
-    @Override
-    public ViewBuilderAware viewBuild() {
-        return this;
-    }
-
-    @Override
-    public void build(ViewBuilder builder, String name, MethodHandle handle) {
-        builder.beginObject(name, handle);
-        builder.add(
-                "translation",
-                translation3dJsonAdapter,
-                builder.method(Pose3d.class, "getTranslation", Translation3d.class));
-        builder.add(
-                "rotation",
-                rotation3dJsonAdapter,
-                builder.method(Pose3d.class, "getRotation", Rotation3d.class));
-        builder.endObject();
-    }
-}
--- a/photon-core/src/main/java/org/photonvision/common/util/file/QuaternionMixIn.java
+++ b/photon-core/src/main/java/org/photonvision/common/util/file/QuaternionMixIn.java
@@ -1,45 +0,0 @@
-/*
- * Copyright (C) Photon Vision.
- *
- * This program is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program.  If not, see <https://www.gnu.org/licenses/>.
- */
-
-package org.photonvision.common.util.file;
-
-import io.avaje.jsonb.Json;
-import org.wpilib.math.geometry.Quaternion;
-
-@Json.MixIn(Quaternion.class)
-public class QuaternionMixIn {
-    @Json.Ignore(deserialize = true)
-    @Json.Property("W")
-    double m_w;
-
-    @Json.Ignore(deserialize = true)
-    @Json.Property("X")
-    double m_x;
-
-    @Json.Ignore(deserialize = true)
-    @Json.Property("Y")
-    double m_y;
-
-    @Json.Ignore(deserialize = true)
-    @Json.Property("Z")
-    double m_z;
-
-    @Json.Creator
-    public static Quaternion construct(double m_w, double m_x, double m_y, double m_z) {
-        return new Quaternion(m_w, m_x, m_y, m_z);
-    }
-}
--- a/photon-core/src/main/java/org/photonvision/common/util/file/Rotation3dMixIn.java
+++ b/photon-core/src/main/java/org/photonvision/common/util/file/Rotation3dMixIn.java
@@ -1,34 +0,0 @@
-/*
- * Copyright (C) Photon Vision.
- *
- * This program is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program.  If not, see <https://www.gnu.org/licenses/>.
- */
-
-package org.photonvision.common.util.file;
-
-import io.avaje.jsonb.Json;
-import org.wpilib.math.geometry.Quaternion;
-import org.wpilib.math.geometry.Rotation3d;
-
-@Json.MixIn(Rotation3d.class)
-public class Rotation3dMixIn {
-    @Json.Ignore(deserialize = true)
-    @Json.Property("quaternion")
-    Quaternion m_q;
-
-    @Json.Creator
-    public static Rotation3d construct(Quaternion m_q) {
-        return new Rotation3d(m_q);
-    }
-}
--- a/photon-core/src/main/java/org/photonvision/common/util/file/Translation3dMixIn.java
+++ b/photon-core/src/main/java/org/photonvision/common/util/file/Translation3dMixIn.java
@@ -1,41 +0,0 @@
-/*
- * Copyright (C) Photon Vision.
- *
- * This program is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program.  If not, see <https://www.gnu.org/licenses/>.
- */
-
-package org.photonvision.common.util.file;
-
-import io.avaje.jsonb.Json;
-import org.wpilib.math.geometry.Translation3d;
-
-@Json.MixIn(Translation3d.class)
-public class Translation3dMixIn {
-    @Json.Ignore(deserialize = true)
-    @Json.Property("x")
-    double m_x;
-
-    @Json.Ignore(deserialize = true)
-    @Json.Property("y")
-    double m_y;
-
-    @Json.Ignore(deserialize = true)
-    @Json.Property("z")
-    double m_z;
-
-    @Json.Creator
-    public static Translation3d construct(double m_x, double m_y, double m_z) {
-        return new Translation3d(m_x, m_y, m_z);
-    }
-}
--- a/photon-core/src/main/java/org/photonvision/vision/camera/FileVisionSource.java
+++ b/photon-core/src/main/java/org/photonvision/vision/camera/FileVisionSource.java
@@ -109,7 +109,7 @@ public class FileVisionSource extends VisionSource {
            this.frameStaticProperties = frameStaticProperties;
            videoMode =
                    new VideoMode(
-                            PixelFormat.kMJPEG,
+                            PixelFormat.MJPEG,
                            frameStaticProperties.imageWidth,
                            frameStaticProperties.imageHeight,
                            30);
--- a/photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/GenericUSBCameraSettables.java
+++ b/photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/GenericUSBCameraSettables.java
@@ -289,8 +289,8 @@ public class GenericUSBCameraSettables extends VisionSourceSettables {
        try {
            for (VideoMode videoMode : camera.enumerateVideoModes()) {
                // Filter grey modes
-                if (videoMode.pixelFormat == PixelFormat.kGray
-                        || videoMode.pixelFormat == PixelFormat.kUnknown) {
+                if (videoMode.pixelFormat == PixelFormat.GRAY
+                        || videoMode.pixelFormat == PixelFormat.UNKNOWN) {
                    continue;
                }

--- a/photon-core/src/main/java/org/photonvision/vision/camera/csi/LibcameraGpuSettables.java
+++ b/photon-core/src/main/java/org/photonvision/vision/camera/csi/LibcameraGpuSettables.java
@@ -75,18 +75,18 @@ public class LibcameraGpuSettables extends VisionSourceSettables {

        if (sensorModel == LibCameraJNI.SensorModel.IMX219) {
            // Settings for the IMX219 sensor, which is used on the Pi Camera Module v2
-            videoModes.add(new FPSRatedVideoMode(PixelFormat.kUnknown, 320, 240, 120, 120, .39));
-            videoModes.add(new FPSRatedVideoMode(PixelFormat.kUnknown, 320, 240, 30, 30, .39));
-            videoModes.add(new FPSRatedVideoMode(PixelFormat.kUnknown, 640, 480, 65, 90, .39));
-            videoModes.add(new FPSRatedVideoMode(PixelFormat.kUnknown, 640, 480, 30, 30, .39));
+            videoModes.add(new FPSRatedVideoMode(PixelFormat.UNKNOWN, 320, 240, 120, 120, .39));
+            videoModes.add(new FPSRatedVideoMode(PixelFormat.UNKNOWN, 320, 240, 30, 30, .39));
+            videoModes.add(new FPSRatedVideoMode(PixelFormat.UNKNOWN, 640, 480, 65, 90, .39));
+            videoModes.add(new FPSRatedVideoMode(PixelFormat.UNKNOWN, 640, 480, 30, 30, .39));
            // TODO: fix 1280x720 in the native code and re-add it
-            videoModes.add(new FPSRatedVideoMode(PixelFormat.kUnknown, 1920, 1080, 15, 20, .53));
-            videoModes.add(new FPSRatedVideoMode(PixelFormat.kUnknown, 3280 / 2, 2464 / 2, 15, 20, 1));
-            videoModes.add(new FPSRatedVideoMode(PixelFormat.kUnknown, 3280 / 4, 2464 / 4, 15, 20, 1));
+            videoModes.add(new FPSRatedVideoMode(PixelFormat.UNKNOWN, 1920, 1080, 15, 20, .53));
+            videoModes.add(new FPSRatedVideoMode(PixelFormat.UNKNOWN, 3280 / 2, 2464 / 2, 15, 20, 1));
+            videoModes.add(new FPSRatedVideoMode(PixelFormat.UNKNOWN, 3280 / 4, 2464 / 4, 15, 20, 1));
        } else if (sensorModel == LibCameraJNI.SensorModel.OV9281) {
            // Taken from https://www.ovt.com/wp-content/uploads/2022/01/OV9281-OV9282-PB-v1.3-WEB.pdf
-            videoModes.add(new FPSRatedVideoMode(PixelFormat.kUnknown, 640, 400, 120, 240, 1));
-            videoModes.add(new FPSRatedVideoMode(PixelFormat.kUnknown, 1280, 800, 120, 120, 1));
+            videoModes.add(new FPSRatedVideoMode(PixelFormat.UNKNOWN, 640, 400, 120, 240, 1));
+            videoModes.add(new FPSRatedVideoMode(PixelFormat.UNKNOWN, 1280, 800, 120, 120, 1));

        } else {
            if (sensorModel == LibCameraJNI.SensorModel.IMX477) {
@@ -101,13 +101,13 @@ public class LibcameraGpuSettables extends VisionSourceSettables {
            }

            // Settings for the OV5647 sensor, which is used by the Pi Camera Module v1
-            videoModes.add(new FPSRatedVideoMode(PixelFormat.kUnknown, 320, 240, 90, 90, 1));
-            videoModes.add(new FPSRatedVideoMode(PixelFormat.kUnknown, 640, 480, 85, 90, 1));
-            videoModes.add(new FPSRatedVideoMode(PixelFormat.kUnknown, 960, 720, 45, 49, 0.74));
+            videoModes.add(new FPSRatedVideoMode(PixelFormat.UNKNOWN, 320, 240, 90, 90, 1));
+            videoModes.add(new FPSRatedVideoMode(PixelFormat.UNKNOWN, 640, 480, 85, 90, 1));
+            videoModes.add(new FPSRatedVideoMode(PixelFormat.UNKNOWN, 960, 720, 45, 49, 0.74));
            // Half the size of the active areas on the OV5647
-            videoModes.add(new FPSRatedVideoMode(PixelFormat.kUnknown, 2592 / 2, 1944 / 2, 20, 20, 1));
-            videoModes.add(new FPSRatedVideoMode(PixelFormat.kUnknown, 1280, 720, 30, 45, 0.91));
-            videoModes.add(new FPSRatedVideoMode(PixelFormat.kUnknown, 1920, 1080, 15, 20, 0.72));
+            videoModes.add(new FPSRatedVideoMode(PixelFormat.UNKNOWN, 2592 / 2, 1944 / 2, 20, 20, 1));
+            videoModes.add(new FPSRatedVideoMode(PixelFormat.UNKNOWN, 1280, 720, 30, 45, 0.91));
+            videoModes.add(new FPSRatedVideoMode(PixelFormat.UNKNOWN, 1920, 1080, 15, 20, 0.72));
        }

        // TODO need to add more video modes for new sensors here
--- a/photon-core/src/main/java/org/photonvision/vision/frame/consumer/FileSaveFrameConsumer.java
+++ b/photon-core/src/main/java/org/photonvision/vision/frame/consumer/FileSaveFrameConsumer.java
@@ -29,7 +29,7 @@ import org.photonvision.common.logging.LogGroup;
 import org.photonvision.common.logging.Logger;
 import org.photonvision.vision.frame.StaticFrames;
 import org.photonvision.vision.opencv.CVMat;
-import org.wpilib.driverstation.DriverStation.MatchType;
+import org.wpilib.driverstation.MatchType;
 import org.wpilib.networktables.IntegerEntry;
 import org.wpilib.networktables.IntegerSubscriber;
 import org.wpilib.networktables.NetworkTable;
@@ -165,7 +165,7 @@ public class FileSaveFrameConsumer implements Consumer<CVMat> {
            logger.warn("Did not receive event name, defaulting to 'UNKNOWN'");
        }

-        MatchType wpiMatchType = MatchType.None; // Default is to be unknown
+        MatchType wpiMatchType = MatchType.NONE; // Default is to be unknown
        if (matchType.value < 0 || matchType.value >= MatchType.values().length) {
            logger.error("Invalid match type from FMS: " + matchType.value);
        } else {
--- a/photon-core/src/main/java/org/photonvision/vision/frame/consumer/MJPGFrameConsumer.java
+++ b/photon-core/src/main/java/org/photonvision/vision/frame/consumer/MJPGFrameConsumer.java
@@ -33,7 +33,7 @@ public class MJPGFrameConsumer implements AutoCloseable {
    private MjpegServer mjpegServer;

    public MJPGFrameConsumer(String sourceName, int width, int height, int port) {
-        this.cvSource = new CvSource(sourceName, PixelFormat.kMJPEG, width, height, 30);
+        this.cvSource = new CvSource(sourceName, PixelFormat.MJPEG, width, height, 30);

        this.mjpegServer = new MjpegServer("serve_" + cvSource.getName(), port);
        mjpegServer.setSource(cvSource);
--- a/photon-core/src/main/java/org/photonvision/vision/frame/provider/USBFrameProvider.java
+++ b/photon-core/src/main/java/org/photonvision/vision/frame/provider/USBFrameProvider.java
@@ -91,7 +91,7 @@ public class USBFrameProvider extends CpuImageProcessor {
                    cameraMode.height,
                    // hard-coded 3 channel
                    cameraMode.width * 3,
-                    PixelFormat.kBGR);
+                    PixelFormat.BGR);

            // This is from wpi::nt::Now, or WPIUtilJNI.now(). The epoch from grabFrame is uS since
            // Hal::initialize was called
--- a/photon-core/src/main/java/org/photonvision/vision/objects/RubikObjectDetector.java
+++ b/photon-core/src/main/java/org/photonvision/vision/objects/RubikObjectDetector.java
@@ -26,7 +26,8 @@ import org.opencv.core.Size;
 import org.photonvision.common.logging.LogGroup;
 import org.photonvision.common.logging.Logger;
 import org.photonvision.common.util.ColorHelper;
-import org.photonvision.rubik.RubikJNI;
+import org.photonvision.tflite.TFLiteJNI;
+import org.photonvision.tflite.TFLiteJNI.TFLiteSource;
 import org.photonvision.vision.pipe.impl.NeuralNetworkPipeResult;

 /** Manages an object detector using the rubik backend. */
@@ -38,7 +39,7 @@ public class RubikObjectDetector implements ObjectDetector {
    private final Cleanable cleanable;

    private static Runnable cleanupAction(long ptr) {
-        return () -> RubikJNI.destroy(ptr);
+        return () -> TFLiteJNI.destroy(ptr);
    }

    /** Pointer to the native object */
@@ -68,8 +69,10 @@ public class RubikObjectDetector implements ObjectDetector {
        // Create the detector
        try {
            ptr =
-                    RubikJNI.create(
-                            model.modelFile.getPath().toString(), model.properties.version().ordinal());
+                    TFLiteJNI.create(
+                            model.modelFile.getPath().toString(),
+                            model.properties.version().ordinal(),
+                            TFLiteSource.RUBIK.value());
        } catch (Exception e) {
            logger.error("Failed to create detector from path " + model.modelFile.getPath(), e);
            throw new RuntimeException(
@@ -83,7 +86,7 @@ public class RubikObjectDetector implements ObjectDetector {
                            + ". Please ensure the model is valid and compatible with the Rubik backend.");
            throw new RuntimeException(
                    "Failed to create detector from path " + model.modelFile.getPath());
-        } else if (!RubikJNI.isQuantized(ptr)) {
+        } else if (!TFLiteJNI.isQuantized(ptr)) {
            throw new UnsupportedOperationException("Model must be quantized.");
        }

@@ -131,7 +134,7 @@ public class RubikObjectDetector implements ObjectDetector {
        }

        // Detect objects in the letterboxed frame
-        var results = RubikJNI.detect(ptr, letterboxed.getNativeObjAddr(), boxThresh, nmsThresh);
+        var results = TFLiteJNI.detect(ptr, letterboxed.getNativeObjAddr(), boxThresh, nmsThresh);

        letterboxed.release();

--- a/photon-core/src/main/java/org/photonvision/vision/pipe/impl/CalculateFPSPipe.java
+++ b/photon-core/src/main/java/org/photonvision/vision/pipe/impl/CalculateFPSPipe.java
@@ -31,10 +31,10 @@ public class CalculateFPSPipe
    @Override
    protected Integer process(Void in) {
        if (lastTime < 0) {
-            lastTime = Timer.getFPGATimestamp();
+            lastTime = Timer.getMonotonicTimestamp();
        }

-        var now = Timer.getFPGATimestamp();
+        var now = Timer.getMonotonicTimestamp();
        var dtSeconds = now - lastTime;
        lastTime = now;

--- a/photon-core/src/main/java/org/photonvision/vision/processes/VisionModule.java
+++ b/photon-core/src/main/java/org/photonvision/vision/processes/VisionModule.java
@@ -604,9 +604,8 @@ public class VisionModule {
            internalMap.put(
                    "pixelFormat",
                    ((videoMode instanceof LibcameraGpuSource.FPSRatedVideoMode)
-                                    ? "kPicam"
-                                    : videoMode.pixelFormat.toString())
-                            .substring(1)); // Remove the k prefix
+                            ? "Picam"
+                            : videoMode.pixelFormat.toString()));

            temp.add(internalMap);
        }
--- a/photon-core/src/test/java/org/photonvision/vision/frame/consumer/FileSaveFrameConsumerTest.java
+++ b/photon-core/src/test/java/org/photonvision/vision/frame/consumer/FileSaveFrameConsumerTest.java
@@ -36,8 +36,8 @@ import org.photonvision.common.dataflow.networktables.NetworkTablesManager;
 import org.photonvision.common.util.TestUtils;
 import org.photonvision.jni.LibraryLoader;
 import org.photonvision.vision.frame.provider.FileFrameProvider;
-import org.wpilib.driverstation.DriverStation;
-import org.wpilib.driverstation.DriverStation.MatchType;
+import org.wpilib.driverstation.MatchType;
+import org.wpilib.driverstation.internal.DriverStationBackend;
 import org.wpilib.hardware.hal.HAL;
 import org.wpilib.networktables.NetworkTableInstance;
 import org.wpilib.simulation.DriverStationSim;
@@ -103,7 +103,7 @@ public class FileSaveFrameConsumerTest {
        DriverStationSim.setMatchType(matchType);
        DriverStationSim.setMatchNumber(matchNumber);
        DriverStationSim.setEventName(eventName);
-        DriverStation.refreshData();
+        DriverStationBackend.refreshData();

        // WHEN we save the image
        var currentTime = new Date();
--- a/photon-lib/build.gradle
+++ b/photon-lib/build.gradle
@@ -17,8 +17,6 @@ apply plugin: 'org.wpilib.NativeUtils'
 apply from: "${rootDir}/shared/config.gradle"
 apply from: "${rootDir}/shared/javacommon.gradle"

-apply from: "${rootDir}/versioningHelper.gradle"
-
 nativeUtils {
    exportsConfigs {
        "${nativeName}" {}
@@ -159,7 +157,7 @@ task generateVendorJson() {

    def read = photonlibFileInput.text
            .replace('${photon_version}', pubVersion)
-            .replace('${frc_year}', frcYear)
+            .replace('${year}', year)
    photonlibFileOutput.text = read

    outputs.upToDateWhen { false }
@@ -375,4 +373,4 @@ nativeConfig.dependencies.add wpilibTools.deps.wpilib("ntcore")
 nativeConfig.dependencies.add wpilibTools.deps.wpilib("cscore")
 nativeConfig.dependencies.add wpilibTools.deps.wpilib("apriltag")
 nativeConfig.dependencies.add wpilibTools.deps.wpilib("hal")
-nativeConfig.dependencies.add wpilibTools.deps.wpilibOpenCv("frc" + openCVYear, openCVversion)
+nativeConfig.dependencies.add wpilibTools.deps.wpilibOpenCv(openCVversion)
--- a/photon-lib/py/photonlibpy/estimatedRobotPose.py
+++ b/photon-lib/py/photonlibpy/estimatedRobotPose.py
@@ -17,7 +17,7 @@

 from dataclasses import dataclass

-from wpimath.geometry import Pose3d
+from wpimath import Pose3d

 from .targeting.photonTrackedTarget import PhotonTrackedTarget

--- a/photon-lib/py/photonlibpy/estimation/cameraTargetRelation.py
+++ b/photon-lib/py/photonlibpy/estimation/cameraTargetRelation.py
@@ -1,6 +1,6 @@
 import math

-from wpimath.geometry import Pose3d, Rotation2d, Transform3d
+from wpimath import Pose3d, Rotation2d, Transform3d
 from wpimath.units import meters


--- a/photon-lib/py/photonlibpy/estimation/openCVHelp.py
+++ b/photon-lib/py/photonlibpy/estimation/openCVHelp.py
@@ -4,7 +4,7 @@ from typing import Any

 import cv2 as cv
 import numpy as np
-from wpimath.geometry import Rotation3d, Transform3d, Translation3d
+from wpimath import Rotation3d, Transform3d, Translation3d

 from ..targeting import PnpResult, TargetCorner
 from .rotTrlTransform3d import RotTrlTransform3d
@@ -26,7 +26,7 @@ class OpenCVHelp:

    @staticmethod
    def rotationNWUtoEDN(rot: Rotation3d) -> Rotation3d:
-        return -NWU_TO_EDN + (rot + NWU_TO_EDN)
+        return NWU_TO_EDN.inverse().rotateBy(rot.rotateBy(NWU_TO_EDN))

    @staticmethod
    def translationToTVec(translations: list[Translation3d]) -> np.ndarray:
@@ -147,7 +147,7 @@ class OpenCVHelp:
        in NWU, this would be {0, 0, 1} in EDN.
        """

-        return -EDN_TO_NWU + (rot + EDN_TO_NWU)
+        return EDN_TO_NWU.inverse().rotateBy(rot.rotateBy(EDN_TO_NWU))

    @staticmethod
    def tVecToTranslation(tvecInput: np.ndarray) -> Translation3d:
--- a/photon-lib/py/photonlibpy/estimation/rotTrlTransform3d.py
+++ b/photon-lib/py/photonlibpy/estimation/rotTrlTransform3d.py
@@ -1,6 +1,6 @@
 from typing import Self

-from wpimath.geometry import Pose3d, Rotation3d, Transform3d, Translation3d
+from wpimath import Pose3d, Rotation3d, Transform3d, Translation3d


 class RotTrlTransform3d:
@@ -22,7 +22,7 @@ class RotTrlTransform3d:

    def inverse(self) -> Self:
        """The inverse of this transformation. Applying the inverse will "undo" this transformation."""
-        invRot = -self.rot
+        invRot = self.rot.inverse()
        invTrl = -(self.trl.rotateBy(invRot))
        return type(self)(invRot, invTrl)

@@ -42,7 +42,7 @@ class RotTrlTransform3d:
        return trlToApply.rotateBy(self.rot) + self.trl

    def applyRotation(self, rotToApply: Rotation3d) -> Rotation3d:
-        return rotToApply + self.rot
+        return rotToApply.rotateBy(self.rot)

    def applyPose(self, poseToApply: Pose3d) -> Pose3d:
        return Pose3d(
@@ -68,7 +68,9 @@ class RotTrlTransform3d:
    @classmethod
    def makeBetweenPoses(cls, initial: Pose3d, last: Pose3d) -> Self:
        return cls(
-            last.rotation() - initial.rotation(),
+            last.rotation().relativeTo(initial.rotation()),
            last.translation()
-            - initial.translation().rotateBy(last.rotation() - initial.rotation()),
+            - initial.translation().rotateBy(
+                last.rotation().relativeTo(initial.rotation())
+            ),
        )
--- a/photon-lib/py/photonlibpy/estimation/targetModel.py
+++ b/photon-lib/py/photonlibpy/estimation/targetModel.py
@@ -1,7 +1,7 @@
 import math
 from typing import List, Self

-from wpimath.geometry import Pose3d, Rotation2d, Rotation3d, Translation3d
+from wpimath import Pose3d, Rotation2d, Rotation3d, Translation3d
 from wpimath.units import meters

 from . import RotTrlTransform3d
--- a/photon-lib/py/photonlibpy/estimation/visionEstimation.py
+++ b/photon-lib/py/photonlibpy/estimation/visionEstimation.py
@@ -1,6 +1,6 @@
 import numpy as np
 from robotpy_apriltag import AprilTag, AprilTagFieldLayout
-from wpimath.geometry import Pose3d, Transform3d, Translation3d
+from wpimath import Pose3d, Transform3d, Translation3d

 from ..targeting import PhotonTrackedTarget, PnpResult, TargetCorner
 from . import OpenCVHelp, TargetModel
--- a/photon-lib/py/photonlibpy/generated/PhotonPipelineResultSerde.py
+++ b/photon-lib/py/photonlibpy/generated/PhotonPipelineResultSerde.py
@@ -49,7 +49,9 @@ class PhotonPipelineResultSerde:
        ret = Packet()

        # metadata is of non-intrinsic type PhotonPipelineMetadata
-        ret.encodeBytes(PhotonPipelineMetadata.photonStruct.pack(value.metadata).getData())
+        ret.encodeBytes(
+            PhotonPipelineMetadata.photonStruct.pack(value.metadata).getData()
+        )

        # targets is a custom VLA!
        ret.encodeList(value.targets, PhotonTrackedTarget.photonStruct)
--- a/photon-lib/py/photonlibpy/networktables/NTTopicSet.py
+++ b/photon-lib/py/photonlibpy/networktables/NTTopicSet.py
@@ -1,5 +1,5 @@
 import ntcore as nt
-from wpimath.geometry import Transform3d
+from wpimath import Transform3d

 from ..generated.PhotonPipelineResultSerde import PhotonPipelineResultSerde

--- a/photon-lib/py/photonlibpy/packet.py
+++ b/photon-lib/py/photonlibpy/packet.py
@@ -19,7 +19,7 @@ import struct
 from typing import Generic, Optional, Protocol, TypeVar

 import wpilib
-from wpimath.geometry import Quaternion, Rotation3d, Transform3d, Translation3d
+from wpimath import Quaternion, Rotation3d, Transform3d, Translation3d

 T = TypeVar("T")

@@ -57,17 +57,16 @@ class Packet:
    """

    def _getNextByteAsInt(self) -> int:
-        retVal = 0x00
-
        if not self.outOfBytes:
            try:
                retVal = 0x00FF & self.packetData[self.readPos]
                self.readPos += 1
+                return retVal
            except IndexError:
                wpilib.reportError(Packet._NO_MORE_BYTES_MESSAGE, True)
                self.outOfBytes = True

-        return retVal
+        return 0x00

    def getData(self) -> bytes:
        """
--- a/photon-lib/py/photonlibpy/photonCamera.py
+++ b/photon-lib/py/photonlibpy/photonCamera.py
@@ -118,13 +118,16 @@ class PhotonCamera:
        )

        self._prevHeartbeat = 0
-        self._prevHeartbeatChangeTime = Timer.getFPGATimestamp()
+        self._prevHeartbeatChangeTime = Timer.getMonotonicTimestamp()

        # Start the time sync server
        inst.start()

        # Usage reporting
-        hal.reportUsage("PhotonVision/PhotonCamera", PhotonCamera.instance_count, "")
+        hal.reportUsage(
+            "PhotonVision/PhotonCamera",  # Not 100% sure if this is correct
+            str(PhotonCamera.instance_count),
+        )
        PhotonCamera.instance_count += 1

    def getAllUnreadResults(self) -> List[PhotonPipelineResult]:
@@ -169,7 +172,7 @@ class PhotonCamera:

        self._versionCheck()

-        now = RobotController.getFPGATime()
+        now = RobotController.getMonotonicTime()
        packetWithTimestamp = self._rawBytesEntry.getAtomic()
        byteList = packetWithTimestamp.value
        packetWithTimestamp.time
@@ -297,7 +300,7 @@ class PhotonCamera:
        """

        curHeartbeat = self._heartbeatEntry.get()
-        now = Timer.getFPGATimestamp()
+        now = Timer.getMonotonicTimestamp()

        if curHeartbeat != self._prevHeartbeat:
            self._prevHeartbeat = curHeartbeat
@@ -311,10 +314,10 @@ class PhotonCamera:
        if not _VERSION_CHECK_ENABLED:
            return

-        if (Timer.getFPGATimestamp() - _lastVersionTimeCheck) < 5.0:
+        if (Timer.getMonotonicTimestamp() - _lastVersionTimeCheck) < 5.0:
            return

-        _lastVersionTimeCheck = Timer.getFPGATimestamp()
+        _lastVersionTimeCheck = Timer.getMonotonicTimestamp()

        # Heartbeat entry is assumed to always be present. If it's not present, we
        # assume that a camera with that name was never connected in the first place.
--- a/photon-lib/py/photonlibpy/photonPoseEstimator.py
+++ b/photon-lib/py/photonlibpy/photonPoseEstimator.py
@@ -21,16 +21,16 @@ import hal
 import wpilib
 import wpimath.units
 from robotpy_apriltag import AprilTagFieldLayout
-from wpimath.geometry import (
+from wpimath import (
    Pose2d,
    Pose3d,
    Rotation2d,
    Rotation3d,
+    TimeInterpolatableRotation2dBuffer,
    Transform3d,
    Translation2d,
    Translation3d,
 )
-from wpimath.interpolation import TimeInterpolatableRotation2dBuffer

 from .estimatedRobotPose import EstimatedRobotPose
 from .targeting.photonPipelineResult import PhotonPipelineResult
@@ -67,7 +67,8 @@ class PhotonPoseEstimator:

        # Usage reporting
        hal.reportUsage(
-            "PhotonVision/PhotonPoseEstimator", PhotonPoseEstimator.instance_count, ""
+            "PhotonVision/PhotonPoseEstimator",
+            str(PhotonPoseEstimator.instance_count),
        )
        PhotonPoseEstimator.instance_count += 1

--- a/photon-lib/py/photonlibpy/simulation/photonCameraSim.py
+++ b/photon-lib/py/photonlibpy/simulation/photonCameraSim.py
@@ -6,8 +6,9 @@ import cv2 as cv
 import numpy as np
 import wpilib
 from robotpy_apriltag import AprilTagField, AprilTagFieldLayout
-from wpimath.geometry import Pose3d, Transform3d
+from wpimath import Pose3d, Transform3d
 from wpimath.units import meters, seconds
+from wpiutil import PixelFormat

 from ..estimation import OpenCVHelp, RotTrlTransform3d, TargetModel, VisionEstimation
 from ..estimation.cameraTargetRelation import CameraTargetRelation
@@ -66,7 +67,7 @@ class PhotonCameraSim:
        # TODO switch this back to default True when the functionality is enabled
        self.videoSimProcEnabled: bool = False
        self.heartbeatCounter: int = 0
-        self.nextNtEntryTime = wpilib.Timer.getFPGATimestamp()
+        self.nextNtEntryTime = wpilib.Timer.getMonotonicTimestamp()
        self.tagLayout = tagLayout

        self.cam = camera
@@ -76,7 +77,7 @@ class PhotonCameraSim:
        # TODO Check fps is right
        self.videoSimRaw = cs.CvSource(
            self.cam.getName() + "-raw",
-            cs.VideoMode.PixelFormat.kGray,
+            PixelFormat.GRAY,
            self.prop.getResWidth(),
            self.prop.getResHeight(),
            1,
@@ -88,7 +89,7 @@ class PhotonCameraSim:
        # TODO Check fps is right
        self.videoSimProcessed = cs.CvSource(
            self.cam.getName() + "-processed",
-            cs.VideoMode.PixelFormat.kGray,
+            PixelFormat.GRAY,
            self.prop.getResWidth(),
            self.prop.getResHeight(),
            1,
@@ -182,7 +183,7 @@ class PhotonCameraSim:
                  ready
        """
        # check if this camera is ready for another frame update
-        now = wpilib.Timer.getFPGATimestamp()
+        now = wpilib.Timer.getMonotonicTimestamp()
        timestamp = 0.0
        iter = 0
        # prepare next latest update
@@ -434,7 +435,7 @@ class PhotonCameraSim:

        # put this simulated data to NT
        self.heartbeatCounter += 1
-        publishTimestampMicros = wpilib.Timer.getFPGATimestamp() * 1e6
+        publishTimestampMicros = wpilib.Timer.getMonotonicTimestamp() * 1e6
        return PhotonPipelineResult(
            ntReceiveTimestampMicros=int(publishTimestampMicros + 10),
            metadata=PhotonPipelineMetadata(
@@ -461,7 +462,7 @@ class PhotonCameraSim:
        :param receiveTimestamp: The (sim) timestamp when this result was read by NT in microseconds. If not passed image capture time is assumed be (current time - latency)
        """
        if receiveTimestamp_us is None:
-            receiveTimestamp_us = wpilib.Timer.getFPGATimestamp() * 1e6
+            receiveTimestamp_us = wpilib.Timer.getMonotonicTimestamp() * 1e6
        receiveTimestamp_us = int(receiveTimestamp_us)

        self.ts.latencyMillisEntry.set(result.getLatencyMillis(), receiveTimestamp_us)
--- a/photon-lib/py/photonlibpy/simulation/simCameraProperties.py
+++ b/photon-lib/py/photonlibpy/simulation/simCameraProperties.py
@@ -5,7 +5,7 @@ import typing
 import cv2 as cv
 import numpy as np
 import numpy.typing as npt
-from wpimath.geometry import Rotation2d, Rotation3d, Translation3d
+from wpimath import Rotation2d, Rotation3d, Translation3d
 from wpimath.units import hertz, milliseconds, seconds

 from ..estimation import RotTrlTransform3d
--- a/photon-lib/py/photonlibpy/simulation/visionSystemSim.py
+++ b/photon-lib/py/photonlibpy/simulation/visionSystemSim.py
@@ -3,10 +3,9 @@ import typing
 import wpilib
 from robotpy_apriltag import AprilTagFieldLayout
 from wpilib import Field2d
-from wpimath.geometry import Pose2d, Pose3d, Transform3d

 # TODO(auscompgeek): update import path when RobotPy re-exports are fixed
-from wpimath.interpolation._interpolation import TimeInterpolatablePose3dBuffer
+from wpimath import Pose2d, Pose3d, TimeInterpolatablePose3dBuffer, Transform3d
 from wpimath.units import seconds

 from ..estimation import TargetModel
@@ -69,7 +68,7 @@ class VisionSystemSim:
                self.bufferLength
            )
            self.camTrfMap[cameraSim].addSample(
-                wpilib.Timer.getFPGATimestamp(), Pose3d() + robotToCamera
+                wpilib.Timer.getMonotonicTimestamp(), Pose3d() + robotToCamera
            )

    def clearCameras(self) -> None:
@@ -92,7 +91,7 @@ class VisionSystemSim:
    def getRobotToCamera(
        self,
        cameraSim: PhotonCameraSim,
-        time: seconds = wpilib.Timer.getFPGATimestamp(),
+        time: seconds | None = None,
    ) -> Transform3d | None:
        """Get a simulated camera's position relative to the robot. If the requested camera is invalid, an
        empty optional is returned.
@@ -102,6 +101,8 @@ class VisionSystemSim:

        :returns: The transform of this camera, or an empty optional if it is invalid
        """
+        if time is None:
+            time = wpilib.Timer.getMonotonicTimestamp()
        if cameraSim in self.camTrfMap:
            trfBuffer = self.camTrfMap[cameraSim]
            sample = trfBuffer.sample(time)
@@ -115,7 +116,7 @@ class VisionSystemSim:
    def getCameraPose(
        self,
        cameraSim: PhotonCameraSim,
-        time: seconds = wpilib.Timer.getFPGATimestamp(),
+        time: seconds | None = None,
    ) -> Pose3d | None:
        """Get a simulated camera's position on the field. If the requested camera is invalid, an empty
        optional is returned.
@@ -124,6 +125,8 @@ class VisionSystemSim:

        :returns: The pose of this camera, or an empty optional if it is invalid
        """
+        if time is None:
+            time = wpilib.Timer.getMonotonicTimestamp()
        robotToCamera = self.getRobotToCamera(cameraSim, time)
        if robotToCamera is None:
            return None
@@ -147,7 +150,7 @@ class VisionSystemSim:
        """
        if cameraSim in self.camTrfMap:
            self.camTrfMap[cameraSim].addSample(
-                wpilib.Timer.getFPGATimestamp(), Pose3d() + robotToCamera
+                wpilib.Timer.getMonotonicTimestamp(), Pose3d() + robotToCamera
            )
            return True
        else:
@@ -155,7 +158,7 @@ class VisionSystemSim:

    def resetCameraTransforms(self, cameraSim: PhotonCameraSim | None = None) -> None:
        """Reset the transform history for this camera to just the current transform."""
-        now = wpilib.Timer.getFPGATimestamp()
+        now = wpilib.Timer.getMonotonicTimestamp()

        def resetSingleCamera(self, cameraSim: PhotonCameraSim) -> bool:
            if cameraSim in self.camTrfMap:
@@ -240,14 +243,13 @@ class VisionSystemSim:
                    currentTargets.remove(target)
        return removedList

-    def getRobotPose(
-        self, timestamp: seconds = wpilib.Timer.getFPGATimestamp()
-    ) -> Pose3d | None:
+    def getRobotPose(self, timestamp: seconds | None = None) -> Pose3d | None:
        """Get the robot pose in meters saved by the vision system at this timestamp.

        :param timestamp: Timestamp of the desired robot pose
        """
-
+        if timestamp is None:
+            timestamp = wpilib.Timer.getMonotonicTimestamp()
        return self.robotPoseBuffer.sample(timestamp)

    def resetRobotPose(self, robotPose: Pose2d | Pose3d) -> None:
@@ -257,7 +259,7 @@ class VisionSystemSim:
        assert type(robotPose) is Pose3d

        self.robotPoseBuffer.clear()
-        self.robotPoseBuffer.addSample(wpilib.Timer.getFPGATimestamp(), robotPose)
+        self.robotPoseBuffer.addSample(wpilib.Timer.getMonotonicTimestamp(), robotPose)

    def getDebugField(self) -> Field2d:
        return self.dbgField
@@ -280,7 +282,7 @@ class VisionSystemSim:
            self.dbgField.getObject(targetType).setPoses(posesToAdd)

        # save "real" robot poses over time
-        now = wpilib.Timer.getFPGATimestamp()
+        now = wpilib.Timer.getMonotonicTimestamp()
        self.robotPoseBuffer.addSample(now, robotPose)
        self.dbgField.setRobotPose(robotPose.toPose2d())

--- a/photon-lib/py/photonlibpy/simulation/visionTargetSim.py
+++ b/photon-lib/py/photonlibpy/simulation/visionTargetSim.py
@@ -1,7 +1,7 @@
 import math
 from typing import overload

-from wpimath.geometry import Pose3d, Translation3d
+from wpimath import Pose3d, Translation3d

 from ..estimation.targetModel import TargetModel

--- a/photon-lib/py/photonlibpy/targeting/multiTargetPNPResult.py
+++ b/photon-lib/py/photonlibpy/targeting/multiTargetPNPResult.py
@@ -1,7 +1,7 @@
 from dataclasses import dataclass, field
 from typing import TYPE_CHECKING, ClassVar

-from wpimath.geometry import Transform3d
+from wpimath import Transform3d

 if TYPE_CHECKING:
    from ..generated.MultiTargetPNPResultSerde import MultiTargetPNPResultSerde
--- a/photon-lib/py/photonlibpy/targeting/photonTrackedTarget.py
+++ b/photon-lib/py/photonlibpy/targeting/photonTrackedTarget.py
@@ -1,7 +1,7 @@
 from dataclasses import dataclass, field
 from typing import TYPE_CHECKING, ClassVar

-from wpimath.geometry import Transform3d
+from wpimath import Transform3d

 from ..packet import Packet
 from .TargetCorner import TargetCorner
--- a/photon-lib/py/photonlibpy/timesync/timeSyncServer.py
+++ b/photon-lib/py/photonlibpy/timesync/timeSyncServer.py
@@ -53,7 +53,7 @@ class TimeSyncServer:
    PORT = 5810

    def __init__(self, time_provider: Optional[Callable[[], int]] = None):
-        self.time_provider = time_provider or Timer.getFPGATimestamp
+        self.time_provider = time_provider or Timer.getMonotonicTimestamp
        self._process: Optional[threading.Thread] = None
        self.logger = logging.getLogger("PhotonVision-TimeSyncServer")

--- a/photon-lib/py/setup.py
+++ b/photon-lib/py/setup.py
@@ -58,11 +58,11 @@ setup(
    version=versionString,
    install_requires=[
        "numpy~=2.3",
-        "wpilib>=2026.2.1,<2027",
-        "robotpy-wpimath>=2026.2.1,<2027",
-        "robotpy-apriltag>=2026.2.1,<2027",
-        "robotpy-cscore>=2026.2.1,<2027",
-        "pyntcore>=2026.2.1,<2027",
+        "wpilib>=2027.0.0a6",
+        "robotpy-wpimath>=2027.0.0a6",
+        "robotpy-apriltag>=2027.0.0a6",
+        "robotpy-cscore>=2027.0.0a6",
+        "pyntcore>=2027.0.0a6",
        "opencv-python;platform_machine!='roborio'",
    ],
    description=descriptionStr,
--- a/photon-lib/py/test/openCVHelp_test.py
+++ b/photon-lib/py/test/openCVHelp_test.py
@@ -6,7 +6,7 @@ from photonlibpy.estimation import RotTrlTransform3d, TargetModel
 from photonlibpy.estimation.openCVHelp import OpenCVHelp
 from photonlibpy.photonCamera import setVersionCheckEnabled
 from photonlibpy.simulation import SimCameraProperties, VisionTargetSim
-from wpimath.geometry import Pose3d, Rotation3d, Translation3d
+from wpimath import Pose3d, Rotation3d, Translation3d


@pytest.fixture(autouse=True)
--- a/photon-lib/py/test/photonPoseEstimator_test.py
+++ b/photon-lib/py/test/photonPoseEstimator_test.py
@@ -28,7 +28,7 @@ from photonlibpy.targeting import (
 from photonlibpy.targeting.multiTargetPNPResult import MultiTargetPNPResult, PnpResult
 from photonlibpy.targeting.photonPipelineResult import PhotonPipelineResult
 from robotpy_apriltag import AprilTag, AprilTagFieldLayout
-from wpimath.geometry import Pose3d, Rotation3d, Transform3d, Translation3d
+from wpimath import Pose3d, Rotation3d, Transform3d, Translation3d


 class PhotonCameraInjector(PhotonCamera):
--- a/photon-lib/py/test/photonlibpy_test.py
+++ b/photon-lib/py/test/photonlibpy_test.py
@@ -25,7 +25,7 @@ from photonlibpy.photonCamera import setVersionCheckEnabled
 def test_roundTrip():
    ntcore.NetworkTableInstance.getDefault().stopServer()
    ntcore.NetworkTableInstance.getDefault().setServer("localhost")
-    ntcore.NetworkTableInstance.getDefault().startClient4("meme")
+    ntcore.NetworkTableInstance.getDefault().startClient("meme")

    camera = PhotonCamera("WPI2024")

--- a/photon-lib/py/test/simCameraProperties_test.py
+++ b/photon-lib/py/test/simCameraProperties_test.py
@@ -4,7 +4,7 @@ import numpy as np
 import pytest
 from photonlibpy.estimation import RotTrlTransform3d
 from photonlibpy.simulation import SimCameraProperties
-from wpimath.geometry import Rotation2d, Translation3d
+from wpimath import Rotation2d, Translation3d


@pytest.fixture(autouse=True)
--- a/photon-lib/py/test/visionSystemSim_test.py
+++ b/photon-lib/py/test/visionSystemSim_test.py
@@ -5,7 +5,7 @@ from photonlibpy.estimation import TargetModel, VisionEstimation
 from photonlibpy.photonCamera import PhotonCamera
 from photonlibpy.simulation import PhotonCameraSim, VisionSystemSim, VisionTargetSim
 from robotpy_apriltag import AprilTag, AprilTagFieldLayout
-from wpimath.geometry import (
+from wpimath import (
    Pose2d,
    Pose3d,
    Rotation2d,
--- a/photon-lib/src/generate/photonlib.json.in
+++ b/photon-lib/src/generate/photonlib.json.in
@@ -3,7 +3,7 @@
  "name": "photonlib",
  "version": "${photon_version}",
  "uuid": "515fe07e-bfc6-11fa-b3de-0242ac130004",
-  "frcYear": "${frc_year}",
+  "year": "${year}",
  "mavenUrls": [
    "https://maven.photonvision.org/repository/internal",
    "https://maven.photonvision.org/repository/snapshots"
--- a/photon-lib/src/main/java/org/photonvision/PhotonCamera.java
+++ b/photon-lib/src/main/java/org/photonvision/PhotonCamera.java
@@ -34,7 +34,7 @@ import org.photonvision.common.networktables.PacketSubscriber;
 import org.photonvision.targeting.PhotonPipelineResult;
 import org.photonvision.timesync.TimeSyncSingleton;
 import org.wpilib.driverstation.Alert;
-import org.wpilib.driverstation.DriverStation;
+import org.wpilib.driverstation.DriverStationErrors;
 import org.wpilib.hardware.hal.HAL;
 import org.wpilib.math.linalg.MatBuilder;
 import org.wpilib.math.linalg.Matrix;
@@ -189,9 +189,12 @@ public class PhotonCamera implements AutoCloseable {
        verifyDependencies();
    }

+    /** This is something we only need to check for java because of the way java packages opencv. */
    static void verifyDependencies() {
        // spotless:off
-        if (!Core.VERSION.equals(PhotonVersion.opencvTargetVersion)) {
+        // WPILIB names their opencv version in the format YEAR-OPENCVVERSION-PATCH
+        // so we split on '-' and take the middle part to get the version number
+        if (!Core.VERSION.equals(PhotonVersion.opencvTargetVersion.split("-")[1])) {
            String bfw = """


@@ -232,8 +235,8 @@ public class PhotonCamera implements AutoCloseable {
                    """;
            // spotless:on

-            DriverStation.reportWarning(bfw, false);
-            DriverStation.reportError(bfw, false);
+            DriverStationErrors.reportWarning(bfw, false);
+            DriverStationErrors.reportError(bfw, false);
            throw new UnsupportedOperationException(bfw);
        }
    }
@@ -316,10 +319,10 @@ public class PhotonCamera implements AutoCloseable {
            timesyncAlert.setText(warningText);
            timesyncAlert.set(true);

-            if (Timer.getFPGATimestamp() > (prevTimeSyncWarnTime + WARN_DEBOUNCE_SEC)) {
-                prevTimeSyncWarnTime = Timer.getFPGATimestamp();
+            if (Timer.getMonotonicTimestamp() > (prevTimeSyncWarnTime + WARN_DEBOUNCE_SEC)) {
+                prevTimeSyncWarnTime = Timer.getMonotonicTimestamp();

-                DriverStation.reportWarning(
+                DriverStationErrors.reportWarning(
                        warningText
                                + "\n\nCheck /photonvision/.timesync/{COPROCESSOR_HOSTNAME} for more information.",
                        false);
@@ -465,7 +468,7 @@ public class PhotonCamera implements AutoCloseable {
     */
    public boolean isConnected() {
        var curHeartbeat = heartbeatSubscriber.get();
-        var now = Timer.getFPGATimestamp();
+        var now = Timer.getMonotonicTimestamp();

        if (curHeartbeat < 0) {
            // we have never heard from the camera
@@ -518,19 +521,19 @@ public class PhotonCamera implements AutoCloseable {
    void verifyVersion() {
        if (!VERSION_CHECK_ENABLED) return;

-        if ((Timer.getFPGATimestamp() - lastVersionCheckTime) < VERSION_CHECK_INTERVAL) return;
-        lastVersionCheckTime = Timer.getFPGATimestamp();
+        if ((Timer.getMonotonicTimestamp() - lastVersionCheckTime) < VERSION_CHECK_INTERVAL) return;
+        lastVersionCheckTime = Timer.getMonotonicTimestamp();

        // Heartbeat entry is assumed to always be present. If it's not present, we
        // assume that a camera with that name was never connected in the first place.
        if (!heartbeatSubscriber.exists()) {
            var cameraNames = getTablesThatLookLikePhotonCameras();
            if (cameraNames.isEmpty()) {
-                DriverStation.reportError(
+                DriverStationErrors.reportError(
                        "Could not find **any** PhotonVision coprocessors on NetworkTables. Double check that PhotonVision is running, and that your camera is connected!",
                        false);
            } else {
-                DriverStation.reportError(
+                DriverStationErrors.reportError(
                        "PhotonVision coprocessor at path "
                                + path
                                + " not found on NetworkTables. Double check that your camera names match!",
@@ -543,7 +546,7 @@ public class PhotonCamera implements AutoCloseable {
                    cameraNameStr.append("\n");
                }

-                DriverStation.reportError(
+                DriverStationErrors.reportError(
                        "Found the following PhotonVision cameras on NetworkTables:\n"
                                + cameraNameStr.toString(),
                        false);
@@ -551,7 +554,7 @@ public class PhotonCamera implements AutoCloseable {
        }
        // Check for connection status. Warn if disconnected.
        else if (!isConnected()) {
-            DriverStation.reportWarning(
+            DriverStationErrors.reportWarning(
                    "PhotonVision coprocessor at path " + path + " is not sending new data.", false);
        }

@@ -563,7 +566,7 @@ public class PhotonCamera implements AutoCloseable {

        if (remote_uuid == null || remote_uuid.isEmpty()) {
            // not connected yet?
-            DriverStation.reportWarning(
+            DriverStationErrors.reportWarning(
                    "PhotonVision coprocessor at path "
                            + path
                            + " has not reported a message interface UUID - is your coprocessor's camera started?",
@@ -597,7 +600,7 @@ public class PhotonCamera implements AutoCloseable {
                    """;
            // spotless:on

-            DriverStation.reportWarning(bfw, false);
+            DriverStationErrors.reportWarning(bfw, false);
            String versionMismatchMessage =
                    "Photon version "
                            + PhotonVersion.versionString
@@ -610,7 +613,7 @@ public class PhotonCamera implements AutoCloseable {
                            + remote_uuid
                            + ")"
                            + "!";
-            DriverStation.reportError(versionMismatchMessage, false);
+            DriverStationErrors.reportError(versionMismatchMessage, false);
            throw new UnsupportedOperationException(versionMismatchMessage);
        }
    }
--- a/photon-lib/src/main/java/org/photonvision/PhotonPoseEstimator.java
+++ b/photon-lib/src/main/java/org/photonvision/PhotonPoseEstimator.java
@@ -29,7 +29,7 @@ import org.photonvision.estimation.TargetModel;
 import org.photonvision.estimation.VisionEstimation;
 import org.photonvision.targeting.PhotonPipelineResult;
 import org.photonvision.targeting.PhotonTrackedTarget;
-import org.wpilib.driverstation.DriverStation;
+import org.wpilib.driverstation.DriverStationErrors;
 import org.wpilib.hardware.hal.HAL;
 import org.wpilib.math.geometry.Pose2d;
 import org.wpilib.math.geometry.Pose3d;
@@ -608,7 +608,7 @@ public class PhotonPoseEstimator {
            return Optional.empty();
        }
        if (referencePose == null) {
-            DriverStation.reportError(
+            DriverStationErrors.reportError(
                    "[PhotonPoseEstimator] Tried to use reference pose strategy without setting the reference!",
                    false);
            return Optional.empty();
@@ -760,7 +760,7 @@ public class PhotonPoseEstimator {

    private void reportFiducialPoseError(int fiducialId) {
        if (!reportedErrors.contains(fiducialId)) {
-            DriverStation.reportError(
+            DriverStationErrors.reportError(
                    "[PhotonPoseEstimator] Tried to get pose of unknown AprilTag: " + fiducialId, false);
            reportedErrors.add(fiducialId);
        }
--- a/photon-lib/src/main/java/org/photonvision/simulation/PhotonCameraSim.java
+++ b/photon-lib/src/main/java/org/photonvision/simulation/PhotonCameraSim.java
@@ -153,7 +153,7 @@ public class PhotonCameraSim implements AutoCloseable {

        videoSimRaw =
                CameraServer.putVideo(camera.getName() + "-raw", prop.getResWidth(), prop.getResHeight());
-        videoSimRaw.setPixelFormat(PixelFormat.kGray);
+        videoSimRaw.setPixelFormat(PixelFormat.GRAY);
        videoSimProcessed =
                CameraServer.putVideo(
                        camera.getName() + "-processed", prop.getResWidth(), prop.getResHeight());
@@ -649,7 +649,7 @@ public class PhotonCameraSim implements AutoCloseable {
        }

        // put this simulated data to NT
-        var now = RobotController.getFPGATime();
+        var now = RobotController.getMonotonicTime();
        var ret =
                new PhotonPipelineResult(
                        heartbeatCounter,
--- a/photon-lib/src/main/java/org/photonvision/simulation/SimCameraProperties.java
+++ b/photon-lib/src/main/java/org/photonvision/simulation/SimCameraProperties.java
@@ -41,7 +41,7 @@ import org.opencv.core.Point;
 import org.opencv.imgproc.Imgproc;
 import org.photonvision.estimation.OpenCVHelp;
 import org.photonvision.estimation.RotTrlTransform3d;
-import org.wpilib.driverstation.DriverStation;
+import org.wpilib.driverstation.DriverStationErrors;
 import org.wpilib.math.geometry.Pose3d;
 import org.wpilib.math.geometry.Rotation2d;
 import org.wpilib.math.geometry.Rotation3d;
@@ -169,7 +169,7 @@ public class SimCameraProperties {
    public SimCameraProperties setCalibration(int resWidth, int resHeight, Rotation2d fovDiag) {
        if (fovDiag.getDegrees() < 1 || fovDiag.getDegrees() > 179) {
            fovDiag = Rotation2d.fromDegrees(Math.clamp(fovDiag.getDegrees(), 1, 179));
-            DriverStation.reportError(
+            DriverStationErrors.reportError(
                    "Requested invalid FOV! Clamping between (1, 179) degrees...", false);
        }
        double resDiag = Math.hypot(resWidth, resHeight);
--- a/photon-lib/src/main/java/org/photonvision/simulation/VisionSystemSim.java
+++ b/photon-lib/src/main/java/org/photonvision/simulation/VisionSystemSim.java
@@ -106,7 +106,7 @@ public class VisionSystemSim {
            camTrfMap.put(cameraSim, TimeInterpolatableBuffer.createBuffer(kBufferLengthSeconds));
            camTrfMap
                    .get(cameraSim)
-                    .addSample(Timer.getFPGATimestamp(), new Pose3d().plus(robotToCamera));
+                    .addSample(Timer.getMonotonicTimestamp(), new Pose3d().plus(robotToCamera));
        }
    }

@@ -137,7 +137,7 @@ public class VisionSystemSim {
     * @return The transform of this camera, or an empty optional if it is invalid
     */
    public Optional<Transform3d> getRobotToCamera(PhotonCameraSim cameraSim) {
-        return getRobotToCamera(cameraSim, Timer.getFPGATimestamp());
+        return getRobotToCamera(cameraSim, Timer.getMonotonicTimestamp());
    }

    /**
@@ -164,7 +164,7 @@ public class VisionSystemSim {
     * @return The pose of this camera, or an empty optional if it is invalid
     */
    public Optional<Pose3d> getCameraPose(PhotonCameraSim cameraSim) {
-        return getCameraPose(cameraSim, Timer.getFPGATimestamp());
+        return getCameraPose(cameraSim, Timer.getMonotonicTimestamp());
    }

    /**
@@ -191,7 +191,7 @@ public class VisionSystemSim {
    public boolean adjustCamera(PhotonCameraSim cameraSim, Transform3d robotToCamera) {
        var trfBuffer = camTrfMap.get(cameraSim);
        if (trfBuffer == null) return false;
-        trfBuffer.addSample(Timer.getFPGATimestamp(), new Pose3d().plus(robotToCamera));
+        trfBuffer.addSample(Timer.getMonotonicTimestamp(), new Pose3d().plus(robotToCamera));
        return true;
    }

@@ -207,7 +207,7 @@ public class VisionSystemSim {
     * @return If the cameraSim was valid and transforms were reset
     */
    public boolean resetCameraTransforms(PhotonCameraSim cameraSim) {
-        double now = Timer.getFPGATimestamp();
+        double now = Timer.getMonotonicTimestamp();
        var trfBuffer = camTrfMap.get(cameraSim);
        if (trfBuffer == null) return false;
        var lastTrf = new Transform3d(new Pose3d(), trfBuffer.getSample(now).orElse(new Pose3d()));
@@ -339,7 +339,7 @@ public class VisionSystemSim {
     * @return The latest robot pose
     */
    public Pose3d getRobotPose() {
-        return getRobotPose(Timer.getFPGATimestamp());
+        return getRobotPose(Timer.getMonotonicTimestamp());
    }

    /**
@@ -368,7 +368,7 @@ public class VisionSystemSim {
     */
    public void resetRobotPose(Pose3d robotPose) {
        robotPoseBuffer.clear();
-        robotPoseBuffer.addSample(Timer.getFPGATimestamp(), robotPose);
+        robotPoseBuffer.addSample(Timer.getMonotonicTimestamp(), robotPose);
    }

    public Field2d getDebugField() {
@@ -403,7 +403,7 @@ public class VisionSystemSim {
        if (robotPoseMeters == null) return;

        // save "real" robot poses over time
-        double now = Timer.getFPGATimestamp();
+        double now = Timer.getMonotonicTimestamp();
        robotPoseBuffer.addSample(now, robotPoseMeters);
        dbgField.setRobotPose(robotPoseMeters.toPose2d());

--- a/photon-lib/src/main/native/cpp/photon/PhotonCamera.cpp
+++ b/photon-lib/src/main/native/cpp/photon/PhotonCamera.cpp
@@ -46,51 +46,6 @@
 static constexpr wpi::units::second_t WARN_DEBOUNCE_SEC = 5_s;
 static constexpr wpi::units::second_t HEARTBEAT_DEBOUNCE_SEC = 500_ms;

-inline void verifyDependencies() {
-  if (!(std::string_view{cv::getVersionString()} ==
-        std::string_view{photon::PhotonVersion::opencvTargetVersion})) {
-    std::string bfw =
-        "\n\n\n\n\n"
-        ">>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>\n"
-        ">>> !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!\n"
-        ">>>                                          \n"
-        ">>> You are running an incompatible version  \n"
-        ">>> of PhotonVision !                        \n"
-        ">>>                                          \n"
-        ">>> PhotonLib ";
-    bfw += photon::PhotonVersion::versionString;
-    bfw += " is built for OpenCV ";
-    bfw += photon::PhotonVersion::opencvTargetVersion;
-    bfw +=
-        "\n"
-        ">>> but you are using OpenCV ";
-    bfw += cv::getVersionString();
-    bfw +=
-        "\n>>>                                          \n"
-        ">>> This is neither tested nor supported.    \n"
-        ">>> You MUST update WPILib, PhotonLib, or both.\n"
-        ">>> Check `./gradlew dependencies` and ensure\n"
-        ">>> all mentions of OpenCV match the version \n"
-        ">>> that PhotonLib was built for. If you find a"
-        ">>> a mismatched version in a dependency, you\n"
-        ">>> must take steps to update the version of \n"
-        ">>> OpenCV used in that dependency. If you do\n"
-        ">>> not control that dependency and an updated\n"
-        ">>> version is not available, contact the    \n"
-        ">>> developers of that dependency.           \n"
-        ">>>                                          \n"
-        ">>> Your code will now crash.                \n"
-        ">>> We hope your day gets better.            \n"
-        ">>>                                          \n"
-        ">>> !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!\n"
-        ">>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>\n";
-
-    WPILIB_ReportWarning(bfw);
-    WPILIB_ReportError(wpi::err::Error, bfw);
-    throw new std::runtime_error(std::string{bfw});
-  }
-}
-
 // bit of a hack -- start a TimeSync server on port 5810 (hard-coded). We want
 // to avoid calling this from static initialization
 static void InitTspServer() {
@@ -169,7 +124,6 @@ PhotonCamera::PhotonCamera(wpi::nt::NetworkTableInstance instance,
                          "' is disconnected.",
                      wpi::Alert::Level::MEDIUM),
      timesyncAlert(PHOTON_ALERT_GROUP, "", wpi::Alert::Level::MEDIUM) {
-  verifyDependencies();
  InstanceCount++;
  HAL_ReportUsage("PhotonVision/PhotonCamera", InstanceCount, "");

@@ -195,7 +149,7 @@ PhotonPipelineResult PhotonCamera::GetLatestResult() {

  // Fill the packet with latest data and populate result.
  wpi::units::microsecond_t now =
-      wpi::units::microsecond_t(wpi::RobotController::GetFPGATime());
+      wpi::units::microsecond_t(wpi::RobotController::GetMonotonicTime());
  const auto value = rawBytesEntry.Get();
  if (!value.size()) return PhotonPipelineResult{};

@@ -265,9 +219,9 @@ void PhotonCamera::CheckTimeSyncOrWarn(photon::PhotonPipelineResult& result) {
    timesyncAlert.SetText(warningText);
    timesyncAlert.Set(true);

-    if (wpi::Timer::GetFPGATimestamp() <
+    if (wpi::Timer::GetMonotonicTimestamp() >
        (prevTimeSyncWarnTime + WARN_DEBOUNCE_SEC)) {
-      prevTimeSyncWarnTime = wpi::Timer::GetFPGATimestamp();
+      prevTimeSyncWarnTime = wpi::Timer::GetMonotonicTimestamp();

      WPILIB_ReportWarning(
          warningText +
@@ -325,7 +279,7 @@ const std::string_view PhotonCamera::GetCameraName() const {

 bool PhotonCamera::IsConnected() {
  auto currentHeartbeat = heartbeatSubscriber.Get();
-  auto now = wpi::Timer::GetFPGATimestamp();
+  auto now = wpi::Timer::GetMonotonicTimestamp();

  if (currentHeartbeat < 0) {
    // we have never heard from the camera
@@ -373,10 +327,10 @@ void PhotonCamera::VerifyVersion() {
    return;
  }

-  if ((wpi::Timer::GetFPGATimestamp() - lastVersionCheckTime) <
+  if ((wpi::Timer::GetMonotonicTimestamp() - lastVersionCheckTime) <
      VERSION_CHECK_INTERVAL)
    return;
-  this->lastVersionCheckTime = wpi::Timer::GetFPGATimestamp();
+  this->lastVersionCheckTime = wpi::Timer::GetMonotonicTimestamp();

  const std::string& versionString = versionEntry.Get("");
  if (versionString.empty()) {
--- a/photon-lib/src/main/native/cpp/photon/simulation/PhotonCameraSim.cpp
+++ b/photon-lib/src/main/native/cpp/photon/simulation/PhotonCameraSim.cpp
@@ -51,7 +51,7 @@ PhotonCameraSim::PhotonCameraSim(
  videoSimRaw =
      wpi::CameraServer::PutVideo(std::string{camera->GetCameraName()} + "-raw",
                                  prop.GetResWidth(), prop.GetResHeight());
-  videoSimRaw.SetPixelFormat(wpi::util::PixelFormat::kGray);
+  videoSimRaw.SetPixelFormat(wpi::util::PixelFormat::GRAY);
  videoSimProcessed = wpi::CameraServer::PutVideo(
      std::string{camera->GetCameraName()} + "-processed", prop.GetResWidth(),
      prop.GetResHeight());
--- a/photon-lib/src/main/native/include/PhotonVersion.h
+++ b/photon-lib/src/main/native/include/PhotonVersion.h
@@ -30,6 +30,5 @@ extern const char* versionString;
 extern const char* buildDate;
 extern const bool isRelease;
 extern const char* wpilibTargetVersion;
-extern const char* opencvTargetVersion;
 }  // namespace PhotonVersion
 }  // namespace photon
--- a/photon-lib/src/main/native/include/photon/simulation/VisionSystemSim.h
+++ b/photon-lib/src/main/native/include/photon/simulation/VisionSystemSim.h
@@ -101,7 +101,7 @@ class VisionSystemSim {
          std::make_pair(std::move(cameraSim),
                         wpi::math::TimeInterpolatableBuffer<wpi::math::Pose3d>{
                             bufferLength}));
-      camTrfMap.at(cameraSim).AddSample(wpi::Timer::GetFPGATimestamp(),
+      camTrfMap.at(cameraSim).AddSample(wpi::Timer::GetMonotonicTimestamp(),
                                        wpi::math::Pose3d{} + robotToCamera);
    }
  }
@@ -138,7 +138,7 @@ class VisionSystemSim {
   */
  std::optional<wpi::math::Transform3d> GetRobotToCamera(
      PhotonCameraSim* cameraSim) {
-    return GetRobotToCamera(cameraSim, wpi::Timer::GetFPGATimestamp());
+    return GetRobotToCamera(cameraSim, wpi::Timer::GetMonotonicTimestamp());
  }

  /**
@@ -175,7 +175,7 @@ class VisionSystemSim {
   * @return The pose of this camera, or an empty optional if it is invalid
   */
  std::optional<wpi::math::Pose3d> GetCameraPose(PhotonCameraSim* cameraSim) {
-    return GetCameraPose(cameraSim, wpi::Timer::GetFPGATimestamp());
+    return GetCameraPose(cameraSim, wpi::Timer::GetMonotonicTimestamp());
  }

  /**
@@ -207,7 +207,7 @@ class VisionSystemSim {
  bool AdjustCamera(PhotonCameraSim* cameraSim,
                    const wpi::math::Transform3d& robotToCamera) {
    if (camTrfMap.find(cameraSim) != camTrfMap.end()) {
-      camTrfMap.at(cameraSim).AddSample(wpi::Timer::GetFPGATimestamp(),
+      camTrfMap.at(cameraSim).AddSample(wpi::Timer::GetMonotonicTimestamp(),
                                        wpi::math::Pose3d{} + robotToCamera);
      return true;
    } else {
@@ -230,7 +230,7 @@ class VisionSystemSim {
   * @return If the cameraSim was valid and transforms were reset
   */
  bool ResetCameraTransforms(PhotonCameraSim* cameraSim) {
-    wpi::units::second_t now = wpi::Timer::GetFPGATimestamp();
+    wpi::units::second_t now = wpi::Timer::GetMonotonicTimestamp();
    if (camTrfMap.find(cameraSim) != camTrfMap.end()) {
      auto trfBuffer = camTrfMap.at(cameraSim);
      wpi::math::Transform3d lastTrf{
@@ -369,7 +369,7 @@ class VisionSystemSim {
   * @return The latest robot pose
   */
  wpi::math::Pose3d GetRobotPose() {
-    return GetRobotPose(wpi::Timer::GetFPGATimestamp());
+    return GetRobotPose(wpi::Timer::GetMonotonicTimestamp());
  }

  /**
@@ -398,7 +398,7 @@ class VisionSystemSim {
   */
  void ResetRobotPose(const wpi::math::Pose3d& robotPose) {
    robotPoseBuffer.Clear();
-    robotPoseBuffer.AddSample(wpi::Timer::GetFPGATimestamp(), robotPose);
+    robotPoseBuffer.AddSample(wpi::Timer::GetMonotonicTimestamp(), robotPose);
  }
  wpi::Field2d& GetDebugField() { return dbgField; }

@@ -427,7 +427,7 @@ class VisionSystemSim {
      dbgField.GetObject(set.first)->SetPoses(posesToAdd);
    }

-    wpi::units::second_t now = wpi::Timer::GetFPGATimestamp();
+    wpi::units::second_t now = wpi::Timer::GetMonotonicTimestamp();
    robotPoseBuffer.AddSample(now, robotPose);
    dbgField.SetRobotPose(robotPose.ToPose2d());

--- a/photon-lib/src/test/java/org/photonvision/PhotonCameraTest.java
+++ b/photon-lib/src/test/java/org/photonvision/PhotonCameraTest.java
@@ -125,7 +125,7 @@ class PhotonCameraTest {

                var res = camera.getLatestResult();
                var captureTime = res.getTimestampSeconds();
-                var now = Timer.getFPGATimestamp();
+                var now = Timer.getMonotonicTimestamp();

                // expectTrue(captureTime < now);

--- a/photon-targeting/build.gradle
+++ b/photon-targeting/build.gradle
@@ -13,8 +13,6 @@ ext.licenseFile = file("$rootDir/LICENSE")
 apply from: "${rootDir}/shared/config.gradle"
 apply from: "${rootDir}/shared/javacommon.gradle"

-apply from: "${rootDir}/versioningHelper.gradle"
-
 nativeUtils {
    exportsConfigs {
        "${nativeName}" {}
@@ -187,5 +185,5 @@ nativeConfig.dependencies.add wpilibTools.deps.wpilib("wpinet")
 nativeConfig.dependencies.add wpilibTools.deps.wpilib("ntcore")
 nativeConfig.dependencies.add wpilibTools.deps.wpilib("hal")
 nativeConfig.dependencies.add wpilibTools.deps.wpilib("cscore")
-nativeConfig.dependencies.add wpilibTools.deps.wpilibOpenCv("frc" + openCVYear, openCVversion)
+nativeConfig.dependencies.add wpilibTools.deps.wpilibOpenCv(openCVversion)
 nativeConfig.dependencies.add wpilibTools.deps.wpilib("apriltag")
--- a/photon-targeting/src/main/java/org/photonvision/common/hardware/Platform.java
+++ b/photon-targeting/src/main/java/org/photonvision/common/hardware/Platform.java
@@ -152,9 +152,9 @@ public enum Platform {

        switch (platPath) {
            case "/linux/x86-64/":
-                return "linuxx64";
+                return "linuxx86-64";
            case "/windows/x86-64/":
-                return "winx64";
+                return "winx86-64";
            case "/linux/arm64/":
                return "linuxarm64";
            default:
--- a/photon-targeting/src/main/native/cpp/photon/constrained_solvepnp/wrap/casadi_wrapper.cpp
+++ b/photon-targeting/src/main/native/cpp/photon/constrained_solvepnp/wrap/casadi_wrapper.cpp
@@ -169,8 +169,7 @@ constrained_solvepnp::do_optimization(
      point_observations.cols() != (nTags * 4)) {
    if constexpr (VERBOSE) fmt::println("Got unexpected num cols!");
    // TODO find a new error code
-    return wpi::util::unexpected{
-        slp::ExitStatus::NONFINITE_INITIAL_COST_OR_CONSTRAINTS};
+    return wpi::util::unexpected{slp::ExitStatus::NONFINITE_INITIAL_GUESS};
  }

  // rescale observations to homogenous pixel coordinates
@@ -199,8 +198,7 @@ constrained_solvepnp::do_optimization(

  auto problemOpt = createProblem(nTags, heading_free);
  if (!problemOpt) {
-    return wpi::util::unexpected{
-        slp::ExitStatus::NONFINITE_INITIAL_COST_OR_CONSTRAINTS};
+    return wpi::util::unexpected{slp::ExitStatus::NONFINITE_INITIAL_GUESS};
  }

  ProblemState<3> pState{robot2camera,     field2points, point_observations,
--- a/photon-targeting/src/test/java/jni/CscoreExtrasTest.java
+++ b/photon-targeting/src/test/java/jni/CscoreExtrasTest.java
@@ -59,7 +59,7 @@ public class CscoreExtrasTest {

        UsbCamera camera = CameraServer.startAutomaticCapture(2);

-        camera.setVideoMode(PixelFormat.kMJPEG, 1280, 720, 30);
+        camera.setVideoMode(PixelFormat.MJPEG, 1280, 720, 30);
        var cameraMode = camera.getVideoMode();

        CvSink cvSink = CameraServer.getVideo(camera);
@@ -74,7 +74,7 @@ public class CscoreExtrasTest {
                    cameraMode.height,
                    // hard-coded 3 channel
                    cameraMode.width * 3,
-                    PixelFormat.kBGR);
+                    PixelFormat.BGR);
            final double CSCORE_DEFAULT_FRAME_TIMEOUT = 1.0 / 4.0;
            long time =
                    CscoreExtras.grabRawSinkFrameTimeoutLastTime(
--- a/photonlib-cpp-examples/aimandrange/build.gradle
+++ b/photonlib-cpp-examples/aimandrange/build.gradle
@@ -1,7 +1,7 @@
 plugins {
    id "cpp"
    id "google-test-test-suite"
-    id "edu.wpi.first.GradleRIO2027" version "2027.0.0-alpha-2"
+    id "org.wpilib.GradleRIO" version "2027.0.0-alpha-6"
 }

 repositories {
@@ -11,7 +11,7 @@ repositories {

 wpi.maven.useLocal = false
 wpi.maven.useDevelopment = false
-wpi.versions.wpilibVersion = "2027.0.0-alpha-4"
+wpi.versions.wpilibVersion = "2027.0.0-alpha-6"

 // Define my targets (SystemCore) and artifacts (deployable files)
 // This is added by GradleRIO's backing project DeployUtils.
--- a/photonlib-cpp-examples/aimandrange/src/main/include/subsystems/SwerveDrive.h
+++ b/photonlib-cpp-examples/aimandrange/src/main/include/subsystems/SwerveDrive.h
@@ -24,6 +24,7 @@

 #pragma once

+#include <frc/simulation/OnboardIMUSim.h>
 #include <wpi/hardware/imu/OnboardIMU.hpp>
 #include <wpi/math/estimator/SwerveDrivePoseEstimator.hpp>
 #include <wpi/math/kinematics/wpi/math/kinematics/SwerveDriveKinematics.hpppp>
@@ -73,8 +74,7 @@ class SwerveDrive {
  wpi::math::SwerveDrivePoseEstimator<4> poseEstimator;
  wpi::math::ChassisSpeeds targetChassisSpeeds{};

-  // TODO(Jade) onboard imu doesn't have sim yet
-  //  wpi::sim::ADXRS450_GyroSim gyroSim;
+  wpi::sim::OnboardIMUSim gyroSim;
  SwerveDriveSim swerveDriveSim;
  wpi::units::ampere_t totalCurrentDraw{0};
 };
--- a/photonlib-cpp-examples/aimattarget/build.gradle
+++ b/photonlib-cpp-examples/aimattarget/build.gradle
@@ -1,7 +1,7 @@
 plugins {
    id "cpp"
    id "google-test-test-suite"
-    id "edu.wpi.first.GradleRIO2027" version "2027.0.0-alpha-2"
+    id "org.wpilib.GradleRIO" version "2027.0.0-alpha-6"
 }

 repositories {
@@ -11,7 +11,7 @@ repositories {

 wpi.maven.useLocal = false
 wpi.maven.useDevelopment = false
-wpi.versions.wpilibVersion = "2027.0.0-alpha-4"
+wpi.versions.wpilibVersion = "2027.0.0-alpha-6"

 // Define my targets (SystemCore) and artifacts (deployable files)
 // This is added by GradleRIO's backing project DeployUtils.
--- a/photonlib-cpp-examples/aimattarget/src/main/include/subsystems/SwerveDrive.h
+++ b/photonlib-cpp-examples/aimattarget/src/main/include/subsystems/SwerveDrive.h
@@ -26,7 +26,7 @@

 #include <frc/ADXRS450_Gyro.h>
 #include <frc/SPI.h>
-#include <frc/simulation/ADXRS450_GyroSim.h>
+#include <frc/simulation/OnboardIMUSim.h>
 #include <wpi/math/estimator/SwerveDrivePoseEstimator.hpp>
 #include <wpi/math/kinematics/wpi/math/kinematics/SwerveDriveKinematics.hpppp>

@@ -75,7 +75,7 @@ class SwerveDrive {
  wpi::math::SwerveDrivePoseEstimator<4> poseEstimator;
  wpi::math::ChassisSpeeds targetChassisSpeeds{};

-  wpi::sim::ADXRS450_GyroSim gyroSim;
+  wpi::sim::OnboardIMUSim gyroSim;
  SwerveDriveSim swerveDriveSim;
  wpi::units::ampere_t totalCurrentDraw{0};
 };
--- a/photonlib-cpp-examples/build.gradle
+++ b/photonlib-cpp-examples/build.gradle
@@ -1,5 +1,6 @@
 plugins {
    id "com.diffplug.spotless" version "8.4.0"
+    id "org.wpilib.WPILibRepositoriesPlugin" version "2027.0.0"
 }

 allprojects {
@@ -8,6 +9,7 @@ allprojects {
        mavenCentral()
        mavenLocal()
        maven { url = "https://maven.photonvision.org/releases" }
+        wpilibRepositories.use2027Repos()
    }
 }

--- a/photonlib-cpp-examples/poseest/build.gradle
+++ b/photonlib-cpp-examples/poseest/build.gradle
@@ -1,7 +1,7 @@
 plugins {
    id "cpp"
    id "google-test-test-suite"
-    id "edu.wpi.first.GradleRIO2027" version "2027.0.0-alpha-2"
+    id "org.wpilib.GradleRIO" version "2027.0.0-alpha-6"
 }

 repositories {
@@ -11,7 +11,7 @@ repositories {

 wpi.maven.useLocal = false
 wpi.maven.useDevelopment = false
-wpi.versions.wpilibVersion = "2027.0.0-alpha-4"
+wpi.versions.wpilibVersion = "2027.0.0-alpha-6"

 // Define my targets (SystemCore) and artifacts (deployable files)
 // This is added by GradleRIO's backing project DeployUtils.
--- a/photonlib-cpp-examples/poseest/src/main/include/subsystems/SwerveDrive.h
+++ b/photonlib-cpp-examples/poseest/src/main/include/subsystems/SwerveDrive.h
@@ -26,7 +26,7 @@

 #include <frc/ADXRS450_Gyro.h>
 #include <frc/SPI.h>
-#include <frc/simulation/ADXRS450_GyroSim.h>
+#include <frc/simulation/OnboardIMUSim.h>
 #include <wpi/math/estimator/SwerveDrivePoseEstimator.hpp>
 #include <wpi/math/kinematics/wpi/math/kinematics/SwerveDriveKinematics.hpppp>

@@ -80,7 +80,7 @@ class SwerveDrive {
  wpi::math::SwerveDrivePoseEstimator<4> poseEstimator;
  wpi::math::ChassisSpeeds targetChassisSpeeds{};

-  wpi::sim::ADXRS450_GyroSim gyroSim;
+  wpi::sim::OnboardIMUSim gyroSim;
  SwerveDriveSim swerveDriveSim;
  wpi::units::ampere_t totalCurrentDraw{0};
 };
--- a/photonlib-java-examples/aimandrange/build.gradle
+++ b/photonlib-java-examples/aimandrange/build.gradle
@@ -1,6 +1,6 @@
 plugins {
    id "java"
-    id "edu.wpi.first.GradleRIO2027" version "2027.0.0-alpha-2"
+    id "org.wpilib.GradleRIO" version "2027.0.0-alpha-6"
 }

 java {
@@ -15,7 +15,7 @@ repositories {
 }

 wpi.maven.useDevelopment = true
-wpi.versions.wpilibVersion = "2027.0.0-alpha-4"
+wpi.versions.wpilibVersion = "2027.0.0-alpha-6"

 // Define my targets (SystemCore) and artifacts (deployable files)
 // This is added by GradleRIO's backing project DeployUtils.
@@ -103,7 +103,7 @@ jar {
    from('src') { into 'backup/src' }
    from('vendordeps') { into 'backup/vendordeps' }
    from('build.gradle') { into 'backup' }
-    manifest edu.wpi.first.gradlerio.GradleRIOPlugin.javaManifest(ROBOT_MAIN_CLASS)
+    manifest org.wpilib.gradlerio.GradleRIOPlugin.javaManifest(ROBOT_MAIN_CLASS)
    duplicatesStrategy = DuplicatesStrategy.INCLUDE
 }

--- a/photonlib-java-examples/aimattarget/build.gradle
+++ b/photonlib-java-examples/aimattarget/build.gradle
@@ -1,6 +1,6 @@
 plugins {
    id "java"
-    id "edu.wpi.first.GradleRIO2027" version "2027.0.0-alpha-2"
+    id "org.wpilib.GradleRIO" version "2027.0.0-alpha-6"
 }

 java {
@@ -11,7 +11,7 @@ java {
 def ROBOT_MAIN_CLASS = "frc.robot.Main"

 wpi.maven.useDevelopment = true
-wpi.versions.wpilibVersion = "2027.0.0-alpha-4"
+wpi.versions.wpilibVersion = "2027.0.0-alpha-6"

 // Define my targets (SystemCore) and artifacts (deployable files)
 // This is added by GradleRIO's backing project DeployUtils.
@@ -99,7 +99,7 @@ jar {
    from('src') { into 'backup/src' }
    from('vendordeps') { into 'backup/vendordeps' }
    from('build.gradle') { into 'backup' }
-    manifest edu.wpi.first.gradlerio.GradleRIOPlugin.javaManifest(ROBOT_MAIN_CLASS)
+    manifest org.wpilib.gradlerio.GradleRIOPlugin.javaManifest(ROBOT_MAIN_CLASS)
    duplicatesStrategy = DuplicatesStrategy.INCLUDE
 }

--- a/photonlib-java-examples/build.gradle
+++ b/photonlib-java-examples/build.gradle
@@ -1,5 +1,6 @@
 plugins {
    id "com.diffplug.spotless" version "8.4.0"
+    id "org.wpilib.WPILibRepositoriesPlugin" version "2027.0.0"
 }

 allprojects {
@@ -8,6 +9,7 @@ allprojects {
        mavenCentral()
        mavenLocal()
        maven { url = "https://maven.photonvision.org/releases" }
+        wpilibRepositories.use2027Repos()
    }
 }

--- a/photonlib-java-examples/poseest/build.gradle
+++ b/photonlib-java-examples/poseest/build.gradle
@@ -1,6 +1,6 @@
 plugins {
    id "java"
-    id "edu.wpi.first.GradleRIO2027" version "2027.0.0-alpha-2"
+    id "org.wpilib.GradleRIO" version "2027.0.0-alpha-6"
 }

 java {
@@ -11,7 +11,7 @@ java {
 def ROBOT_MAIN_CLASS = "frc.robot.Main"

 wpi.maven.useDevelopment = true
-wpi.versions.wpilibVersion = "2027.0.0-alpha-4"
+wpi.versions.wpilibVersion = "2027.0.0-alpha-6"

 // Define my targets (SystemCore) and artifacts (deployable files)
 // This is added by GradleRIO's backing project DeployUtils.
@@ -99,7 +99,7 @@ jar {
    from('src') { into 'backup/src' }
    from('vendordeps') { into 'backup/vendordeps' }
    from('build.gradle') { into 'backup' }
-    manifest edu.wpi.first.gradlerio.GradleRIOPlugin.javaManifest(ROBOT_MAIN_CLASS)
+    manifest org.wpilib.gradlerio.GradleRIOPlugin.javaManifest(ROBOT_MAIN_CLASS)
    duplicatesStrategy = DuplicatesStrategy.INCLUDE
 }

--- a/photonlib-java-examples/poseest/src/main/java/frc/robot/subsystems/drivetrain/SwerveDrive.java
+++ b/photonlib-java-examples/poseest/src/main/java/frc/robot/subsystems/drivetrain/SwerveDrive.java
@@ -41,6 +41,7 @@ import org.wpilib.math.linalg.Matrix;
 import org.wpilib.math.linalg.VecBuilder;
 import org.wpilib.math.numbers.*;
 import org.wpilib.math.system.plant.DCMotor;
+import org.wpilib.simulation.OnboardIMUSim;
 import org.wpilib.smartdashboard.SmartDashboard;

 public class SwerveDrive {
@@ -69,8 +70,7 @@ public class SwerveDrive {
    private ChassisSpeeds targetChassisSpeeds = new ChassisSpeeds();

    // ----- Simulation
-    // TODO(Jade) WPILib doesn't have onboard IMU sim yet
-    // private final ADXRS450_GyroSim gyroSim;
+    private final OnboardIMUSim gyroSim;
    private final SwerveDriveSim swerveDriveSim;
    private double totalCurrentDraw = 0;

@@ -91,7 +91,7 @@ public class SwerveDrive {
                        visionStdDevs);

        // ----- Simulation
-        // gyroSim = new ADXRS450_GyroSim(gyro);
+        gyroSim = new OnboardIMUSim(gyro);
        swerveDriveSim =
                new SwerveDriveSim(
                        kDriveFF,
@@ -188,8 +188,8 @@ public class SwerveDrive {
            for (int i = 0; i < swerveMods.length; i++) {
                swerveMods[i].simulationUpdate(0, 0, 0, 0, 0, 0);
            }
-            // gyroSim.setAngle(-pose.getRotation().getDegrees());
-            // gyroSim.setRate(0);
+            gyroSim.setYaw(-pose.getRotation().getDegrees());
+            gyroSim.setRate(0);
        }

        poseEstimator.resetPosition(getGyroYaw(), getModulePositions(), pose);
@@ -312,8 +312,8 @@ public class SwerveDrive {
                    drivePos, driveRate, driveCurrents[i], steerPos, steerRate, steerCurrents[i]);
        }

-        // gyroSim.setRate(-swerveDriveSim.getOmegaRadsPerSec());
-        // gyroSim.setAngle(-swerveDriveSim.getPose().getRotation().getDegrees());
+        gyroSim.setRate(-swerveDriveSim.getOmegaRadsPerSec());
+        gyroSim.setYaw(-swerveDriveSim.getPose().getRotation().getDegrees());
    }

    /**
--- a/photonlib-python-examples/aimandrange/drivetrain.py
+++ b/photonlib-python-examples/aimandrange/drivetrain.py
@@ -28,8 +28,7 @@ import math
 import swervemodule
 import wpilib
 import wpilib.simulation
-import wpimath.geometry
-import wpimath.kinematics
+import wpimath

 kMaxSpeed = 3.0  # 3 meters per second
 kMaxAngularSpeed = math.pi  # 1/2 rotation per second
@@ -41,10 +40,10 @@ class Drivetrain:
    """

    def __init__(self) -> None:
-        self.frontLeftLocation = wpimath.geometry.Translation2d(0.381, 0.381)
-        self.frontRightLocation = wpimath.geometry.Translation2d(0.381, -0.381)
-        self.backLeftLocation = wpimath.geometry.Translation2d(-0.381, 0.381)
-        self.backRightLocation = wpimath.geometry.Translation2d(-0.381, -0.381)
+        self.frontLeftLocation = wpimath.Translation2d(0.381, 0.381)
+        self.frontRightLocation = wpimath.Translation2d(0.381, -0.381)
+        self.backLeftLocation = wpimath.Translation2d(-0.381, 0.381)
+        self.backRightLocation = wpimath.Translation2d(-0.381, -0.381)

        self.frontLeft = swervemodule.SwerveModule(1, 2, 0, 1, 2, 3, 1)
        self.frontRight = swervemodule.SwerveModule(3, 4, 4, 5, 6, 7, 2)
@@ -55,16 +54,17 @@ class Drivetrain:
        wpilib.SmartDashboard.putData("Drivetrain Debug", self.debugField)

        self.gyro = wpilib.AnalogGyro(0)
-        self.simGyro = wpilib.simulation.AnalogGyroSim(self.gyro)
+        self.simGyro = wpilib.simulation.OnboardIMUSim(self.gyro)
+        self._yaw = 0.0

-        self.kinematics = wpimath.kinematics.SwerveDrive4Kinematics(
+        self.kinematics = wpimath.SwerveDrive4Kinematics(
            self.frontLeftLocation,
            self.frontRightLocation,
            self.backLeftLocation,
            self.backRightLocation,
        )

-        self.odometry = wpimath.kinematics.SwerveDrive4Odometry(
+        self.odometry = wpimath.SwerveDrive4Odometry(
            self.kinematics,
            self.gyro.getRotation2d(),
            (
@@ -75,7 +75,7 @@ class Drivetrain:
            ),
        )

-        self.targetChassisSpeeds = wpimath.kinematics.ChassisSpeeds()
+        self.targetChassisVelocities = wpimath.ChassisVelocities()

        self.gyro.reset()

@@ -95,27 +95,24 @@ class Drivetrain:
        :param fieldRelative: Whether the provided x and y speeds are relative to the field.
        :param periodSeconds: Time
        """
-        swerveModuleStates = self.kinematics.toSwerveModuleStates(
-            wpimath.kinematics.ChassisSpeeds.discretize(
-                (
-                    wpimath.kinematics.ChassisSpeeds.fromFieldRelativeSpeeds(
-                        xSpeed, ySpeed, rot, self.gyro.getRotation2d()
+        chassisVelocities = wpimath.ChassisVelocities(xSpeed, ySpeed, rot)
+        if fieldRelative:
+            chassisVelocities = chassisVelocities.toRobotRelative(
+                self.gyro.getRotation2d()
            )
-                    if fieldRelative
-                    else wpimath.kinematics.ChassisSpeeds(xSpeed, ySpeed, rot)
-                ),
-                periodSeconds,
-            )
-        )
-        wpimath.kinematics.SwerveDrive4Kinematics.desaturateWheelSpeeds(
-            swerveModuleStates, kMaxSpeed
-        )
-        self.frontLeft.setDesiredState(swerveModuleStates[0])
-        self.frontRight.setDesiredState(swerveModuleStates[1])
-        self.backLeft.setDesiredState(swerveModuleStates[2])
-        self.backRight.setDesiredState(swerveModuleStates[3])

-        self.targetChassisSpeeds = self.kinematics.toChassisSpeeds(swerveModuleStates)
+        chassisVelocities = chassisVelocities.discretize(periodSeconds)
+        swerveModuleStates = self.kinematics.desaturateWheelVelocities(
+            self.kinematics.toSwerveModuleVelocities(chassisVelocities), kMaxSpeed
+        )
+        self.frontLeft.setDesiredVelocity(swerveModuleStates[0])
+        self.frontRight.setDesiredVelocity(swerveModuleStates[1])
+        self.backLeft.setDesiredVelocity(swerveModuleStates[2])
+        self.backRight.setDesiredVelocity(swerveModuleStates[3])
+
+        self.targetChassisVelocities = self.kinematics.toChassisVelocities(
+            swerveModuleStates
+        )

    def updateOdometry(self) -> None:
        """Updates the field relative position of the robot."""
@@ -129,26 +126,26 @@ class Drivetrain:
            ),
        )

-    def getModuleStates(self) -> list[wpimath.kinematics.SwerveModuleState]:
+    def getModuleVelocities(self) -> list[wpimath.SwerveModuleVelocity]:
        return [
-            self.frontLeft.getState(),
-            self.frontRight.getState(),
-            self.backLeft.getState(),
-            self.backRight.getState(),
+            self.frontLeft.getVelocity(),
+            self.frontRight.getVelocity(),
+            self.backLeft.getVelocity(),
+            self.backRight.getVelocity(),
        ]

-    def getModulePoses(self) -> list[wpimath.geometry.Pose2d]:
+    def getModulePoses(self) -> list[wpimath.Pose2d]:
        p = self.odometry.getPose()
-        flTrans = wpimath.geometry.Transform2d(
+        flTrans = wpimath.Transform2d(
            self.frontLeftLocation, self.frontLeft.getAbsoluteHeading()
        )
-        frTrans = wpimath.geometry.Transform2d(
+        frTrans = wpimath.Transform2d(
            self.frontRightLocation, self.frontRight.getAbsoluteHeading()
        )
-        blTrans = wpimath.geometry.Transform2d(
+        blTrans = wpimath.Transform2d(
            self.backLeftLocation, self.backLeft.getAbsoluteHeading()
        )
-        brTrans = wpimath.geometry.Transform2d(
+        brTrans = wpimath.Transform2d(
            self.backRightLocation, self.backRight.getAbsoluteHeading()
        )
        return [
@@ -158,8 +155,8 @@ class Drivetrain:
            p.transformBy(brTrans),
        ]

-    def getChassisSpeeds(self) -> wpimath.kinematics.ChassisSpeeds:
-        return self.kinematics.toChassisSpeeds(self.getModuleStates())
+    def getChassisVelocities(self) -> wpimath.ChassisVelocities:
+        return self.kinematics.toChassisVelocities(self.getModuleVelocities())

    def log(self):
        table = "Drive/"
@@ -169,7 +166,7 @@ class Drivetrain:
        wpilib.SmartDashboard.putNumber(table + "Y", pose.Y())
        wpilib.SmartDashboard.putNumber(table + "Heading", pose.rotation().degrees())

-        chassisSpeeds = self.getChassisSpeeds()
+        chassisSpeeds = self.getChassisVelocities()
        wpilib.SmartDashboard.putNumber(table + "VX", chassisSpeeds.vx)
        wpilib.SmartDashboard.putNumber(table + "VY", chassisSpeeds.vy)
        wpilib.SmartDashboard.putNumber(
@@ -177,13 +174,13 @@ class Drivetrain:
        )

        wpilib.SmartDashboard.putNumber(
-            table + "Target VX", self.targetChassisSpeeds.vx
+            table + "Target VX", self.targetChassisVelocities.vx
        )
        wpilib.SmartDashboard.putNumber(
-            table + "Target VY", self.targetChassisSpeeds.vy
+            table + "Target VY", self.targetChassisVelocities.vy
        )
        wpilib.SmartDashboard.putNumber(
-            table + "Target Omega Degrees", self.targetChassisSpeeds.omega_dps
+            table + "Target Omega Degrees", self.targetChassisVelocities.omega_dps
        )

        self.frontLeft.log()
@@ -199,5 +196,7 @@ class Drivetrain:
        self.frontRight.simulationPeriodic()
        self.backLeft.simulationPeriodic()
        self.backRight.simulationPeriodic()
-        self.simGyro.setRate(-1.0 * self.getChassisSpeeds().omega_dps)
-        self.simGyro.setAngle(self.simGyro.getAngle() + self.simGyro.getRate() * 0.02)
+        rate = -1.0 * self.getChassisVelocities().omega_dps
+        self.simGyro.setRate(rate)
+        self._yaw += rate * 0.02
+        self.simGyro.setYaw(self._yaw)
--- a/photonlib-python-examples/aimandrange/robot.py
+++ b/photonlib-python-examples/aimandrange/robot.py
@@ -39,9 +39,11 @@ TAG_7_MOUNT_HEIGHT_m = 1.435  # From the 2024 game manual


 class MyRobot(wpilib.TimedRobot):
-    def robotInit(self) -> None:
+    def __init__(self) -> None:
        """Robot initialization function"""
-        self.controller = wpilib.XboxController(0)
+        super().__init__()
+
+        self.controller = wpilib.NiDsXboxController(0)
        self.swerve = drivetrain.Drivetrain()
        self.cam = PhotonCamera("YOUR CAMERA NAME")

--- a/photonlib-python-examples/aimandrange/swervemodule.py
+++ b/photonlib-python-examples/aimandrange/swervemodule.py
@@ -26,11 +26,7 @@ import math

 import wpilib
 import wpilib.simulation
-import wpimath.controller
-import wpimath.filter
-import wpimath.geometry
-import wpimath.kinematics
-import wpimath.trajectory
+import wpimath
 import wpimath.units

 kWheelRadius = 0.0508
@@ -60,7 +56,7 @@ class SwerveModule:
        :param turningEncoderChannelB: DIO input for the turning encoder channel B
        """
        self.moduleNumber = moduleNumber
-        self.desiredState = wpimath.kinematics.SwerveModuleState()
+        self.desiredVelocity = wpimath.SwerveModuleVelocity()

        self.driveMotor = wpilib.PWMSparkMax(driveMotorChannel)
        self.turningMotor = wpilib.PWMSparkMax(turningMotorChannel)
@@ -71,14 +67,14 @@ class SwerveModule:
        )

        # Gains are for example purposes only - must be determined for your own robot!
-        self.drivePIDController = wpimath.controller.PIDController(10, 0, 0)
+        self.drivePIDController = wpimath.PIDController(10, 0, 0)

        # Gains are for example purposes only - must be determined for your own robot!
-        self.turningPIDController = wpimath.controller.PIDController(30, 0, 0)
+        self.turningPIDController = wpimath.PIDController(30, 0, 0)

        # Gains are for example purposes only - must be determined for your own robot!
-        self.driveFeedforward = wpimath.controller.SimpleMotorFeedforwardMeters(1, 3)
-        self.turnFeedforward = wpimath.controller.SimpleMotorFeedforwardMeters(1, 0.7)
+        self.driveFeedforward = wpimath.SimpleMotorFeedforwardMeters(1, 3)
+        self.turnFeedforward = wpimath.SimpleMotorFeedforwardMeters(1, 0.7)

        # Set the distance per pulse for the drive encoder. We can simply use the
        # distance traveled for one rotation of the wheel divided by the encoder
@@ -99,66 +95,60 @@ class SwerveModule:
        # Simulation Support
        self.simDriveEncoder = wpilib.simulation.EncoderSim(self.driveEncoder)
        self.simTurningEncoder = wpilib.simulation.EncoderSim(self.turningEncoder)
-        self.simDrivingMotor = wpilib.simulation.PWMSim(self.driveMotor)
-        self.simTurningMotor = wpilib.simulation.PWMSim(self.turningMotor)
-        self.simDrivingMotorFilter = wpimath.filter.LinearFilter.singlePoleIIR(
-            0.1, 0.02
-        )
-        self.simTurningMotorFilter = wpimath.filter.LinearFilter.singlePoleIIR(
-            0.0001, 0.02
-        )
+        self.simDrivingMotor = wpilib.simulation.PWMSim(driveMotorChannel)
+        self.simTurningMotor = wpilib.simulation.PWMSim(turningMotorChannel)
+        self.simDrivingMotorFilter = wpimath.LinearFilter.singlePoleIIR(0.1, 0.02)
+        self.simTurningMotorFilter = wpimath.LinearFilter.singlePoleIIR(0.0001, 0.02)
        self.simTurningEncoderPos = 0
        self.simDrivingEncoderPos = 0

-    def getState(self) -> wpimath.kinematics.SwerveModuleState:
+    def getVelocity(self) -> wpimath.SwerveModuleVelocity:
        """Returns the current state of the module.

        :returns: The current state of the module.
        """
-        return wpimath.kinematics.SwerveModuleState(
+        return wpimath.SwerveModuleVelocity(
            self.driveEncoder.getRate(),
-            wpimath.geometry.Rotation2d(self.turningEncoder.getDistance()),
+            wpimath.Rotation2d(self.turningEncoder.getDistance()),
        )

-    def getPosition(self) -> wpimath.kinematics.SwerveModulePosition:
+    def getPosition(self) -> wpimath.SwerveModulePosition:
        """Returns the current position of the module.

        :returns: The current position of the module.
        """
-        return wpimath.kinematics.SwerveModulePosition(
+        return wpimath.SwerveModulePosition(
            self.driveEncoder.getDistance(),
-            wpimath.geometry.Rotation2d(self.turningEncoder.getDistance()),
+            wpimath.Rotation2d(self.turningEncoder.getDistance()),
        )

-    def setDesiredState(
-        self, desiredState: wpimath.kinematics.SwerveModuleState
-    ) -> None:
+    def setDesiredVelocity(self, desiredVelocity: wpimath.SwerveModuleVelocity) -> None:
        """Sets the desired state for the module.

-        :param desiredState: Desired state with speed and angle.
+        :param desiredVelocity: Desired state with speed and angle.
        """
-        self.desiredState = desiredState
+        self.desiredVelocity = desiredVelocity

-        encoderRotation = wpimath.geometry.Rotation2d(self.turningEncoder.getDistance())
+        encoderRotation = wpimath.Rotation2d(self.turningEncoder.getDistance())

        # Optimize the reference state to avoid spinning further than 90 degrees
-        desiredState.optimize(encoderRotation)
+        desiredVelocity.optimize(encoderRotation)

        # Scale speed by cosine of angle error. This scales down movement perpendicular to the desired
        # direction of travel that can occur when modules change directions. This results in smoother
        # driving.
-        desiredState.speed *= (desiredState.angle - encoderRotation).cos()
+        desiredVelocity.velocity *= (desiredVelocity.angle - encoderRotation).cos()

        # Calculate the drive output from the drive PID controller.
        driveOutput = self.drivePIDController.calculate(
-            self.driveEncoder.getRate(), desiredState.speed
+            self.driveEncoder.getRate(), desiredVelocity.velocity
        )

-        driveFeedforward = self.driveFeedforward.calculate(desiredState.speed)
+        driveFeedforward = self.driveFeedforward.calculate(desiredVelocity.velocity)

        # Calculate the turning motor output from the turning PID controller.
        turnOutput = self.turningPIDController.calculate(
-            self.turningEncoder.getDistance(), desiredState.angle.radians()
+            self.turningEncoder.getDistance(), desiredVelocity.angle.radians()
        )

        turnFeedforward = self.turnFeedforward.calculate(
@@ -168,11 +158,11 @@ class SwerveModule:
        self.driveMotor.setVoltage(driveOutput + driveFeedforward)
        self.turningMotor.setVoltage(turnOutput + turnFeedforward)

-    def getAbsoluteHeading(self) -> wpimath.geometry.Rotation2d:
-        return wpimath.geometry.Rotation2d(self.turningEncoder.getDistance())
+    def getAbsoluteHeading(self) -> wpimath.Rotation2d:
+        return wpimath.Rotation2d(self.turningEncoder.getDistance())

    def log(self) -> None:
-        state = self.getState()
+        state = self.getVelocity()

        table = "Module " + str(self.moduleNumber) + "/"
        wpilib.SmartDashboard.putNumber(
@@ -183,15 +173,17 @@ class SwerveModule:
            table + "Steer Target Degrees",
            math.degrees(self.turningPIDController.getSetpoint()),
        )
-        wpilib.SmartDashboard.putNumber(table + "Drive Velocity Feet", state.speed_fps)
        wpilib.SmartDashboard.putNumber(
-            table + "Drive Velocity Target Feet", self.desiredState.speed_fps
+            table + "Drive Velocity Feet", state.velocity_fps
        )
        wpilib.SmartDashboard.putNumber(
-            table + "Drive Voltage", self.driveMotor.get() * 12.0
+            table + "Drive Velocity Target Feet", self.desiredVelocity.velocity_fps
        )
        wpilib.SmartDashboard.putNumber(
-            table + "Steer Voltage", self.turningMotor.get() * 12.0
+            table + "Drive Throttle", self.driveMotor.getThrottle() * 12.0
+        )
+        wpilib.SmartDashboard.putNumber(
+            table + "Steer Throttle", self.turningMotor.getThrottle() * 12.0
        )

    def simulationPeriodic(self) -> None:
--- a/photonlib-python-examples/aimattarget/drivetrain.py
+++ b/photonlib-python-examples/aimattarget/drivetrain.py
@@ -28,8 +28,7 @@ import math
 import swervemodule
 import wpilib
 import wpilib.simulation
-import wpimath.geometry
-import wpimath.kinematics
+import wpimath

 kMaxSpeed = 3.0  # 3 meters per second
 kMaxAngularSpeed = math.pi  # 1/2 rotation per second
@@ -41,10 +40,10 @@ class Drivetrain:
    """

    def __init__(self) -> None:
-        self.frontLeftLocation = wpimath.geometry.Translation2d(0.381, 0.381)
-        self.frontRightLocation = wpimath.geometry.Translation2d(0.381, -0.381)
-        self.backLeftLocation = wpimath.geometry.Translation2d(-0.381, 0.381)
-        self.backRightLocation = wpimath.geometry.Translation2d(-0.381, -0.381)
+        self.frontLeftLocation = wpimath.Translation2d(0.381, 0.381)
+        self.frontRightLocation = wpimath.Translation2d(0.381, -0.381)
+        self.backLeftLocation = wpimath.Translation2d(-0.381, 0.381)
+        self.backRightLocation = wpimath.Translation2d(-0.381, -0.381)

        self.frontLeft = swervemodule.SwerveModule(1, 2, 0, 1, 2, 3, 1)
        self.frontRight = swervemodule.SwerveModule(3, 4, 4, 5, 6, 7, 2)
@@ -55,16 +54,17 @@ class Drivetrain:
        wpilib.SmartDashboard.putData("Drivetrain Debug", self.debugField)

        self.gyro = wpilib.AnalogGyro(0)
-        self.simGyro = wpilib.simulation.AnalogGyroSim(self.gyro)
+        self.simGyro = wpilib.simulation.OnboardIMUSim(self.gyro)
+        self._yaw = 0.0

-        self.kinematics = wpimath.kinematics.SwerveDrive4Kinematics(
+        self.kinematics = wpimath.SwerveDrive4Kinematics(
            self.frontLeftLocation,
            self.frontRightLocation,
            self.backLeftLocation,
            self.backRightLocation,
        )

-        self.odometry = wpimath.kinematics.SwerveDrive4Odometry(
+        self.odometry = wpimath.SwerveDrive4Odometry(
            self.kinematics,
            self.gyro.getRotation2d(),
            (
@@ -75,7 +75,7 @@ class Drivetrain:
            ),
        )

-        self.targetChassisSpeeds = wpimath.kinematics.ChassisSpeeds()
+        self.targetChassisVelocities = wpimath.ChassisVelocities()

        self.gyro.reset()

@@ -95,27 +95,24 @@ class Drivetrain:
        :param fieldRelative: Whether the provided x and y speeds are relative to the field.
        :param periodSeconds: Time
        """
-        swerveModuleStates = self.kinematics.toSwerveModuleStates(
-            wpimath.kinematics.ChassisSpeeds.discretize(
-                (
-                    wpimath.kinematics.ChassisSpeeds.fromFieldRelativeSpeeds(
-                        xSpeed, ySpeed, rot, self.gyro.getRotation2d()
+        chassisVelocities = wpimath.ChassisVelocities(xSpeed, ySpeed, rot)
+        if fieldRelative:
+            chassisVelocities = chassisVelocities.toRobotRelative(
+                self.gyro.getRotation2d()
            )
-                    if fieldRelative
-                    else wpimath.kinematics.ChassisSpeeds(xSpeed, ySpeed, rot)
-                ),
-                periodSeconds,
-            )
-        )
-        wpimath.kinematics.SwerveDrive4Kinematics.desaturateWheelSpeeds(
-            swerveModuleStates, kMaxSpeed
-        )
-        self.frontLeft.setDesiredState(swerveModuleStates[0])
-        self.frontRight.setDesiredState(swerveModuleStates[1])
-        self.backLeft.setDesiredState(swerveModuleStates[2])
-        self.backRight.setDesiredState(swerveModuleStates[3])

-        self.targetChassisSpeeds = self.kinematics.toChassisSpeeds(swerveModuleStates)
+        chassisVelocities = chassisVelocities.discretize(periodSeconds)
+        swerveModuleStates = self.kinematics.desaturateWheelVelocities(
+            self.kinematics.toSwerveModuleVelocities(chassisVelocities), kMaxSpeed
+        )
+        self.frontLeft.setDesiredVelocity(swerveModuleStates[0])
+        self.frontRight.setDesiredVelocity(swerveModuleStates[1])
+        self.backLeft.setDesiredVelocity(swerveModuleStates[2])
+        self.backRight.setDesiredVelocity(swerveModuleStates[3])
+
+        self.targetChassisVelocities = self.kinematics.toChassisVelocities(
+            swerveModuleStates
+        )

    def updateOdometry(self) -> None:
        """Updates the field relative position of the robot."""
@@ -129,26 +126,26 @@ class Drivetrain:
            ),
        )

-    def getModuleStates(self) -> list[wpimath.kinematics.SwerveModuleState]:
+    def getModuleVelocities(self) -> list[wpimath.SwerveModuleVelocity]:
        return [
-            self.frontLeft.getState(),
-            self.frontRight.getState(),
-            self.backLeft.getState(),
-            self.backRight.getState(),
+            self.frontLeft.getVelocity(),
+            self.frontRight.getVelocity(),
+            self.backLeft.getVelocity(),
+            self.backRight.getVelocity(),
        ]

-    def getModulePoses(self) -> list[wpimath.geometry.Pose2d]:
+    def getModulePoses(self) -> list[wpimath.Pose2d]:
        p = self.odometry.getPose()
-        flTrans = wpimath.geometry.Transform2d(
+        flTrans = wpimath.Transform2d(
            self.frontLeftLocation, self.frontLeft.getAbsoluteHeading()
        )
-        frTrans = wpimath.geometry.Transform2d(
+        frTrans = wpimath.Transform2d(
            self.frontRightLocation, self.frontRight.getAbsoluteHeading()
        )
-        blTrans = wpimath.geometry.Transform2d(
+        blTrans = wpimath.Transform2d(
            self.backLeftLocation, self.backLeft.getAbsoluteHeading()
        )
-        brTrans = wpimath.geometry.Transform2d(
+        brTrans = wpimath.Transform2d(
            self.backRightLocation, self.backRight.getAbsoluteHeading()
        )
        return [
@@ -158,8 +155,8 @@ class Drivetrain:
            p.transformBy(brTrans),
        ]

-    def getChassisSpeeds(self) -> wpimath.kinematics.ChassisSpeeds:
-        return self.kinematics.toChassisSpeeds(self.getModuleStates())
+    def getChassisVelocities(self) -> wpimath.ChassisVelocities:
+        return self.kinematics.toChassisVelocities(self.getModuleVelocities())

    def log(self):
        table = "Drive/"
@@ -169,7 +166,7 @@ class Drivetrain:
        wpilib.SmartDashboard.putNumber(table + "Y", pose.Y())
        wpilib.SmartDashboard.putNumber(table + "Heading", pose.rotation().degrees())

-        chassisSpeeds = self.getChassisSpeeds()
+        chassisSpeeds = self.getChassisVelocities()
        wpilib.SmartDashboard.putNumber(table + "VX", chassisSpeeds.vx)
        wpilib.SmartDashboard.putNumber(table + "VY", chassisSpeeds.vy)
        wpilib.SmartDashboard.putNumber(
@@ -177,13 +174,13 @@ class Drivetrain:
        )

        wpilib.SmartDashboard.putNumber(
-            table + "Target VX", self.targetChassisSpeeds.vx
+            table + "Target VX", self.targetChassisVelocities.vx
        )
        wpilib.SmartDashboard.putNumber(
-            table + "Target VY", self.targetChassisSpeeds.vy
+            table + "Target VY", self.targetChassisVelocities.vy
        )
        wpilib.SmartDashboard.putNumber(
-            table + "Target Omega Degrees", self.targetChassisSpeeds.omega_dps
+            table + "Target Omega Degrees", self.targetChassisVelocities.omega_dps
        )

        self.frontLeft.log()
@@ -199,5 +196,7 @@ class Drivetrain:
        self.frontRight.simulationPeriodic()
        self.backLeft.simulationPeriodic()
        self.backRight.simulationPeriodic()
-        self.simGyro.setRate(-1.0 * self.getChassisSpeeds().omega_dps)
-        self.simGyro.setAngle(self.simGyro.getAngle() + self.simGyro.getRate() * 0.02)
+        rate = -1.0 * self.getChassisVelocities().omega_dps
+        self.simGyro.setRate(rate)
+        self._yaw += rate * 0.02
+        self.simGyro.setYaw(self._yaw)
--- a/photonlib-python-examples/aimattarget/robot.py
+++ b/photonlib-python-examples/aimattarget/robot.py
@@ -32,9 +32,11 @@ VISION_TURN_kP = 0.01


 class MyRobot(wpilib.TimedRobot):
-    def robotInit(self) -> None:
+    def __init__(self) -> None:
        """Robot initialization function"""
-        self.controller = wpilib.XboxController(0)
+        super().__init__()
+
+        self.controller = wpilib.NiDsXboxController(0)
        self.swerve = drivetrain.Drivetrain()
        self.cam = PhotonCamera("YOUR CAMERA NAME")

--- a/photonlib-python-examples/aimattarget/swervemodule.py
+++ b/photonlib-python-examples/aimattarget/swervemodule.py
@@ -26,11 +26,7 @@ import math

 import wpilib
 import wpilib.simulation
-import wpimath.controller
-import wpimath.filter
-import wpimath.geometry
-import wpimath.kinematics
-import wpimath.trajectory
+import wpimath
 import wpimath.units

 kWheelRadius = 0.0508
@@ -60,7 +56,7 @@ class SwerveModule:
        :param turningEncoderChannelB: DIO input for the turning encoder channel B
        """
        self.moduleNumber = moduleNumber
-        self.desiredState = wpimath.kinematics.SwerveModuleState()
+        self.desiredVelocity = wpimath.SwerveModuleVelocity()

        self.driveMotor = wpilib.PWMSparkMax(driveMotorChannel)
        self.turningMotor = wpilib.PWMSparkMax(turningMotorChannel)
@@ -71,14 +67,14 @@ class SwerveModule:
        )

        # Gains are for example purposes only - must be determined for your own robot!
-        self.drivePIDController = wpimath.controller.PIDController(10, 0, 0)
+        self.drivePIDController = wpimath.PIDController(10, 0, 0)

        # Gains are for example purposes only - must be determined for your own robot!
-        self.turningPIDController = wpimath.controller.PIDController(30, 0, 0)
+        self.turningPIDController = wpimath.PIDController(30, 0, 0)

        # Gains are for example purposes only - must be determined for your own robot!
-        self.driveFeedforward = wpimath.controller.SimpleMotorFeedforwardMeters(1, 3)
-        self.turnFeedforward = wpimath.controller.SimpleMotorFeedforwardMeters(1, 0.7)
+        self.driveFeedforward = wpimath.SimpleMotorFeedforwardMeters(1, 3)
+        self.turnFeedforward = wpimath.SimpleMotorFeedforwardMeters(1, 0.7)

        # Set the distance per pulse for the drive encoder. We can simply use the
        # distance traveled for one rotation of the wheel divided by the encoder
@@ -99,66 +95,60 @@ class SwerveModule:
        # Simulation Support
        self.simDriveEncoder = wpilib.simulation.EncoderSim(self.driveEncoder)
        self.simTurningEncoder = wpilib.simulation.EncoderSim(self.turningEncoder)
-        self.simDrivingMotor = wpilib.simulation.PWMSim(self.driveMotor)
-        self.simTurningMotor = wpilib.simulation.PWMSim(self.turningMotor)
-        self.simDrivingMotorFilter = wpimath.filter.LinearFilter.singlePoleIIR(
-            0.1, 0.02
-        )
-        self.simTurningMotorFilter = wpimath.filter.LinearFilter.singlePoleIIR(
-            0.0001, 0.02
-        )
+        self.simDrivingMotor = wpilib.simulation.PWMSim(driveMotorChannel)
+        self.simTurningMotor = wpilib.simulation.PWMSim(turningMotorChannel)
+        self.simDrivingMotorFilter = wpimath.LinearFilter.singlePoleIIR(0.1, 0.02)
+        self.simTurningMotorFilter = wpimath.LinearFilter.singlePoleIIR(0.0001, 0.02)
        self.simTurningEncoderPos = 0
        self.simDrivingEncoderPos = 0

-    def getState(self) -> wpimath.kinematics.SwerveModuleState:
+    def getVelocity(self) -> wpimath.SwerveModuleVelocity:
        """Returns the current state of the module.

        :returns: The current state of the module.
        """
-        return wpimath.kinematics.SwerveModuleState(
+        return wpimath.SwerveModuleVelocity(
            self.driveEncoder.getRate(),
-            wpimath.geometry.Rotation2d(self.turningEncoder.getDistance()),
+            wpimath.Rotation2d(self.turningEncoder.getDistance()),
        )

-    def getPosition(self) -> wpimath.kinematics.SwerveModulePosition:
+    def getPosition(self) -> wpimath.SwerveModulePosition:
        """Returns the current position of the module.

        :returns: The current position of the module.
        """
-        return wpimath.kinematics.SwerveModulePosition(
+        return wpimath.SwerveModulePosition(
            self.driveEncoder.getDistance(),
-            wpimath.geometry.Rotation2d(self.turningEncoder.getDistance()),
+            wpimath.Rotation2d(self.turningEncoder.getDistance()),
        )

-    def setDesiredState(
-        self, desiredState: wpimath.kinematics.SwerveModuleState
-    ) -> None:
+    def setDesiredVelocity(self, desiredVelocity: wpimath.SwerveModuleVelocity) -> None:
        """Sets the desired state for the module.

-        :param desiredState: Desired state with speed and angle.
+        :param desiredVelocity: Desired state with speed and angle.
        """
-        self.desiredState = desiredState
+        self.desiredVelocity = desiredVelocity

-        encoderRotation = wpimath.geometry.Rotation2d(self.turningEncoder.getDistance())
+        encoderRotation = wpimath.Rotation2d(self.turningEncoder.getDistance())

        # Optimize the reference state to avoid spinning further than 90 degrees
-        desiredState.optimize(encoderRotation)
+        desiredVelocity.optimize(encoderRotation)

        # Scale speed by cosine of angle error. This scales down movement perpendicular to the desired
        # direction of travel that can occur when modules change directions. This results in smoother
        # driving.
-        desiredState.speed *= (desiredState.angle - encoderRotation).cos()
+        desiredVelocity.velocity *= (desiredVelocity.angle - encoderRotation).cos()

        # Calculate the drive output from the drive PID controller.
        driveOutput = self.drivePIDController.calculate(
-            self.driveEncoder.getRate(), desiredState.speed
+            self.driveEncoder.getRate(), desiredVelocity.velocity
        )

-        driveFeedforward = self.driveFeedforward.calculate(desiredState.speed)
+        driveFeedforward = self.driveFeedforward.calculate(desiredVelocity.velocity)

        # Calculate the turning motor output from the turning PID controller.
        turnOutput = self.turningPIDController.calculate(
-            self.turningEncoder.getDistance(), desiredState.angle.radians()
+            self.turningEncoder.getDistance(), desiredVelocity.angle.radians()
        )

        turnFeedforward = self.turnFeedforward.calculate(
@@ -168,11 +158,11 @@ class SwerveModule:
        self.driveMotor.setVoltage(driveOutput + driveFeedforward)
        self.turningMotor.setVoltage(turnOutput + turnFeedforward)

-    def getAbsoluteHeading(self) -> wpimath.geometry.Rotation2d:
-        return wpimath.geometry.Rotation2d(self.turningEncoder.getDistance())
+    def getAbsoluteHeading(self) -> wpimath.Rotation2d:
+        return wpimath.Rotation2d(self.turningEncoder.getDistance())

    def log(self) -> None:
-        state = self.getState()
+        state = self.getVelocity()

        table = "Module " + str(self.moduleNumber) + "/"
        wpilib.SmartDashboard.putNumber(
@@ -183,15 +173,17 @@ class SwerveModule:
            table + "Steer Target Degrees",
            math.degrees(self.turningPIDController.getSetpoint()),
        )
-        wpilib.SmartDashboard.putNumber(table + "Drive Velocity Feet", state.speed_fps)
        wpilib.SmartDashboard.putNumber(
-            table + "Drive Velocity Target Feet", self.desiredState.speed_fps
+            table + "Drive Velocity Feet", state.velocity_fps
        )
        wpilib.SmartDashboard.putNumber(
-            table + "Drive Voltage", self.driveMotor.get() * 12.0
+            table + "Drive Velocity Target Feet", self.desiredVelocity.velocity_fps
        )
        wpilib.SmartDashboard.putNumber(
-            table + "Steer Voltage", self.turningMotor.get() * 12.0
+            table + "Drive Throttle", self.driveMotor.getThrottle() * 12.0
+        )
+        wpilib.SmartDashboard.putNumber(
+            table + "Steer Throttle", self.turningMotor.getThrottle() * 12.0
        )

    def simulationPeriodic(self) -> None:
--- a/photonlib-python-examples/poseest/drivetrain.py
+++ b/photonlib-python-examples/poseest/drivetrain.py
@@ -28,16 +28,14 @@ import math
 import swervemodule
 import wpilib
 import wpilib.simulation
-import wpimath.estimator
-import wpimath.geometry
-import wpimath.kinematics
+import wpimath

 kMaxSpeed = 3.0  # 3 meters per second
 kMaxAngularSpeed = math.pi  # 1/2 rotation per second

-kInitialPose = wpimath.geometry.Pose2d(
-    wpimath.geometry.Translation2d(1.0, 1.0),
-    wpimath.geometry.Rotation2d.fromDegrees(0.0),
+kInitialPose = wpimath.Pose2d(
+    wpimath.Translation2d(1.0, 1.0),
+    wpimath.Rotation2d.fromDegrees(0.0),
 )


@@ -47,10 +45,10 @@ class Drivetrain:
    """

    def __init__(self) -> None:
-        self.frontLeftLocation = wpimath.geometry.Translation2d(0.381, 0.381)
-        self.frontRightLocation = wpimath.geometry.Translation2d(0.381, -0.381)
-        self.backLeftLocation = wpimath.geometry.Translation2d(-0.381, 0.381)
-        self.backRightLocation = wpimath.geometry.Translation2d(-0.381, -0.381)
+        self.frontLeftLocation = wpimath.Translation2d(0.381, 0.381)
+        self.frontRightLocation = wpimath.Translation2d(0.381, -0.381)
+        self.backLeftLocation = wpimath.Translation2d(-0.381, 0.381)
+        self.backRightLocation = wpimath.Translation2d(-0.381, -0.381)

        self.frontLeft = swervemodule.SwerveModule(1, 2, 0, 1, 2, 3, 1)
        self.frontRight = swervemodule.SwerveModule(3, 4, 4, 5, 6, 7, 2)
@@ -61,16 +59,17 @@ class Drivetrain:
        wpilib.SmartDashboard.putData("Drivetrain Debug", self.debugField)

        self.gyro = wpilib.AnalogGyro(0)
-        self.simGyro = wpilib.simulation.AnalogGyroSim(self.gyro)
+        self.simGyro = wpilib.simulation.OnboardIMUSim(self.gyro)
+        self._yaw = 0.0

-        self.kinematics = wpimath.kinematics.SwerveDrive4Kinematics(
+        self.kinematics = wpimath.SwerveDrive4Kinematics(
            self.frontLeftLocation,
            self.frontRightLocation,
            self.backLeftLocation,
            self.backRightLocation,
        )

-        self.poseEst = wpimath.estimator.SwerveDrive4PoseEstimator(
+        self.poseEst = wpimath.SwerveDrive4PoseEstimator(
            self.kinematics,
            self.gyro.getRotation2d(),
            (
@@ -79,10 +78,9 @@ class Drivetrain:
                self.backLeft.getPosition(),
                self.backRight.getPosition(),
            ),
-            kInitialPose,
        )

-        self.targetChassisSpeeds = wpimath.kinematics.ChassisSpeeds()
+        self.targetChassisVelocities = wpimath.ChassisVelocities()

        self.gyro.reset()

@@ -102,31 +100,28 @@ class Drivetrain:
        :param fieldRelative: Whether the provided x and y speeds are relative to the field.
        :param periodSeconds: Time
        """
-        swerveModuleStates = self.kinematics.toSwerveModuleStates(
-            wpimath.kinematics.ChassisSpeeds.discretize(
-                (
-                    wpimath.kinematics.ChassisSpeeds.fromFieldRelativeSpeeds(
-                        xSpeed, ySpeed, rot, self.gyro.getRotation2d()
+        chassisVelocities = wpimath.ChassisVelocities(xSpeed, ySpeed, rot)
+        if fieldRelative:
+            chassisVelocities = chassisVelocities.toRobotRelative(
+                self.gyro.getRotation2d()
            )
-                    if fieldRelative
-                    else wpimath.kinematics.ChassisSpeeds(xSpeed, ySpeed, rot)
-                ),
-                periodSeconds,
-            )
-        )
-        wpimath.kinematics.SwerveDrive4Kinematics.desaturateWheelSpeeds(
-            swerveModuleStates, kMaxSpeed
-        )
-        self.frontLeft.setDesiredState(swerveModuleStates[0])
-        self.frontRight.setDesiredState(swerveModuleStates[1])
-        self.backLeft.setDesiredState(swerveModuleStates[2])
-        self.backRight.setDesiredState(swerveModuleStates[3])

-        self.targetChassisSpeeds = self.kinematics.toChassisSpeeds(swerveModuleStates)
+        chassisVelocities = chassisVelocities.discretize(periodSeconds)
+        swerveModuleStates = self.kinematics.desaturateWheelVelocities(
+            self.kinematics.toSwerveModuleVelocities(chassisVelocities), kMaxSpeed
+        )
+        self.frontLeft.setDesiredVelocity(swerveModuleStates[0])
+        self.frontRight.setDesiredVelocity(swerveModuleStates[1])
+        self.backLeft.setDesiredVelocity(swerveModuleStates[2])
+        self.backRight.setDesiredVelocity(swerveModuleStates[3])
+
+        self.targetChassisVelocities = self.kinematics.toChassisVelocities(
+            swerveModuleStates
+        )

    def updateOdometry(self) -> None:
        """Updates the field relative position of the robot."""
-        self.poseEst.update(
+        self.odometry.update(
            self.gyro.getRotation2d(),
            (
                self.frontLeft.getPosition(),
@@ -136,9 +131,7 @@ class Drivetrain:
            ),
        )

-    def addVisionPoseEstimate(
-        self, pose: wpimath.geometry.Pose3d, timestamp: float
-    ) -> None:
+    def addVisionPoseEstimate(self, pose: wpimath.Pose3d, timestamp: float) -> None:
        self.poseEst.addVisionMeasurement(pose, timestamp)

    def resetPose(self) -> None:
@@ -153,26 +146,26 @@ class Drivetrain:
            kInitialPose,
        )

-    def getModuleStates(self) -> list[wpimath.kinematics.SwerveModuleState]:
+    def getModuleVelocities(self) -> list[wpimath.SwerveModuleVelocity]:
        return [
-            self.frontLeft.getState(),
-            self.frontRight.getState(),
-            self.backLeft.getState(),
-            self.backRight.getState(),
+            self.frontLeft.getVelocity(),
+            self.frontRight.getVelocity(),
+            self.backLeft.getVelocity(),
+            self.backRight.getVelocity(),
        ]

-    def getModulePoses(self) -> list[wpimath.geometry.Pose2d]:
+    def getModulePoses(self) -> list[wpimath.Pose2d]:
        p = self.poseEst.getEstimatedPosition()
-        flTrans = wpimath.geometry.Transform2d(
+        flTrans = wpimath.Transform2d(
            self.frontLeftLocation, self.frontLeft.getAbsoluteHeading()
        )
-        frTrans = wpimath.geometry.Transform2d(
+        frTrans = wpimath.Transform2d(
            self.frontRightLocation, self.frontRight.getAbsoluteHeading()
        )
-        blTrans = wpimath.geometry.Transform2d(
+        blTrans = wpimath.Transform2d(
            self.backLeftLocation, self.backLeft.getAbsoluteHeading()
        )
-        brTrans = wpimath.geometry.Transform2d(
+        brTrans = wpimath.Transform2d(
            self.backRightLocation, self.backRight.getAbsoluteHeading()
        )
        return [
@@ -182,18 +175,18 @@ class Drivetrain:
            p.transformBy(brTrans),
        ]

-    def getChassisSpeeds(self) -> wpimath.kinematics.ChassisSpeeds:
-        return self.kinematics.toChassisSpeeds(self.getModuleStates())
+    def getChassisVelocities(self) -> wpimath.ChassisVelocities:
+        return self.kinematics.toChassisVelocities(self.getModuleVelocities())

    def log(self):
        table = "Drive/"

-        pose = self.poseEst.getEstimatedPosition()
+        pose = self.odometry.getPose()
        wpilib.SmartDashboard.putNumber(table + "X", pose.X())
        wpilib.SmartDashboard.putNumber(table + "Y", pose.Y())
        wpilib.SmartDashboard.putNumber(table + "Heading", pose.rotation().degrees())

-        chassisSpeeds = self.getChassisSpeeds()
+        chassisSpeeds = self.getChassisVelocities()
        wpilib.SmartDashboard.putNumber(table + "VX", chassisSpeeds.vx)
        wpilib.SmartDashboard.putNumber(table + "VY", chassisSpeeds.vy)
        wpilib.SmartDashboard.putNumber(
@@ -201,13 +194,13 @@ class Drivetrain:
        )

        wpilib.SmartDashboard.putNumber(
-            table + "Target VX", self.targetChassisSpeeds.vx
+            table + "Target VX", self.targetChassisVelocities.vx
        )
        wpilib.SmartDashboard.putNumber(
-            table + "Target VY", self.targetChassisSpeeds.vy
+            table + "Target VY", self.targetChassisVelocities.vy
        )
        wpilib.SmartDashboard.putNumber(
-            table + "Target Omega Degrees", self.targetChassisSpeeds.omega_dps
+            table + "Target Omega Degrees", self.targetChassisVelocities.omega_dps
        )

        self.frontLeft.log()
@@ -215,7 +208,7 @@ class Drivetrain:
        self.backLeft.log()
        self.backRight.log()

-        self.debugField.getRobotObject().setPose(self.poseEst.getEstimatedPosition())
+        self.debugField.getRobotObject().setPose(self.odometry.getPose())
        self.debugField.getObject("SwerveModules").setPoses(self.getModulePoses())

    def simulationPeriodic(self):
@@ -223,5 +216,7 @@ class Drivetrain:
        self.frontRight.simulationPeriodic()
        self.backLeft.simulationPeriodic()
        self.backRight.simulationPeriodic()
-        self.simGyro.setRate(-1.0 * self.getChassisSpeeds().omega_dps)
-        self.simGyro.setAngle(self.simGyro.getAngle() + self.simGyro.getRate() * 0.02)
+        rate = -1.0 * self.getChassisVelocities().omega_dps
+        self.simGyro.setRate(rate)
+        self._yaw += rate * 0.02
+        self.simGyro.setYaw(self._yaw)
--- a/photonlib-python-examples/poseest/robot.py
+++ b/photonlib-python-examples/poseest/robot.py
@@ -26,20 +26,22 @@

 import drivetrain
 import wpilib
-import wpimath.geometry
+import wpimath
 from photonlibpy import PhotonCamera, PhotonPoseEstimator
 from robotpy_apriltag import AprilTagField, AprilTagFieldLayout

-kRobotToCam = wpimath.geometry.Transform3d(
-    wpimath.geometry.Translation3d(0.5, 0.0, 0.5),
-    wpimath.geometry.Rotation3d.fromDegrees(0.0, -30.0, 0.0),
+kRobotToCam = wpimath.Transform3d(
+    wpimath.Translation3d(0.5, 0.0, 0.5),
+    wpimath.Rotation3d.fromDegrees(0.0, -30.0, 0.0),
 )


 class MyRobot(wpilib.TimedRobot):
-    def robotInit(self) -> None:
+    def __init__(self) -> None:
        """Robot initialization function"""
-        self.controller = wpilib.XboxController(0)
+        super().__init__()
+
+        self.controller = wpilib.NiDsXboxController(0)
        self.swerve = drivetrain.Drivetrain()
        self.cam = PhotonCamera("YOUR CAMERA NAME")
        self.camPoseEst = PhotonPoseEstimator(
--- a/photonlib-python-examples/poseest/swervemodule.py
+++ b/photonlib-python-examples/poseest/swervemodule.py
@@ -1,4 +1,4 @@
-###################################################################################
+Speeds  ###################################################################################
 # MIT License
 #
 # Copyright (c) PhotonVision
@@ -26,11 +26,7 @@ import math

 import wpilib
 import wpilib.simulation
-import wpimath.controller
-import wpimath.filter
-import wpimath.geometry
-import wpimath.kinematics
-import wpimath.trajectory
+import wpimath
 import wpimath.units

 kWheelRadius = 0.0508
@@ -60,7 +56,7 @@ class SwerveModule:
        :param turningEncoderChannelB: DIO input for the turning encoder channel B
        """
        self.moduleNumber = moduleNumber
-        self.desiredState = wpimath.kinematics.SwerveModuleState()
+        self.desiredVelocity = wpimath.SwerveModuleVelocity()

        self.driveMotor = wpilib.PWMSparkMax(driveMotorChannel)
        self.turningMotor = wpilib.PWMSparkMax(turningMotorChannel)
@@ -71,13 +67,14 @@ class SwerveModule:
        )

        # Gains are for example purposes only - must be determined for your own robot!
-        self.drivePIDController = wpimath.controller.PIDController(10, 0, 0)
+        self.drivePIDController = wpimath.PIDController(10, 0, 0)

        # Gains are for example purposes only - must be determined for your own robot!
-        self.turningPIDController = wpimath.controller.PIDController(30, 0, 0)
+        self.turningPIDController = wpimath.PIDController(30, 0, 0)

        # Gains are for example purposes only - must be determined for your own robot!
-        self.driveFeedforward = wpimath.controller.SimpleMotorFeedforwardMeters(1, 3)
+        self.driveFeedforward = wpimath.SimpleMotorFeedforwardMeters(1, 3)
+        self.turnFeedforward = wpimath.SimpleMotorFeedforwardMeters(1, 0.7)

        # Set the distance per pulse for the drive encoder. We can simply use the
        # distance traveled for one rotation of the wheel divided by the encoder
@@ -98,76 +95,74 @@ class SwerveModule:
        # Simulation Support
        self.simDriveEncoder = wpilib.simulation.EncoderSim(self.driveEncoder)
        self.simTurningEncoder = wpilib.simulation.EncoderSim(self.turningEncoder)
-        self.simDrivingMotor = wpilib.simulation.PWMSim(self.driveMotor)
-        self.simTurningMotor = wpilib.simulation.PWMSim(self.turningMotor)
-        self.simDrivingMotorFilter = wpimath.filter.LinearFilter.singlePoleIIR(
-            0.1, 0.02
-        )
-        self.simTurningMotorFilter = wpimath.filter.LinearFilter.singlePoleIIR(
-            0.0001, 0.02
-        )
+        self.simDrivingMotor = wpilib.simulation.PWMSim(driveMotorChannel)
+        self.simTurningMotor = wpilib.simulation.PWMSim(turningMotorChannel)
+        self.simDrivingMotorFilter = wpimath.LinearFilter.singlePoleIIR(0.1, 0.02)
+        self.simTurningMotorFilter = wpimath.LinearFilter.singlePoleIIR(0.0001, 0.02)
        self.simTurningEncoderPos = 0
        self.simDrivingEncoderPos = 0

-    def getState(self) -> wpimath.kinematics.SwerveModuleState:
+    def getVelocity(self) -> wpimath.SwerveModuleVelocity:
        """Returns the current state of the module.

        :returns: The current state of the module.
        """
-        return wpimath.kinematics.SwerveModuleState(
+        return wpimath.SwerveModuleVelocity(
            self.driveEncoder.getRate(),
-            wpimath.geometry.Rotation2d(self.turningEncoder.getDistance()),
+            wpimath.Rotation2d(self.turningEncoder.getDistance()),
        )

-    def getPosition(self) -> wpimath.kinematics.SwerveModulePosition:
+    def getPosition(self) -> wpimath.SwerveModulePosition:
        """Returns the current position of the module.

        :returns: The current position of the module.
        """
-        return wpimath.kinematics.SwerveModulePosition(
+        return wpimath.SwerveModulePosition(
            self.driveEncoder.getDistance(),
-            wpimath.geometry.Rotation2d(self.turningEncoder.getDistance()),
+            wpimath.Rotation2d(self.turningEncoder.getDistance()),
        )

-    def setDesiredState(
-        self, desiredState: wpimath.kinematics.SwerveModuleState
-    ) -> None:
+    def setDesiredVelocity(self, desiredVelocity: wpimath.SwerveModuleVelocity) -> None:
        """Sets the desired state for the module.

-        :param desiredState: Desired state with speed and angle.
+        :param desiredVelocity: Desired state with speed and angle.
        """
-        self.desiredState = desiredState
+        self.desiredVelocity = desiredVelocity

-        encoderRotation = wpimath.geometry.Rotation2d(self.turningEncoder.getDistance())
+        encoderRotation = wpimath.Rotation2d(self.turningEncoder.getDistance())

        # Optimize the reference state to avoid spinning further than 90 degrees
-        self.desiredState.optimize(encoderRotation)
+        self.desiredVelocity.optimize(encoderRotation)

        # Scale speed by cosine of angle error. This scales down movement perpendicular to the desired
        # direction of travel that can occur when modules change directions. This results in smoother
        # driving.
-        self.desiredState.speed *= (self.desiredState.angle - encoderRotation).cos()
+        self.desiredVelocity.velocity *= (
+            self.desiredVelocity.angle - encoderRotation
+        ).cos()

        # Calculate the drive output from the drive PID controller.
        driveOutput = self.drivePIDController.calculate(
-            self.driveEncoder.getRate(), self.desiredState.speed
+            self.driveEncoder.getRate(), self.desiredVelocity.velocity
        )

-        driveFeedforward = self.driveFeedforward.calculate(self.desiredState.speed)
+        driveFeedforward = self.driveFeedforward.calculate(
+            self.desiredVelocity.velocity
+        )

        # Calculate the turning motor output from the turning PID controller.
        turnOutput = self.turningPIDController.calculate(
-            self.turningEncoder.getDistance(), self.desiredState.angle.radians()
+            self.turningEncoder.getDistance(), self.desiredVelocity.angle.radians()
        )

        self.driveMotor.setVoltage(driveOutput + driveFeedforward)
-        self.turningMotor.setVoltage(turnOutput)
+        self.turningMotor.setVoltage(turnOutput + turnFeedforward)

-    def getAbsoluteHeading(self) -> wpimath.geometry.Rotation2d:
-        return wpimath.geometry.Rotation2d(self.turningEncoder.getDistance())
+    def getAbsoluteHeading(self) -> wpimath.Rotation2d:
+        return wpimath.Rotation2d(self.turningEncoder.getDistance())

    def log(self) -> None:
-        state = self.getState()
+        state = self.getVelocity()

        table = "Module " + str(self.moduleNumber) + "/"
        wpilib.SmartDashboard.putNumber(
@@ -178,15 +173,17 @@ class SwerveModule:
            table + "Steer Target Degrees",
            math.degrees(self.turningPIDController.getSetpoint()),
        )
-        wpilib.SmartDashboard.putNumber(table + "Drive Velocity Feet", state.speed_fps)
        wpilib.SmartDashboard.putNumber(
-            table + "Drive Velocity Target Feet", self.desiredState.speed_fps
+            table + "Drive Velocity Feet", state.velocity_fps
        )
        wpilib.SmartDashboard.putNumber(
-            table + "Drive Voltage", self.driveMotor.get() * 12.0
+            table + "Drive Velocity Target Feet", self.desiredVelocity.velocity_fps
        )
        wpilib.SmartDashboard.putNumber(
-            table + "Steer Voltage", self.turningMotor.get() * 12.0
+            table + "Drive Throttle", self.driveMotor.getThrottle() * 12.0
+        )
+        wpilib.SmartDashboard.putNumber(
+            table + "Steer Throttle", self.turningMotor.getThrottle() * 12.0
        )

    def simulationPeriodic(self) -> None:
@@ -199,7 +196,9 @@ class SwerveModule:
        driveSpdRaw = (
            driveVoltage / 12.0 * self.driveFeedforward.maxAchievableVelocity(12.0, 0)
        )
-        turnSpdRaw = turnVoltage / 0.7
+        turnSpdRaw = (
+            turnVoltage / 12.0 * self.turnFeedforward.maxAchievableVelocity(12.0, 0)
+        )
        driveSpd = self.simDrivingMotorFilter.calculate(driveSpdRaw)
        turnSpd = self.simTurningMotorFilter.calculate(turnSpdRaw)
        self.simDrivingEncoderPos += 0.02 * driveSpd
--- a/photonlib-python-examples/run.bat
+++ b/photonlib-python-examples/run.bat
@@ -22,4 +22,5 @@ set PYTHONPATH=%PHOTONLIBPY_ROOT%
 cd %~1

 :: Run the example
+mypy --show-column-numbers --config-file ../../photon-lib/py/pyproject.toml .
 robotpy sim
--- a/photonlib-python-examples/run.sh
+++ b/photonlib-python-examples/run.sh
@@ -1,3 +1,4 @@
+set -e
 # Check if the first argument is provided
 if [ $# -eq 0 ]
  then
@@ -9,4 +10,5 @@ fi
 cd $1

 # Run the example
+mypy --show-column-numbers --config-file ../../photon-lib/py/pyproject.toml .
 python3 robot.py sim
--- a/shared/PhotonVersion.cpp.in
+++ b/shared/PhotonVersion.cpp.in
@@ -32,6 +32,5 @@ namespace photon {

    // Versions of dependant libraries
    const char* wpilibTargetVersion = "${wpilibVersion}";
-    const char* opencvTargetVersion = "${opencvVersion}";
  }
 }
--- a/shared/common.gradle
+++ b/shared/common.gradle
@@ -32,10 +32,8 @@ dependencies {
    implementation "org.wpilib.wpilibj:wpilibj-java:$wpilibVersion"
    implementation "org.wpilib.apriltag:apriltag-java:$wpilibVersion"
    implementation "org.wpilib.wpiunits:wpiunits-java:$wpilibVersion"
-    implementation wpilibTools.deps.wpilibOpenCvJava("frc" + openCVYear, openCVversion)
+    implementation wpilibTools.deps.wpilibOpenCvJava(openCVversion)

-    implementation group: "com.fasterxml.jackson.core", name: "jackson-core", version: jacksonVersion
-    implementation group: "com.fasterxml.jackson.core", name: "jackson-databind", version: jacksonVersion
    implementation group: "io.avaje", name: "avaje-jsonb", version: avajeJsonbVersion
    annotationProcessor group: "io.avaje", name: "avaje-jsonb-generator", version: avajeJsonbVersion
    implementation group: "io.avaje", name: "avaje-jsonb-jackson", version: avajeJsonbVersion
--- a/shared/config.gradle
+++ b/shared/config.gradle
@@ -6,10 +6,7 @@ nativeUtils.withCrossSystemCore()
 // Configure WPI dependencies.
 nativeUtils.wpi.configureDependencies {
    wpiVersion = wpilibVersion
-    wpimathVersion = wpimathVersion
-    opencvYear = 'frc'+openCVYear
    opencvVersion = openCVversion
-    niLibVersion = "2026.1.0"
 }

 // Configure warnings and errors
--- a/shared/javacommon.gradle
+++ b/shared/javacommon.gradle
@@ -148,10 +148,8 @@ dependencies {
    implementation "org.wpilib.wpilibj:wpilibj-java:$wpilibVersion"
    implementation "org.wpilib.apriltag:apriltag-java:$wpilibVersion"
    implementation "org.wpilib.wpiunits:wpiunits-java:$wpilibVersion"
-    implementation wpilibTools.deps.wpilibOpenCvJava("frc" + openCVYear, openCVversion)
+    implementation wpilibTools.deps.wpilibOpenCvJava(openCVversion)

-    implementation group: "com.fasterxml.jackson.core", name: "jackson-core", version: jacksonVersion
-    implementation group: "com.fasterxml.jackson.core", name: "jackson-databind", version: jacksonVersion
    implementation group: "io.avaje", name: "avaje-jsonb", version: avajeJsonbVersion
    annotationProcessor group: "io.avaje", name: "avaje-jsonb-generator", version: avajeJsonbVersion

--- a/versioningHelper.gradle
+++ b/versioningHelper.gradle
@@ -1,42 +0,0 @@
-import java.nio.file.Path
-import java.time.LocalDateTime
-import java.time.format.DateTimeFormatter
-
-ext.getCurrentVersion = {
-    String tagIsh = "dev-unknown"
-    try {
-        tagIsh = providers.exec {
-            commandLine 'git', 'describe', '--tags', '--match=v*'
-        }.standardOutput.asText.get().trim().toLowerCase()
-    } catch (Exception ignored) {
-        tagIsh = "dev-unknown"
-    }
-
-    // Dev tags: v2021.1.6-3-gf922466d
-    // We're specifically looking to capture the middle -3-
-    boolean isDev = tagIsh.matches(".*-[0-9]*-g[0-9a-f]*")
-    if (isDev && !tagIsh.startsWith("dev-")) tagIsh = "dev-" + tagIsh
-    println("Picked up version: " + tagIsh)
-    return tagIsh
-}
-
-if (!ext.has("versionString")) {
-    ext.versionString = getCurrentVersion()
-}
-
-ext.writePhotonVersionFile = {File versionFileIn, Path path, String version ->
-    println("Writing " + version + " to " + path.toAbsolutePath().toString())
-    String date = DateTimeFormatter.ofPattern("yyyy-M-d hh:mm:ss").format(LocalDateTime.now())
-    File versionFileOut = new File(path.toAbsolutePath().toString())
-    versionFileOut.delete()
-
-    def read = versionFileIn.text
-            .replace('${version}', version)
-            .replace('${date}', date)
-            .replace('${wpilibVersion}', wpilibVersion)
-            // Note that OpenCV is usually {VERSION}-{some suffix}, we just want the first bit
-            .replace('${opencvVersion}', openCVversion.split("-").first())
-    if (!versionFileOut.parentFile.exists()) versionFileOut.parentFile.mkdirs()
-    if (!versionFileOut.exists()) versionFileOut.createNewFile()
-    versionFileOut.write(read)
-}