Merge branch 'main' into 2027

2026-06-19 00:41:43 +00:00 · 2024-12-14 10:45:32 -08:00
parent 6ba7189373 4bca79b9af
commit 945d416d07
43 changed files with 768 additions and 1278 deletions
--- a/build.gradle
+++ b/build.gradle
@@ -18,7 +18,7 @@ plugins {
    id 'idea'
    id 'visual-studio'
    id 'net.ltgt.errorprone' version '3.1.0' apply false
-    id 'com.github.johnrengelman.shadow' version '8.1.1' apply false
+    id 'com.gradleup.shadow' version '8.3.4' apply false
    id 'com.diffplug.spotless' version '6.20.0' apply false
    id 'com.github.spotbugs' version '6.0.2' apply false
 }
--- a/cameraserver/multiCameraServer/build.gradle
+++ b/cameraserver/multiCameraServer/build.gradle
@@ -22,7 +22,7 @@ application {
    mainClass = 'edu.wpi.Main'
 }

-apply plugin: 'com.github.johnrengelman.shadow'
+apply plugin: 'com.gradleup.shadow'

 repositories {
    maven {
--- a/developerRobot/build.gradle
+++ b/developerRobot/build.gradle
@@ -35,7 +35,7 @@ application {
    mainClass = 'frc.robot.Main'
 }

-apply plugin: 'com.github.johnrengelman.shadow'
+apply plugin: 'com.gradleup.shadow'

 repositories {
    maven {
--- a/roborioteamnumbersetter/src/main/native/cpp/SshSession.cpp
+++ b/roborioteamnumbersetter/src/main/native/cpp/SshSession.cpp
@@ -146,7 +146,7 @@ std::string SshSession::ExecuteResult(std::string_view cmd, int* exitStatus) {
 #if LIBSSH_VERSION_MAJOR == 0 && LIBSSH_VERSION_MINOR >= 11
  ssh_channel_get_exit_state(channel, &exitCode, nullptr, nullptr);
 #else
-  ssh_channel_get_exit_status(channel);
+  exitCode = ssh_channel_get_exit_status(channel);
 #endif
  INFO("{} {}", exitCode, cmd);

--- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/Command.java
+++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/Command.java
@@ -287,6 +287,24 @@ public abstract class Command implements Sendable {
    return group;
  }

+  /**
+   * Creates a new command that runs this command and the deadline in parallel, finishing (and
+   * interrupting this command) when the deadline finishes.
+   *
+   * <p>Note: This decorator works by adding this command to a composition. The command the
+   * decorator was called on cannot be scheduled independently or be added to a different
+   * composition (namely, decorators), unless it is manually cleared from the list of composed
+   * commands with {@link CommandScheduler#removeComposedCommand(Command)}. The command composition
+   * returned from this method can be further decorated without issue.
+   *
+   * @param deadline the deadline of the command group
+   * @return the decorated command
+   * @see Command#deadlineFor
+   */
+  public ParallelDeadlineGroup withDeadline(Command deadline) {
+    return new ParallelDeadlineGroup(deadline, this);
+  }
+
  /**
   * Decorates this command with a set of commands to run parallel to it, ending when the calling
   * command ends and interrupting all the others. Often more convenient/less-verbose than
@@ -321,6 +339,7 @@ public abstract class Command implements Sendable {
   * @param parallel the commands to run in parallel. Note the parallel commands will be interrupted
   *     when the deadline command ends
   * @return the decorated command
+   * @see Command#withDeadline
   */
  public ParallelDeadlineGroup deadlineFor(Command... parallel) {
    return new ParallelDeadlineGroup(this, parallel);
--- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/MecanumControllerCommand.java
+++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/MecanumControllerCommand.java
@@ -38,6 +38,7 @@ import java.util.function.Supplier;
 *
 * <p>This class is provided by the NewCommands VendorDep
 */
+@SuppressWarnings("removal")
 public class MecanumControllerCommand extends Command {
  private final Timer m_timer = new Timer();
  private final boolean m_usePID;
@@ -53,7 +54,7 @@ public class MecanumControllerCommand extends Command {
  private final PIDController m_frontRightController;
  private final PIDController m_rearRightController;
  private final Supplier<MecanumDriveWheelSpeeds> m_currentWheelSpeeds;
-  private final Consumer<MecanumDriveMotorVoltages> m_outputDriveVoltages;
+  private final MecanumVoltagesConsumer m_outputDriveVoltages;
  private final Consumer<MecanumDriveWheelSpeeds> m_outputWheelSpeeds;
  private double m_prevFrontLeftSpeedSetpoint; // m/s
  private double m_prevRearLeftSpeedSetpoint; // m/s
@@ -84,8 +85,7 @@ public class MecanumControllerCommand extends Command {
   * @param frontRightController The front right wheel velocity PID.
   * @param rearRightController The rear right wheel velocity PID.
   * @param currentWheelSpeeds A MecanumDriveWheelSpeeds object containing the current wheel speeds.
-   * @param outputDriveVoltages A MecanumDriveMotorVoltages object containing the output motor
-   *     voltages.
+   * @param outputDriveVoltages A MecanumVoltagesConsumer that consumes voltages of mecanum motors.
   * @param requirements The subsystems to require.
   */
  @SuppressWarnings("this-escape")
@@ -104,7 +104,7 @@ public class MecanumControllerCommand extends Command {
      PIDController frontRightController,
      PIDController rearRightController,
      Supplier<MecanumDriveWheelSpeeds> currentWheelSpeeds,
-      Consumer<MecanumDriveMotorVoltages> outputDriveVoltages,
+      MecanumVoltagesConsumer outputDriveVoltages,
      Subsystem... requirements) {
    m_trajectory = requireNonNullParam(trajectory, "trajectory", "MecanumControllerCommand");
    m_pose = requireNonNullParam(pose, "pose", "MecanumControllerCommand");
@@ -145,6 +145,139 @@ public class MecanumControllerCommand extends Command {
    addRequirements(requirements);
  }

+  /**
+   * Constructs a new MecanumControllerCommand that when executed will follow the provided
+   * trajectory. PID control and feedforward are handled internally. Outputs are scaled from -12 to
+   * 12 as a voltage output to the motor.
+   *
+   * <p>Note: The controllers will *not* set the outputVolts to zero upon completion of the path
+   * this is left to the user, since it is not appropriate for paths with nonstationary endstates.
+   *
+   * @param trajectory The trajectory to follow.
+   * @param pose A function that supplies the robot pose - use one of the odometry classes to
+   *     provide this.
+   * @param feedforward The feedforward to use for the drivetrain.
+   * @param kinematics The kinematics for the robot drivetrain.
+   * @param xController The Trajectory Tracker PID controller for the robot's x position.
+   * @param yController The Trajectory Tracker PID controller for the robot's y position.
+   * @param thetaController The Trajectory Tracker PID controller for angle for the robot.
+   * @param desiredRotation The angle that the robot should be facing. This is sampled at each time
+   *     step.
+   * @param maxWheelVelocityMetersPerSecond The maximum velocity of a drivetrain wheel.
+   * @param frontLeftController The front left wheel velocity PID.
+   * @param rearLeftController The rear left wheel velocity PID.
+   * @param frontRightController The front right wheel velocity PID.
+   * @param rearRightController The rear right wheel velocity PID.
+   * @param currentWheelSpeeds A MecanumDriveWheelSpeeds object containing the current wheel speeds.
+   * @param outputDriveVoltages A MecanumDriveMotorVoltages object containing the output motor
+   *     voltages.
+   * @param requirements The subsystems to require.
+   */
+  @Deprecated(since = "2025", forRemoval = true)
+  public MecanumControllerCommand(
+      Trajectory trajectory,
+      Supplier<Pose2d> pose,
+      SimpleMotorFeedforward feedforward,
+      MecanumDriveKinematics kinematics,
+      PIDController xController,
+      PIDController yController,
+      ProfiledPIDController thetaController,
+      Supplier<Rotation2d> desiredRotation,
+      double maxWheelVelocityMetersPerSecond,
+      PIDController frontLeftController,
+      PIDController rearLeftController,
+      PIDController frontRightController,
+      PIDController rearRightController,
+      Supplier<MecanumDriveWheelSpeeds> currentWheelSpeeds,
+      Consumer<MecanumDriveMotorVoltages> outputDriveVoltages,
+      Subsystem... requirements) {
+    this(
+        trajectory,
+        pose,
+        feedforward,
+        kinematics,
+        xController,
+        yController,
+        thetaController,
+        desiredRotation,
+        maxWheelVelocityMetersPerSecond,
+        frontLeftController,
+        rearLeftController,
+        frontRightController,
+        rearRightController,
+        currentWheelSpeeds,
+        (frontLeft, frontRight, rearLeft, rearRight) ->
+            outputDriveVoltages.accept(
+                new MecanumDriveMotorVoltages(frontLeft, frontRight, rearLeft, rearRight)),
+        requirements);
+  }
+
+  /**
+   * Constructs a new MecanumControllerCommand that when executed will follow the provided
+   * trajectory. PID control and feedforward are handled internally. Outputs are scaled from -12 to
+   * 12 as a voltage output to the motor.
+   *
+   * <p>Note: The controllers will *not* set the outputVolts to zero upon completion of the path
+   * this is left to the user, since it is not appropriate for paths with nonstationary endstates.
+   *
+   * <p>Note 2: The final rotation of the robot will be set to the rotation of the final pose in the
+   * trajectory. The robot will not follow the rotations from the poses at each timestep. If
+   * alternate rotation behavior is desired, the other constructor with a supplier for rotation
+   * should be used.
+   *
+   * @param trajectory The trajectory to follow.
+   * @param pose A function that supplies the robot pose - use one of the odometry classes to
+   *     provide this.
+   * @param feedforward The feedforward to use for the drivetrain.
+   * @param kinematics The kinematics for the robot drivetrain.
+   * @param xController The Trajectory Tracker PID controller for the robot's x position.
+   * @param yController The Trajectory Tracker PID controller for the robot's y position.
+   * @param thetaController The Trajectory Tracker PID controller for angle for the robot.
+   * @param maxWheelVelocityMetersPerSecond The maximum velocity of a drivetrain wheel.
+   * @param frontLeftController The front left wheel velocity PID.
+   * @param rearLeftController The rear left wheel velocity PID.
+   * @param frontRightController The front right wheel velocity PID.
+   * @param rearRightController The rear right wheel velocity PID.
+   * @param currentWheelSpeeds A MecanumDriveWheelSpeeds object containing the current wheel speeds.
+   * @param outputDriveVoltages A MecanumVoltagesConsumer that consumes voltages of mecanum motors.
+   * @param requirements The subsystems to require.
+   */
+  public MecanumControllerCommand(
+      Trajectory trajectory,
+      Supplier<Pose2d> pose,
+      SimpleMotorFeedforward feedforward,
+      MecanumDriveKinematics kinematics,
+      PIDController xController,
+      PIDController yController,
+      ProfiledPIDController thetaController,
+      double maxWheelVelocityMetersPerSecond,
+      PIDController frontLeftController,
+      PIDController rearLeftController,
+      PIDController frontRightController,
+      PIDController rearRightController,
+      Supplier<MecanumDriveWheelSpeeds> currentWheelSpeeds,
+      MecanumVoltagesConsumer outputDriveVoltages,
+      Subsystem... requirements) {
+    this(
+        trajectory,
+        pose,
+        feedforward,
+        kinematics,
+        xController,
+        yController,
+        thetaController,
+        () ->
+            trajectory.getStates().get(trajectory.getStates().size() - 1).poseMeters.getRotation(),
+        maxWheelVelocityMetersPerSecond,
+        frontLeftController,
+        rearLeftController,
+        frontRightController,
+        rearRightController,
+        currentWheelSpeeds,
+        outputDriveVoltages,
+        requirements);
+  }
+
  /**
   * Constructs a new MecanumControllerCommand that when executed will follow the provided
   * trajectory. PID control and feedforward are handled internally. Outputs are scaled from -12 to
@@ -176,6 +309,7 @@ public class MecanumControllerCommand extends Command {
   *     voltages.
   * @param requirements The subsystems to require.
   */
+  @Deprecated(since = "2025", forRemoval = true)
  public MecanumControllerCommand(
      Trajectory trajectory,
      Supplier<Pose2d> pose,
@@ -200,15 +334,15 @@ public class MecanumControllerCommand extends Command {
        xController,
        yController,
        thetaController,
-        () ->
-            trajectory.getStates().get(trajectory.getStates().size() - 1).poseMeters.getRotation(),
        maxWheelVelocityMetersPerSecond,
        frontLeftController,
        rearLeftController,
        frontRightController,
        rearRightController,
        currentWheelSpeeds,
-        outputDriveVoltages,
+        (frontLeft, frontRight, rearLeft, rearRight) ->
+            outputDriveVoltages.accept(
+                new MecanumDriveMotorVoltages(frontLeft, frontRight, rearLeft, rearRight)),
        requirements);
  }

@@ -400,8 +534,7 @@ public class MecanumControllerCommand extends Command {
                  m_currentWheelSpeeds.get().rearRightMetersPerSecond, rearRightSpeedSetpoint);

      m_outputDriveVoltages.accept(
-          new MecanumDriveMotorVoltages(
-              frontLeftOutput, frontRightOutput, rearLeftOutput, rearRightOutput));
+          frontLeftOutput, frontRightOutput, rearLeftOutput, rearRightOutput);

    } else {
      m_outputWheelSpeeds.accept(
@@ -422,4 +555,22 @@ public class MecanumControllerCommand extends Command {
  public boolean isFinished() {
    return m_timer.hasElapsed(m_trajectory.getTotalTimeSeconds());
  }
+
+  /** A consumer to represent an operation on the voltages of a mecanum drive. */
+  @FunctionalInterface
+  public interface MecanumVoltagesConsumer {
+    /**
+     * Accepts the voltages to perform some operation with them.
+     *
+     * @param frontLeftVoltage The voltage of the front left motor.
+     * @param frontRightVoltage The voltage of the front right motor.
+     * @param rearLeftVoltage The voltage of the rear left motor.
+     * @param rearRightVoltage The voltage of the rear left motor.
+     */
+    void accept(
+        double frontLeftVoltage,
+        double frontRightVoltage,
+        double rearLeftVoltage,
+        double rearRightVoltage);
+  }
 }
--- a/wpilibNewCommands/src/main/native/cpp/frc2/command/Command.cpp
+++ b/wpilibNewCommands/src/main/native/cpp/frc2/command/Command.cpp
@@ -121,6 +121,10 @@ CommandPtr Command::OnlyIf(std::function<bool()> condition) && {
  return std::move(*this).ToPtr().OnlyIf(std::move(condition));
 }

+CommandPtr Command::WithDeadline(CommandPtr&& deadline) && {
+  return std::move(*this).ToPtr().WithDeadline(std::move(deadline));
+}
+
 CommandPtr Command::DeadlineFor(CommandPtr&& parallel) && {
  return std::move(*this).ToPtr().DeadlineFor(std::move(parallel));
 }
--- a/wpilibNewCommands/src/main/native/cpp/frc2/command/CommandPtr.cpp
+++ b/wpilibNewCommands/src/main/native/cpp/frc2/command/CommandPtr.cpp
@@ -168,6 +168,15 @@ CommandPtr CommandPtr::OnlyIf(std::function<bool()> condition) && {
  return std::move(*this).Unless(std::not_fn(std::move(condition)));
 }

+CommandPtr CommandPtr::WithDeadline(CommandPtr&& deadline) && {
+  AssertValid();
+  std::vector<std::unique_ptr<Command>> vec;
+  vec.emplace_back(std::move(m_ptr));
+  m_ptr = std::make_unique<ParallelDeadlineGroup>(std::move(deadline).Unwrap(),
+                                                  std::move(vec));
+  return std::move(*this);
+}
+
 CommandPtr CommandPtr::DeadlineWith(CommandPtr&& parallel) && {
  AssertValid();
  std::vector<std::unique_ptr<Command>> vec;
--- a/wpilibNewCommands/src/main/native/include/frc2/command/Command.h
+++ b/wpilibNewCommands/src/main/native/include/frc2/command/Command.h
@@ -309,6 +309,16 @@ class Command : public wpi::Sendable, public wpi::SendableHelper<Command> {
  [[nodiscard]]
  CommandPtr OnlyIf(std::function<bool()> condition) &&;

+  /**
+   * Creates a new command that runs this command and the deadline in parallel,
+   * finishing (and interrupting this command) when the deadline finishes.
+   *
+   * @param deadline the deadline of the command group
+   * @return the decorated command
+   * @see DeadlineFor
+   */
+  CommandPtr WithDeadline(CommandPtr&& deadline) &&;
+
  /**
   * Decorates this command with a set of commands to run parallel to it, ending
   * when the calling command ends and interrupting all the others. Often more
@@ -318,9 +328,11 @@ class Command : public wpi::Sendable, public wpi::SendableHelper<Command> {
   * @param parallel the commands to run in parallel. Note the parallel commands
   * will be interupted when the deadline command ends
   * @return the decorated command
+   * @see WithDeadline
   */
  [[nodiscard]]
  CommandPtr DeadlineFor(CommandPtr&& parallel) &&;
+
  /**
   * Decorates this command with a set of commands to run parallel to it, ending
   * when the last command ends. Often more convenient/less-verbose than
--- a/wpilibNewCommands/src/main/native/include/frc2/command/CommandPtr.h
+++ b/wpilibNewCommands/src/main/native/include/frc2/command/CommandPtr.h
@@ -182,6 +182,16 @@ class CommandPtr final {
  [[nodiscard]]
  CommandPtr OnlyIf(std::function<bool()> condition) &&;

+  /**
+   * Creates a new command that runs this command and the deadline in parallel,
+   * finishing (and interrupting this command) when the deadline finishes.
+   *
+   * @param deadline the deadline of the command group
+   * @return the decorated command
+   * @see DeadlineFor
+   */
+  CommandPtr WithDeadline(CommandPtr&& deadline) &&;
+
  /**
   * Decorates this command with a set of commands to run parallel to it, ending
   * when the calling command ends and interrupting all the others. Often more
--- a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/CommandDecoratorTest.java
+++ b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/CommandDecoratorTest.java
@@ -271,6 +271,57 @@ class CommandDecoratorTest extends CommandTestBase {
    }
  }

+  @Test
+  void withDeadlineTest() {
+    try (CommandScheduler scheduler = new CommandScheduler()) {
+      AtomicBoolean finish = new AtomicBoolean(false);
+
+      Command endsBeforeGroup = Commands.none().withDeadline(Commands.waitUntil(finish::get));
+      scheduler.schedule(endsBeforeGroup);
+      scheduler.run();
+      assertTrue(scheduler.isScheduled(endsBeforeGroup));
+      finish.set(true);
+      scheduler.run();
+      assertFalse(scheduler.isScheduled(endsBeforeGroup));
+      finish.set(false);
+
+      Command endsAfterGroup = Commands.idle().withDeadline(Commands.waitUntil(finish::get));
+      scheduler.schedule(endsAfterGroup);
+      scheduler.run();
+      assertTrue(scheduler.isScheduled(endsAfterGroup));
+      finish.set(true);
+      scheduler.run();
+      assertFalse(scheduler.isScheduled(endsAfterGroup));
+    }
+  }
+
+  @Test
+  void withDeadlineOrderTest() {
+    try (CommandScheduler scheduler = new CommandScheduler()) {
+      AtomicBoolean dictatorHasRun = new AtomicBoolean(false);
+      AtomicBoolean dictatorWasPolled = new AtomicBoolean(false);
+      Command dictator =
+          new FunctionalCommand(
+              () -> {},
+              () -> dictatorHasRun.set(true),
+              interrupted -> {},
+              () -> {
+                dictatorWasPolled.set(true);
+                return true;
+              });
+      Command other =
+          Commands.run(
+              () ->
+                  assertAll(
+                      () -> assertTrue(dictatorHasRun.get()),
+                      () -> assertTrue(dictatorWasPolled.get())));
+      Command group = other.withDeadline(dictator);
+      scheduler.schedule(group);
+      scheduler.run();
+      assertAll(() -> assertTrue(dictatorHasRun.get()), () -> assertTrue(dictatorWasPolled.get()));
+    }
+  }
+
  @Test
  void alongWithTest() {
    try (CommandScheduler scheduler = new CommandScheduler()) {
--- a/wpilibNewCommands/src/test/native/cpp/frc2/command/CommandDecoratorTest.cpp
+++ b/wpilibNewCommands/src/test/native/cpp/frc2/command/CommandDecoratorTest.cpp
@@ -221,6 +221,27 @@ TEST_F(CommandDecoratorTest, DeadlineFor) {
  EXPECT_FALSE(scheduler.IsScheduled(group));
 }

+TEST_F(CommandDecoratorTest, WithDeadline) {
+  CommandScheduler scheduler = GetScheduler();
+
+  bool finish = false;
+
+  auto dictator = WaitUntilCommand([&finish] { return finish; });
+  auto endsAfter = WaitUntilCommand([] { return false; });
+
+  auto group = std::move(endsAfter).WithDeadline(std::move(dictator).ToPtr());
+
+  scheduler.Schedule(group);
+  scheduler.Run();
+
+  EXPECT_TRUE(scheduler.IsScheduled(group));
+
+  finish = true;
+  scheduler.Run();
+
+  EXPECT_FALSE(scheduler.IsScheduled(group));
+}
+
 TEST_F(CommandDecoratorTest, AlongWith) {
  CommandScheduler scheduler = GetScheduler();

@@ -283,6 +304,33 @@ TEST_F(CommandDecoratorTest, DeadlineForOrder) {
  EXPECT_TRUE(dictatorWasPolled);
 }

+TEST_F(CommandDecoratorTest, WithDeadlineOrder) {
+  CommandScheduler scheduler = GetScheduler();
+
+  bool dictatorHasRun = false;
+  bool dictatorWasPolled = false;
+
+  auto dictator =
+      FunctionalCommand([] {}, [&dictatorHasRun] { dictatorHasRun = true; },
+                        [](bool interrupted) {},
+                        [&dictatorWasPolled] {
+                          dictatorWasPolled = true;
+                          return true;
+                        });
+  auto other = RunCommand([&dictatorHasRun, &dictatorWasPolled] {
+    EXPECT_TRUE(dictatorHasRun);
+    EXPECT_TRUE(dictatorWasPolled);
+  });
+
+  auto group = std::move(other).WithDeadline(std::move(dictator).ToPtr());
+
+  scheduler.Schedule(group);
+  scheduler.Run();
+
+  EXPECT_TRUE(dictatorHasRun);
+  EXPECT_TRUE(dictatorWasPolled);
+}
+
 TEST_F(CommandDecoratorTest, AlongWithOrder) {
  CommandScheduler scheduler = GetScheduler();

--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/PneumaticHub.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/PneumaticHub.java
@@ -96,8 +96,7 @@ public class PneumaticHub implements PneumaticsBase {

  private static DataStore getForModule(int module) {
    synchronized (m_handleLock) {
-      Integer moduleBoxed = module;
-      DataStore pcm = m_handleMap.get(moduleBoxed);
+      DataStore pcm = m_handleMap.get(module);
      if (pcm == null) {
        pcm = new DataStore(module);
      }
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/PneumaticsControlModule.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/PneumaticsControlModule.java
@@ -47,8 +47,7 @@ public class PneumaticsControlModule implements PneumaticsBase {

  private static DataStore getForModule(int module) {
    synchronized (m_handleLock) {
-      Integer moduleBoxed = module;
-      DataStore pcm = m_handleMap.get(moduleBoxed);
+      DataStore pcm = m_handleMap.get(module);
      if (pcm == null) {
        pcm = new DataStore(module);
      }
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumbot/Drivetrain.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumbot/Drivetrain.java
@@ -129,12 +129,14 @@ public class Drivetrain {
   */
  public void drive(
      double xSpeed, double ySpeed, double rot, boolean fieldRelative, double periodSeconds) {
-    var chassisSpeeds = new ChassisSpeeds(xSpeed, ySpeed, rot);
-    if (fieldRelative) {
-      chassisSpeeds.toRobotRelativeSpeeds(m_gyro.getRotation2d());
-    }
-    chassisSpeeds.discretize(periodSeconds);
-    var mecanumDriveWheelSpeeds = m_kinematics.toWheelSpeeds(chassisSpeeds);
+    var mecanumDriveWheelSpeeds =
+        m_kinematics.toWheelSpeeds(
+            ChassisSpeeds.discretize(
+                fieldRelative
+                    ? ChassisSpeeds.fromFieldRelativeSpeeds(
+                        xSpeed, ySpeed, rot, m_gyro.getRotation2d())
+                    : new ChassisSpeeds(xSpeed, ySpeed, rot),
+                periodSeconds));
    mecanumDriveWheelSpeeds.desaturate(kMaxSpeed);
    setSpeeds(mecanumDriveWheelSpeeds);
  }
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumcontrollercommand/subsystems/DriveSubsystem.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumcontrollercommand/subsystems/DriveSubsystem.java
@@ -5,7 +5,6 @@
 package edu.wpi.first.wpilibj.examples.mecanumcontrollercommand.subsystems;

 import edu.wpi.first.math.geometry.Pose2d;
-import edu.wpi.first.math.kinematics.MecanumDriveMotorVoltages;
 import edu.wpi.first.math.kinematics.MecanumDriveOdometry;
 import edu.wpi.first.math.kinematics.MecanumDriveWheelPositions;
 import edu.wpi.first.math.kinematics.MecanumDriveWheelSpeeds;
@@ -125,11 +124,15 @@ public class DriveSubsystem extends SubsystemBase {
  }

  /** Sets the front left drive MotorController to a voltage. */
-  public void setDriveMotorControllersVolts(MecanumDriveMotorVoltages volts) {
-    m_frontLeft.setVoltage(volts.frontLeftVoltage);
-    m_rearLeft.setVoltage(volts.rearLeftVoltage);
-    m_frontRight.setVoltage(volts.frontRightVoltage);
-    m_rearRight.setVoltage(volts.rearRightVoltage);
+  public void setDriveMotorControllersVolts(
+      double frontLeftVoltage,
+      double frontRightVoltage,
+      double rearLeftVoltage,
+      double rearRightVoltage) {
+    m_frontLeft.setVoltage(frontLeftVoltage);
+    m_rearLeft.setVoltage(rearLeftVoltage);
+    m_frontRight.setVoltage(frontRightVoltage);
+    m_rearRight.setVoltage(rearRightVoltage);
  }

  /** Resets the drive encoders to currently read a position of 0. */
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumdriveposeestimator/Drivetrain.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumdriveposeestimator/Drivetrain.java
@@ -141,12 +141,14 @@ public class Drivetrain {
   */
  public void drive(
      double xSpeed, double ySpeed, double rot, boolean fieldRelative, double periodSeconds) {
-    var chassisSpeeds = new ChassisSpeeds(xSpeed, ySpeed, rot);
-    if (fieldRelative) {
-      chassisSpeeds.toRobotRelativeSpeeds(m_poseEstimator.getEstimatedPosition().getRotation());
-    }
-    chassisSpeeds.discretize(periodSeconds);
-    var mecanumDriveWheelSpeeds = m_kinematics.toWheelSpeeds(chassisSpeeds);
+    var mecanumDriveWheelSpeeds =
+        m_kinematics.toWheelSpeeds(
+            ChassisSpeeds.discretize(
+                fieldRelative
+                    ? ChassisSpeeds.fromFieldRelativeSpeeds(
+                        xSpeed, ySpeed, rot, m_poseEstimator.getEstimatedPosition().getRotation())
+                    : new ChassisSpeeds(xSpeed, ySpeed, rot),
+                periodSeconds));
    mecanumDriveWheelSpeeds.desaturate(kMaxSpeed);
    setSpeeds(mecanumDriveWheelSpeeds);
  }
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervebot/Drivetrain.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervebot/Drivetrain.java
@@ -57,12 +57,14 @@ public class Drivetrain {
   */
  public void drive(
      double xSpeed, double ySpeed, double rot, boolean fieldRelative, double periodSeconds) {
-    var chassisSpeeds = new ChassisSpeeds(xSpeed, ySpeed, rot);
-    if (fieldRelative) {
-      chassisSpeeds.toRobotRelativeSpeeds(m_gyro.getRotation2d());
-    }
-    chassisSpeeds.discretize(periodSeconds);
-    var swerveModuleStates = m_kinematics.toWheelSpeeds(chassisSpeeds);
+    var swerveModuleStates =
+        m_kinematics.toSwerveModuleStates(
+            ChassisSpeeds.discretize(
+                fieldRelative
+                    ? ChassisSpeeds.fromFieldRelativeSpeeds(
+                        xSpeed, ySpeed, rot, m_gyro.getRotation2d())
+                    : new ChassisSpeeds(xSpeed, ySpeed, rot),
+                periodSeconds));
    SwerveDriveKinematics.desaturateWheelSpeeds(swerveModuleStates, kMaxSpeed);
    m_frontLeft.setDesiredState(swerveModuleStates[0]);
    m_frontRight.setDesiredState(swerveModuleStates[1]);
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervecontrollercommand/subsystems/DriveSubsystem.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervecontrollercommand/subsystems/DriveSubsystem.java
@@ -118,12 +118,14 @@ public class DriveSubsystem extends SubsystemBase {
   * @param fieldRelative Whether the provided x and y speeds are relative to the field.
   */
  public void drive(double xSpeed, double ySpeed, double rot, boolean fieldRelative) {
-    var chassisSpeeds = new ChassisSpeeds(xSpeed, ySpeed, rot);
-    if (fieldRelative) {
-      chassisSpeeds.toRobotRelativeSpeeds(m_gyro.getRotation2d());
-    }
-    chassisSpeeds.discretize(DriveConstants.kDrivePeriod);
-    var swerveModuleStates = DriveConstants.kDriveKinematics.toWheelSpeeds(chassisSpeeds);
+    var swerveModuleStates =
+        DriveConstants.kDriveKinematics.toSwerveModuleStates(
+            ChassisSpeeds.discretize(
+                fieldRelative
+                    ? ChassisSpeeds.fromFieldRelativeSpeeds(
+                        xSpeed, ySpeed, rot, m_gyro.getRotation2d())
+                    : new ChassisSpeeds(xSpeed, ySpeed, rot),
+                DriveConstants.kDrivePeriod));
    SwerveDriveKinematics.desaturateWheelSpeeds(
        swerveModuleStates, DriveConstants.kMaxSpeedMetersPerSecond);
    m_frontLeft.setDesiredState(swerveModuleStates[0]);
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervedriveposeestimator/Drivetrain.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervedriveposeestimator/Drivetrain.java
@@ -36,11 +36,8 @@ public class Drivetrain {
      new SwerveDriveKinematics(
          m_frontLeftLocation, m_frontRightLocation, m_backLeftLocation, m_backRightLocation);

-  /*
-   * Here we use SwerveDrivePoseEstimator so that we can fuse odometry readings.
-   * The numbers used
-   * below are robot specific, and should be tuned.
-   */
+  /* Here we use SwerveDrivePoseEstimator so that we can fuse odometry readings. The numbers used
+  below are robot specific, and should be tuned. */
  private final SwerveDrivePoseEstimator m_poseEstimator =
      new SwerveDrivePoseEstimator(
          m_kinematics,
@@ -69,12 +66,14 @@ public class Drivetrain {
   */
  public void drive(
      double xSpeed, double ySpeed, double rot, boolean fieldRelative, double periodSeconds) {
-    var chassisSpeeds = new ChassisSpeeds(xSpeed, ySpeed, rot);
-    if (fieldRelative) {
-      chassisSpeeds.toRobotRelativeSpeeds(m_poseEstimator.getEstimatedPosition().getRotation());
-    }
-    chassisSpeeds.discretize(periodSeconds);
-    var swerveModuleStates = m_kinematics.toWheelSpeeds(chassisSpeeds);
+    var swerveModuleStates =
+        m_kinematics.toSwerveModuleStates(
+            ChassisSpeeds.discretize(
+                fieldRelative
+                    ? ChassisSpeeds.fromFieldRelativeSpeeds(
+                        xSpeed, ySpeed, rot, m_poseEstimator.getEstimatedPosition().getRotation())
+                    : new ChassisSpeeds(xSpeed, ySpeed, rot),
+                periodSeconds));
    SwerveDriveKinematics.desaturateWheelSpeeds(swerveModuleStates, kMaxSpeed);
    m_frontLeft.setDesiredState(swerveModuleStates[0]);
    m_frontRight.setDesiredState(swerveModuleStates[1]);
@@ -93,8 +92,7 @@ public class Drivetrain {
          m_backRight.getPosition()
        });

-    // Also apply vision measurements. We use 0.3 seconds in the past as an example
-    // -- on
+    // Also apply vision measurements. We use 0.3 seconds in the past as an example -- on
    // a real robot, this must be calculated based either on latency or timestamps.
    m_poseEstimator.addVisionMeasurement(
        ExampleGlobalMeasurementSensor.getEstimatedGlobalPose(
--- a/wpilibjIntegrationTests/build.gradle
+++ b/wpilibjIntegrationTests/build.gradle
@@ -15,7 +15,7 @@ application {
    mainClass = 'edu.wpi.first.wpilibj.test.AntJunitLauncher'
 }

-apply plugin: 'com.github.johnrengelman.shadow'
+apply plugin: 'com.gradleup.shadow'

 repositories {
    maven {
--- a/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/CounterTest.java
+++ b/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/CounterTest.java
@@ -26,8 +26,8 @@ public class CounterTest extends AbstractComsSetup {
  private static FakeCounterFixture counter = null;
  private static final Logger logger = Logger.getLogger(CounterTest.class.getName());

-  Integer m_input;
-  Integer m_output;
+  int m_input;
+  int m_output;

  @Override
  protected Logger getClassLogger() {
@@ -40,10 +40,7 @@ public class CounterTest extends AbstractComsSetup {
   * @param input The input Port
   * @param output The output Port
   */
-  public CounterTest(Integer input, Integer output) {
-    assert input != null;
-    assert output != null;
-
+  public CounterTest(int input, int output) {
    m_input = input;
    m_output = output;
    // System.out.println("Counter Test: Input: " + input + " Output: " +
--- a/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/DIOCrossConnectTest.java
+++ b/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/DIOCrossConnectTest.java
@@ -39,7 +39,7 @@ public class DIOCrossConnectTest extends AbstractInterruptTest {
   * @param input The port for the input wire
   * @param output The port for the output wire
   */
-  public DIOCrossConnectTest(Integer input, Integer output) {
+  public DIOCrossConnectTest(int input, int output) {
    if (dio != null) {
      dio.teardown();
    }
--- a/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/PDPTest.java
+++ b/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/PDPTest.java
@@ -51,7 +51,7 @@ public class PDPTest extends AbstractComsSetup {
   * @param mef Motor encoder fixture.
   * @param expectedCurrentDraw Expected current draw in Amps.
   */
-  public PDPTest(MotorEncoderFixture<?> mef, Double expectedCurrentDraw) {
+  public PDPTest(MotorEncoderFixture<?> mef, double expectedCurrentDraw) {
    logger.fine("Constructor with: " + mef.getType());
    if (me != null && !me.equals(mef)) {
      me.teardown();
--- a/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/PIDTest.java
+++ b/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/PIDTest.java
@@ -41,9 +41,9 @@ public class PIDTest extends AbstractComsSetup {
  private PIDController m_controller = null;
  private static MotorEncoderFixture<?> me = null;

-  private final Double m_p;
-  private final Double m_i;
-  private final Double m_d;
+  private final double m_p;
+  private final double m_i;
+  private final double m_d;

  @Override
  protected Logger getClassLogger() {
@@ -58,7 +58,7 @@ public class PIDTest extends AbstractComsSetup {
   * @param d D gain.
   * @param mef Motor encoder fixture.
   */
-  public PIDTest(Double p, Double i, Double d, MotorEncoderFixture<?> mef) {
+  public PIDTest(double p, double i, double d, MotorEncoderFixture<?> mef) {
    logger.fine("Constructor with: " + mef.getType());
    if (PIDTest.me != null && !PIDTest.me.equals(mef)) {
      PIDTest.me.teardown();
--- a/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/fixtures/DIOCrossConnectFixture.java
+++ b/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/fixtures/DIOCrossConnectFixture.java
@@ -37,10 +37,8 @@ public class DIOCrossConnectFixture implements ITestFixture {
   * @param input The port of the {@link DigitalInput}
   * @param output The port of the {@link DigitalOutput}
   */
-  public DIOCrossConnectFixture(Integer input, Integer output) {
-    assert input != null;
-    assert output != null;
-    assert !input.equals(output);
+  public DIOCrossConnectFixture(int input, int output) {
+    assert input != output;
    m_input = new DigitalInput(input);
    m_output = new DigitalOutput(output);
    m_allocated = true;
--- a/wpimath/src/generated/main/java/edu/wpi/first/math/proto/Kinematics.java
+++ b/wpimath/src/generated/main/java/edu/wpi/first/math/proto/Kinematics.java
@@ -19,7 +19,7 @@ import us.hebi.quickbuf.RepeatedByte;
 import us.hebi.quickbuf.RepeatedMessage;

 public final class Kinematics {
-  private static final RepeatedByte descriptorData = ProtoUtil.decodeBase64(3427,
+  private static final RepeatedByte descriptorData = ProtoUtil.decodeBase64(3021,
    "ChBraW5lbWF0aWNzLnByb3RvEgl3cGkucHJvdG8aEGdlb21ldHJ5MmQucHJvdG8iTQoVUHJvdG9idWZD" + 
    "aGFzc2lzU3BlZWRzEg4KAnZ4GAEgASgBUgJ2eBIOCgJ2eRgCIAEoAVICdnkSFAoFb21lZ2EYAyABKAFS" + 
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@@ -31,53 +31,46 @@ public final class Kinematics {
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+    "BQIAARIDJAkTCgwKBQQFAgADEgMkFhcKCwoEBAUCARIDJQIZCgwKBQQFAgEFEgMlAggKDAoFBAUCAQES" + 
+    "AyUJFAoMCgUEBQIBAxIDJRcYCgsKBAQFAgISAyYCFwoMCgUEBQICBRIDJgIICgwKBQQFAgIBEgMmCRIK" + 
+    "DAoFBAUCAgMSAyYVFgoLCgQEBQIDEgMnAhgKDAoFBAUCAwUSAycCCAoMCgUEBQIDARIDJwkTCgwKBQQF",
+    "AgMDEgMnFhcKCgoCBAYSBCoALwEKCgoDBAYBEgMqCCcKCwoEBAYCABIDKwIYCgwKBQQGAgAFEgMrAggK" + 
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+    "CgoCBAkSBDoAPQEKCgoDBAkBEgM6CCEKCwoEBAkCABIDOwITCgwKBQQJAgAFEgM7AggKDAoFBAkCAAES" + 
+    "AzsJDgoMCgUECQIAAxIDOxESCgsKBAQJAgESAzwCHwoMCgUECQIBBhIDPAIUCgwKBQQJAgEBEgM8FRoK" + 
+    "DAoFBAkCAQMSAzwdHmIGcHJvdG8z");

  static final Descriptors.FileDescriptor descriptor = Descriptors.FileDescriptor.internalBuildGeneratedFileFrom("kinematics.proto", "wpi.proto", descriptorData, Geometry2D.getDescriptor());

@@ -91,17 +84,15 @@ public final class Kinematics {

  static final Descriptors.Descriptor wpi_proto_ProtobufMecanumDriveKinematics_descriptor = descriptor.internalContainedType(368, 292, "ProtobufMecanumDriveKinematics", "wpi.proto.ProtobufMecanumDriveKinematics");

-  static final Descriptors.Descriptor wpi_proto_ProtobufMecanumDriveMotorVoltages_descriptor = descriptor.internalContainedType(663, 159, "ProtobufMecanumDriveMotorVoltages", "wpi.proto.ProtobufMecanumDriveMotorVoltages");
+  static final Descriptors.Descriptor wpi_proto_ProtobufMecanumDriveWheelPositions_descriptor = descriptor.internalContainedType(663, 160, "ProtobufMecanumDriveWheelPositions", "wpi.proto.ProtobufMecanumDriveWheelPositions");

-  static final Descriptors.Descriptor wpi_proto_ProtobufMecanumDriveWheelPositions_descriptor = descriptor.internalContainedType(825, 160, "ProtobufMecanumDriveWheelPositions", "wpi.proto.ProtobufMecanumDriveWheelPositions");
+  static final Descriptors.Descriptor wpi_proto_ProtobufMecanumDriveWheelSpeeds_descriptor = descriptor.internalContainedType(826, 157, "ProtobufMecanumDriveWheelSpeeds", "wpi.proto.ProtobufMecanumDriveWheelSpeeds");

-  static final Descriptors.Descriptor wpi_proto_ProtobufMecanumDriveWheelSpeeds_descriptor = descriptor.internalContainedType(988, 157, "ProtobufMecanumDriveWheelSpeeds", "wpi.proto.ProtobufMecanumDriveWheelSpeeds");
+  static final Descriptors.Descriptor wpi_proto_ProtobufSwerveDriveKinematics_descriptor = descriptor.internalContainedType(985, 91, "ProtobufSwerveDriveKinematics", "wpi.proto.ProtobufSwerveDriveKinematics");

-  static final Descriptors.Descriptor wpi_proto_ProtobufSwerveDriveKinematics_descriptor = descriptor.internalContainedType(1147, 91, "ProtobufSwerveDriveKinematics", "wpi.proto.ProtobufSwerveDriveKinematics");
+  static final Descriptors.Descriptor wpi_proto_ProtobufSwerveModulePosition_descriptor = descriptor.internalContainedType(1078, 111, "ProtobufSwerveModulePosition", "wpi.proto.ProtobufSwerveModulePosition");

-  static final Descriptors.Descriptor wpi_proto_ProtobufSwerveModulePosition_descriptor = descriptor.internalContainedType(1240, 111, "ProtobufSwerveModulePosition", "wpi.proto.ProtobufSwerveModulePosition");
-
-  static final Descriptors.Descriptor wpi_proto_ProtobufSwerveModuleState_descriptor = descriptor.internalContainedType(1353, 102, "ProtobufSwerveModuleState", "wpi.proto.ProtobufSwerveModuleState");
+  static final Descriptors.Descriptor wpi_proto_ProtobufSwerveModuleState_descriptor = descriptor.internalContainedType(1191, 102, "ProtobufSwerveModuleState", "wpi.proto.ProtobufSwerveModuleState");

  /**
   * @return this proto file's descriptor.
@@ -2043,506 +2034,6 @@ public final class Kinematics {
    }
  }

-  /**
-   * Protobuf type {@code ProtobufMecanumDriveMotorVoltages}
-   */
-  public static final class ProtobufMecanumDriveMotorVoltages extends ProtoMessage<ProtobufMecanumDriveMotorVoltages> implements Cloneable {
-    private static final long serialVersionUID = 0L;
-
-    /**
-     * <code>optional double front_left = 1;</code>
-     */
-    private double frontLeft;
-
-    /**
-     * <code>optional double front_right = 2;</code>
-     */
-    private double frontRight;
-
-    /**
-     * <code>optional double rear_left = 3;</code>
-     */
-    private double rearLeft;
-
-    /**
-     * <code>optional double rear_right = 4;</code>
-     */
-    private double rearRight;
-
-    private ProtobufMecanumDriveMotorVoltages() {
-    }
-
-    /**
-     * @return a new empty instance of {@code ProtobufMecanumDriveMotorVoltages}
-     */
-    public static ProtobufMecanumDriveMotorVoltages newInstance() {
-      return new ProtobufMecanumDriveMotorVoltages();
-    }
-
-    /**
-     * <code>optional double front_left = 1;</code>
-     * @return whether the frontLeft field is set
-     */
-    public boolean hasFrontLeft() {
-      return (bitField0_ & 0x00000001) != 0;
-    }
-
-    /**
-     * <code>optional double front_left = 1;</code>
-     * @return this
-     */
-    public ProtobufMecanumDriveMotorVoltages clearFrontLeft() {
-      bitField0_ &= ~0x00000001;
-      frontLeft = 0D;
-      return this;
-    }
-
-    /**
-     * <code>optional double front_left = 1;</code>
-     * @return the frontLeft
-     */
-    public double getFrontLeft() {
-      return frontLeft;
-    }
-
-    /**
-     * <code>optional double front_left = 1;</code>
-     * @param value the frontLeft to set
-     * @return this
-     */
-    public ProtobufMecanumDriveMotorVoltages setFrontLeft(final double value) {
-      bitField0_ |= 0x00000001;
-      frontLeft = value;
-      return this;
-    }
-
-    /**
-     * <code>optional double front_right = 2;</code>
-     * @return whether the frontRight field is set
-     */
-    public boolean hasFrontRight() {
-      return (bitField0_ & 0x00000002) != 0;
-    }
-
-    /**
-     * <code>optional double front_right = 2;</code>
-     * @return this
-     */
-    public ProtobufMecanumDriveMotorVoltages clearFrontRight() {
-      bitField0_ &= ~0x00000002;
-      frontRight = 0D;
-      return this;
-    }
-
-    /**
-     * <code>optional double front_right = 2;</code>
-     * @return the frontRight
-     */
-    public double getFrontRight() {
-      return frontRight;
-    }
-
-    /**
-     * <code>optional double front_right = 2;</code>
-     * @param value the frontRight to set
-     * @return this
-     */
-    public ProtobufMecanumDriveMotorVoltages setFrontRight(final double value) {
-      bitField0_ |= 0x00000002;
-      frontRight = value;
-      return this;
-    }
-
-    /**
-     * <code>optional double rear_left = 3;</code>
-     * @return whether the rearLeft field is set
-     */
-    public boolean hasRearLeft() {
-      return (bitField0_ & 0x00000004) != 0;
-    }
-
-    /**
-     * <code>optional double rear_left = 3;</code>
-     * @return this
-     */
-    public ProtobufMecanumDriveMotorVoltages clearRearLeft() {
-      bitField0_ &= ~0x00000004;
-      rearLeft = 0D;
-      return this;
-    }
-
-    /**
-     * <code>optional double rear_left = 3;</code>
-     * @return the rearLeft
-     */
-    public double getRearLeft() {
-      return rearLeft;
-    }
-
-    /**
-     * <code>optional double rear_left = 3;</code>
-     * @param value the rearLeft to set
-     * @return this
-     */
-    public ProtobufMecanumDriveMotorVoltages setRearLeft(final double value) {
-      bitField0_ |= 0x00000004;
-      rearLeft = value;
-      return this;
-    }
-
-    /**
-     * <code>optional double rear_right = 4;</code>
-     * @return whether the rearRight field is set
-     */
-    public boolean hasRearRight() {
-      return (bitField0_ & 0x00000008) != 0;
-    }
-
-    /**
-     * <code>optional double rear_right = 4;</code>
-     * @return this
-     */
-    public ProtobufMecanumDriveMotorVoltages clearRearRight() {
-      bitField0_ &= ~0x00000008;
-      rearRight = 0D;
-      return this;
-    }
-
-    /**
-     * <code>optional double rear_right = 4;</code>
-     * @return the rearRight
-     */
-    public double getRearRight() {
-      return rearRight;
-    }
-
-    /**
-     * <code>optional double rear_right = 4;</code>
-     * @param value the rearRight to set
-     * @return this
-     */
-    public ProtobufMecanumDriveMotorVoltages setRearRight(final double value) {
-      bitField0_ |= 0x00000008;
-      rearRight = value;
-      return this;
-    }
-
-    @Override
-    public ProtobufMecanumDriveMotorVoltages copyFrom(
-        final ProtobufMecanumDriveMotorVoltages other) {
-      cachedSize = other.cachedSize;
-      if ((bitField0_ | other.bitField0_) != 0) {
-        bitField0_ = other.bitField0_;
-        frontLeft = other.frontLeft;
-        frontRight = other.frontRight;
-        rearLeft = other.rearLeft;
-        rearRight = other.rearRight;
-      }
-      return this;
-    }
-
-    @Override
-    public ProtobufMecanumDriveMotorVoltages mergeFrom(
-        final ProtobufMecanumDriveMotorVoltages other) {
-      if (other.isEmpty()) {
-        return this;
-      }
-      cachedSize = -1;
-      if (other.hasFrontLeft()) {
-        setFrontLeft(other.frontLeft);
-      }
-      if (other.hasFrontRight()) {
-        setFrontRight(other.frontRight);
-      }
-      if (other.hasRearLeft()) {
-        setRearLeft(other.rearLeft);
-      }
-      if (other.hasRearRight()) {
-        setRearRight(other.rearRight);
-      }
-      return this;
-    }
-
-    @Override
-    public ProtobufMecanumDriveMotorVoltages clear() {
-      if (isEmpty()) {
-        return this;
-      }
-      cachedSize = -1;
-      bitField0_ = 0;
-      frontLeft = 0D;
-      frontRight = 0D;
-      rearLeft = 0D;
-      rearRight = 0D;
-      return this;
-    }
-
-    @Override
-    public ProtobufMecanumDriveMotorVoltages clearQuick() {
-      if (isEmpty()) {
-        return this;
-      }
-      cachedSize = -1;
-      bitField0_ = 0;
-      return this;
-    }
-
-    @Override
-    public boolean equals(Object o) {
-      if (o == this) {
-        return true;
-      }
-      if (!(o instanceof ProtobufMecanumDriveMotorVoltages)) {
-        return false;
-      }
-      ProtobufMecanumDriveMotorVoltages other = (ProtobufMecanumDriveMotorVoltages) o;
-      return bitField0_ == other.bitField0_
-        && (!hasFrontLeft() || ProtoUtil.isEqual(frontLeft, other.frontLeft))
-        && (!hasFrontRight() || ProtoUtil.isEqual(frontRight, other.frontRight))
-        && (!hasRearLeft() || ProtoUtil.isEqual(rearLeft, other.rearLeft))
-        && (!hasRearRight() || ProtoUtil.isEqual(rearRight, other.rearRight));
-    }
-
-    @Override
-    public void writeTo(final ProtoSink output) throws IOException {
-      if ((bitField0_ & 0x00000001) != 0) {
-        output.writeRawByte((byte) 9);
-        output.writeDoubleNoTag(frontLeft);
-      }
-      if ((bitField0_ & 0x00000002) != 0) {
-        output.writeRawByte((byte) 17);
-        output.writeDoubleNoTag(frontRight);
-      }
-      if ((bitField0_ & 0x00000004) != 0) {
-        output.writeRawByte((byte) 25);
-        output.writeDoubleNoTag(rearLeft);
-      }
-      if ((bitField0_ & 0x00000008) != 0) {
-        output.writeRawByte((byte) 33);
-        output.writeDoubleNoTag(rearRight);
-      }
-    }
-
-    @Override
-    protected int computeSerializedSize() {
-      int size = 0;
-      if ((bitField0_ & 0x00000001) != 0) {
-        size += 9;
-      }
-      if ((bitField0_ & 0x00000002) != 0) {
-        size += 9;
-      }
-      if ((bitField0_ & 0x00000004) != 0) {
-        size += 9;
-      }
-      if ((bitField0_ & 0x00000008) != 0) {
-        size += 9;
-      }
-      return size;
-    }
-
-    @Override
-    @SuppressWarnings("fallthrough")
-    public ProtobufMecanumDriveMotorVoltages mergeFrom(final ProtoSource input) throws IOException {
-      // Enabled Fall-Through Optimization (QuickBuffers)
-      int tag = input.readTag();
-      while (true) {
-        switch (tag) {
-          case 9: {
-            // frontLeft
-            frontLeft = input.readDouble();
-            bitField0_ |= 0x00000001;
-            tag = input.readTag();
-            if (tag != 17) {
-              break;
-            }
-          }
-          case 17: {
-            // frontRight
-            frontRight = input.readDouble();
-            bitField0_ |= 0x00000002;
-            tag = input.readTag();
-            if (tag != 25) {
-              break;
-            }
-          }
-          case 25: {
-            // rearLeft
-            rearLeft = input.readDouble();
-            bitField0_ |= 0x00000004;
-            tag = input.readTag();
-            if (tag != 33) {
-              break;
-            }
-          }
-          case 33: {
-            // rearRight
-            rearRight = input.readDouble();
-            bitField0_ |= 0x00000008;
-            tag = input.readTag();
-            if (tag != 0) {
-              break;
-            }
-          }
-          case 0: {
-            return this;
-          }
-          default: {
-            if (!input.skipField(tag)) {
-              return this;
-            }
-            tag = input.readTag();
-            break;
-          }
-        }
-      }
-    }
-
-    @Override
-    public void writeTo(final JsonSink output) throws IOException {
-      output.beginObject();
-      if ((bitField0_ & 0x00000001) != 0) {
-        output.writeDouble(FieldNames.frontLeft, frontLeft);
-      }
-      if ((bitField0_ & 0x00000002) != 0) {
-        output.writeDouble(FieldNames.frontRight, frontRight);
-      }
-      if ((bitField0_ & 0x00000004) != 0) {
-        output.writeDouble(FieldNames.rearLeft, rearLeft);
-      }
-      if ((bitField0_ & 0x00000008) != 0) {
-        output.writeDouble(FieldNames.rearRight, rearRight);
-      }
-      output.endObject();
-    }
-
-    @Override
-    public ProtobufMecanumDriveMotorVoltages mergeFrom(final JsonSource input) throws IOException {
-      if (!input.beginObject()) {
-        return this;
-      }
-      while (!input.isAtEnd()) {
-        switch (input.readFieldHash()) {
-          case 127514064:
-          case -324277155: {
-            if (input.isAtField(FieldNames.frontLeft)) {
-              if (!input.trySkipNullValue()) {
-                frontLeft = input.readDouble();
-                bitField0_ |= 0x00000001;
-              }
-            } else {
-              input.skipUnknownField();
-            }
-            break;
-          }
-          case -336370317:
-          case -1456996218: {
-            if (input.isAtField(FieldNames.frontRight)) {
-              if (!input.trySkipNullValue()) {
-                frontRight = input.readDouble();
-                bitField0_ |= 0x00000002;
-              }
-            } else {
-              input.skipUnknownField();
-            }
-            break;
-          }
-          case -854852661:
-          case -712874558: {
-            if (input.isAtField(FieldNames.rearLeft)) {
-              if (!input.trySkipNullValue()) {
-                rearLeft = input.readDouble();
-                bitField0_ |= 0x00000004;
-              }
-            } else {
-              input.skipUnknownField();
-            }
-            break;
-          }
-          case -724967720:
-          case -618613823: {
-            if (input.isAtField(FieldNames.rearRight)) {
-              if (!input.trySkipNullValue()) {
-                rearRight = input.readDouble();
-                bitField0_ |= 0x00000008;
-              }
-            } else {
-              input.skipUnknownField();
-            }
-            break;
-          }
-          default: {
-            input.skipUnknownField();
-            break;
-          }
-        }
-      }
-      input.endObject();
-      return this;
-    }
-
-    @Override
-    public ProtobufMecanumDriveMotorVoltages clone() {
-      return new ProtobufMecanumDriveMotorVoltages().copyFrom(this);
-    }
-
-    @Override
-    public boolean isEmpty() {
-      return ((bitField0_) == 0);
-    }
-
-    public static ProtobufMecanumDriveMotorVoltages parseFrom(final byte[] data) throws
-        InvalidProtocolBufferException {
-      return ProtoMessage.mergeFrom(new ProtobufMecanumDriveMotorVoltages(), data).checkInitialized();
-    }
-
-    public static ProtobufMecanumDriveMotorVoltages parseFrom(final ProtoSource input) throws
-        IOException {
-      return ProtoMessage.mergeFrom(new ProtobufMecanumDriveMotorVoltages(), input).checkInitialized();
-    }
-
-    public static ProtobufMecanumDriveMotorVoltages parseFrom(final JsonSource input) throws
-        IOException {
-      return ProtoMessage.mergeFrom(new ProtobufMecanumDriveMotorVoltages(), input).checkInitialized();
-    }
-
-    /**
-     * @return factory for creating ProtobufMecanumDriveMotorVoltages messages
-     */
-    public static MessageFactory<ProtobufMecanumDriveMotorVoltages> getFactory() {
-      return ProtobufMecanumDriveMotorVoltagesFactory.INSTANCE;
-    }
-
-    /**
-     * @return this type's descriptor.
-     */
-    public static Descriptors.Descriptor getDescriptor() {
-      return Kinematics.wpi_proto_ProtobufMecanumDriveMotorVoltages_descriptor;
-    }
-
-    private enum ProtobufMecanumDriveMotorVoltagesFactory implements MessageFactory<ProtobufMecanumDriveMotorVoltages> {
-      INSTANCE;
-
-      @Override
-      public ProtobufMecanumDriveMotorVoltages create() {
-        return ProtobufMecanumDriveMotorVoltages.newInstance();
-      }
-    }
-
-    /**
-     * Contains name constants used for serializing JSON
-     */
-    static class FieldNames {
-      static final FieldName frontLeft = FieldName.forField("frontLeft", "front_left");
-
-      static final FieldName frontRight = FieldName.forField("frontRight", "front_right");
-
-      static final FieldName rearLeft = FieldName.forField("rearLeft", "rear_left");
-
-      static final FieldName rearRight = FieldName.forField("rearRight", "rear_right");
-    }
-  }
-
  /**
   * Protobuf type {@code ProtobufMecanumDriveWheelPositions}
   */
--- a/wpimath/src/generated/main/native/cpp/wpimath/protobuf/kinematics.npb.cpp
+++ b/wpimath/src/generated/main/native/cpp/wpimath/protobuf/kinematics.npb.cpp
@@ -78,283 +78,243 @@ static const uint8_t file_descriptor[] {
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 };
 static const char file_name[] = "kinematics.proto";
 static const char wpi_proto_ProtobufChassisSpeeds_name[] = "wpi.proto.ProtobufChassisSpeeds";
@@ -387,12 +347,6 @@ pb_filedesc_t wpi_proto_ProtobufMecanumDriveKinematics::file_descriptor(void) no
 PB_BIND(wpi_proto_ProtobufMecanumDriveKinematics, wpi_proto_ProtobufMecanumDriveKinematics, AUTO)


-static const char wpi_proto_ProtobufMecanumDriveMotorVoltages_name[] = "wpi.proto.ProtobufMecanumDriveMotorVoltages";
-std::string_view wpi_proto_ProtobufMecanumDriveMotorVoltages::msg_name(void) noexcept { return wpi_proto_ProtobufMecanumDriveMotorVoltages_name; }
-pb_filedesc_t wpi_proto_ProtobufMecanumDriveMotorVoltages::file_descriptor(void) noexcept { return {::file_name, ::file_descriptor}; }
-PB_BIND(wpi_proto_ProtobufMecanumDriveMotorVoltages, wpi_proto_ProtobufMecanumDriveMotorVoltages, AUTO)
-
-
 static const char wpi_proto_ProtobufMecanumDriveWheelPositions_name[] = "wpi.proto.ProtobufMecanumDriveWheelPositions";
 std::string_view wpi_proto_ProtobufMecanumDriveWheelPositions::msg_name(void) noexcept { return wpi_proto_ProtobufMecanumDriveWheelPositions_name; }
 pb_filedesc_t wpi_proto_ProtobufMecanumDriveWheelPositions::file_descriptor(void) noexcept { return {::file_name, ::file_descriptor}; }
--- a/wpimath/src/generated/main/native/cpp/wpimath/protobuf/kinematics.npb.h
+++ b/wpimath/src/generated/main/native/cpp/wpimath/protobuf/kinematics.npb.h
@@ -63,17 +63,6 @@ typedef struct _wpi_proto_ProtobufMecanumDriveKinematics {
    pb_callback_t rear_right;
 } wpi_proto_ProtobufMecanumDriveKinematics;

-typedef struct _wpi_proto_ProtobufMecanumDriveMotorVoltages {
-    static const pb_msgdesc_t* msg_descriptor(void) noexcept;
-    static std::string_view msg_name(void) noexcept;
-    static pb_filedesc_t file_descriptor(void) noexcept;
-
-    double front_left;
-    double front_right;
-    double rear_left;
-    double rear_right;
-} wpi_proto_ProtobufMecanumDriveMotorVoltages;
-
 typedef struct _wpi_proto_ProtobufMecanumDriveWheelPositions {
    static const pb_msgdesc_t* msg_descriptor(void) noexcept;
    static std::string_view msg_name(void) noexcept;
@@ -129,7 +118,6 @@ typedef struct _wpi_proto_ProtobufSwerveModuleState {
 #define wpi_proto_ProtobufDifferentialDriveWheelSpeeds_init_default {0, 0}
 #define wpi_proto_ProtobufDifferentialDriveWheelPositions_init_default {0, 0}
 #define wpi_proto_ProtobufMecanumDriveKinematics_init_default {{{NULL}, NULL}, {{NULL}, NULL}, {{NULL}, NULL}, {{NULL}, NULL}}
-#define wpi_proto_ProtobufMecanumDriveMotorVoltages_init_default {0, 0, 0, 0}
 #define wpi_proto_ProtobufMecanumDriveWheelPositions_init_default {0, 0, 0, 0}
 #define wpi_proto_ProtobufMecanumDriveWheelSpeeds_init_default {0, 0, 0, 0}
 #define wpi_proto_ProtobufSwerveDriveKinematics_init_default {{{NULL}, NULL}}
@@ -140,7 +128,6 @@ typedef struct _wpi_proto_ProtobufSwerveModuleState {
 #define wpi_proto_ProtobufDifferentialDriveWheelSpeeds_init_zero {0, 0}
 #define wpi_proto_ProtobufDifferentialDriveWheelPositions_init_zero {0, 0}
 #define wpi_proto_ProtobufMecanumDriveKinematics_init_zero {{{NULL}, NULL}, {{NULL}, NULL}, {{NULL}, NULL}, {{NULL}, NULL}}
-#define wpi_proto_ProtobufMecanumDriveMotorVoltages_init_zero {0, 0, 0, 0}
 #define wpi_proto_ProtobufMecanumDriveWheelPositions_init_zero {0, 0, 0, 0}
 #define wpi_proto_ProtobufMecanumDriveWheelSpeeds_init_zero {0, 0, 0, 0}
 #define wpi_proto_ProtobufSwerveDriveKinematics_init_zero {{{NULL}, NULL}}
@@ -160,10 +147,6 @@ typedef struct _wpi_proto_ProtobufSwerveModuleState {
 #define wpi_proto_ProtobufMecanumDriveKinematics_front_right_tag 2
 #define wpi_proto_ProtobufMecanumDriveKinematics_rear_left_tag 3
 #define wpi_proto_ProtobufMecanumDriveKinematics_rear_right_tag 4
-#define wpi_proto_ProtobufMecanumDriveMotorVoltages_front_left_tag 1
-#define wpi_proto_ProtobufMecanumDriveMotorVoltages_front_right_tag 2
-#define wpi_proto_ProtobufMecanumDriveMotorVoltages_rear_left_tag 3
-#define wpi_proto_ProtobufMecanumDriveMotorVoltages_rear_right_tag 4
 #define wpi_proto_ProtobufMecanumDriveWheelPositions_front_left_tag 1
 #define wpi_proto_ProtobufMecanumDriveWheelPositions_front_right_tag 2
 #define wpi_proto_ProtobufMecanumDriveWheelPositions_rear_left_tag 3
@@ -215,14 +198,6 @@ X(a, CALLBACK, OPTIONAL, MESSAGE,  rear_right,        4)
 #define wpi_proto_ProtobufMecanumDriveKinematics_rear_left_MSGTYPE wpi_proto_ProtobufTranslation2d
 #define wpi_proto_ProtobufMecanumDriveKinematics_rear_right_MSGTYPE wpi_proto_ProtobufTranslation2d

-#define wpi_proto_ProtobufMecanumDriveMotorVoltages_FIELDLIST(X, a) \
-X(a, STATIC,   SINGULAR, DOUBLE,   front_left,        1) \
-X(a, STATIC,   SINGULAR, DOUBLE,   front_right,       2) \
-X(a, STATIC,   SINGULAR, DOUBLE,   rear_left,         3) \
-X(a, STATIC,   SINGULAR, DOUBLE,   rear_right,        4)
-#define wpi_proto_ProtobufMecanumDriveMotorVoltages_CALLBACK NULL
-#define wpi_proto_ProtobufMecanumDriveMotorVoltages_DEFAULT NULL
-
 #define wpi_proto_ProtobufMecanumDriveWheelPositions_FIELDLIST(X, a) \
 X(a, STATIC,   SINGULAR, DOUBLE,   front_left,        1) \
 X(a, STATIC,   SINGULAR, DOUBLE,   front_right,       2) \
@@ -264,12 +239,11 @@ X(a, CALLBACK, OPTIONAL, MESSAGE,  angle,             2)
 /* wpi_proto_ProtobufSwerveDriveKinematics_size depends on runtime parameters */
 /* wpi_proto_ProtobufSwerveModulePosition_size depends on runtime parameters */
 /* wpi_proto_ProtobufSwerveModuleState_size depends on runtime parameters */
-#define WPI_PROTO_KINEMATICS_NPB_H_MAX_SIZE      wpi_proto_ProtobufMecanumDriveMotorVoltages_size
+#define WPI_PROTO_KINEMATICS_NPB_H_MAX_SIZE      wpi_proto_ProtobufMecanumDriveWheelPositions_size
 #define wpi_proto_ProtobufChassisSpeeds_size     27
 #define wpi_proto_ProtobufDifferentialDriveKinematics_size 9
 #define wpi_proto_ProtobufDifferentialDriveWheelPositions_size 18
 #define wpi_proto_ProtobufDifferentialDriveWheelSpeeds_size 18
-#define wpi_proto_ProtobufMecanumDriveMotorVoltages_size 36
 #define wpi_proto_ProtobufMecanumDriveWheelPositions_size 36
 #define wpi_proto_ProtobufMecanumDriveWheelSpeeds_size 36

--- a/wpimath/src/main/java/edu/wpi/first/math/controller/HolonomicDriveController.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/controller/HolonomicDriveController.java
@@ -102,10 +102,9 @@ public class HolonomicDriveController {

    m_poseError = trajectoryPose.relativeTo(currentPose);
    m_rotationError = desiredHeading.minus(currentPose.getRotation());
-    ChassisSpeeds speeds = new ChassisSpeeds(xFF, yFF, thetaFF);
+
    if (!m_enabled) {
-      speeds.toRobotRelativeSpeeds(currentPose.getRotation());
-      return speeds;
+      return ChassisSpeeds.fromFieldRelativeSpeeds(xFF, yFF, thetaFF, currentPose.getRotation());
    }

    // Calculate feedback velocities (based on position error).
@@ -113,10 +112,8 @@ public class HolonomicDriveController {
    double yFeedback = m_yController.calculate(currentPose.getY(), trajectoryPose.getY());

    // Return next output.
-    speeds.vxMetersPerSecond += xFeedback;
-    speeds.vyMetersPerSecond += yFeedback;
-    speeds.toRobotRelativeSpeeds(currentPose.getRotation());
-    return speeds;
+    return ChassisSpeeds.fromFieldRelativeSpeeds(
+        xFF + xFeedback, yFF + yFeedback, thetaFF, currentPose.getRotation());
  }

  /**
--- a/wpimath/src/main/java/edu/wpi/first/math/kinematics/ChassisSpeeds.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/kinematics/ChassisSpeeds.java
@@ -103,9 +103,7 @@ public class ChassisSpeeds implements ProtobufSerializable, StructSerializable {
   * @param omegaRadiansPerSecond Angular velocity.
   * @param dtSeconds The duration of the timestep the speeds should be applied for.
   * @return Discretized ChassisSpeeds.
-   * @deprecated Use instance method instead.
   */
-  @Deprecated(forRemoval = true, since = "2025")
  public static ChassisSpeeds discretize(
      double vxMetersPerSecond,
      double vyMetersPerSecond,
@@ -143,9 +141,7 @@ public class ChassisSpeeds implements ProtobufSerializable, StructSerializable {
   * @param omega Angular velocity.
   * @param dt The duration of the timestep the speeds should be applied for.
   * @return Discretized ChassisSpeeds.
-   * @deprecated Use instance method instead.
   */
-  @Deprecated(forRemoval = true, since = "2025")
  public static ChassisSpeeds discretize(
      LinearVelocity vx, LinearVelocity vy, AngularVelocity omega, Time dt) {
    return discretize(
@@ -166,9 +162,7 @@ public class ChassisSpeeds implements ProtobufSerializable, StructSerializable {
   * @param continuousSpeeds The continuous speeds.
   * @param dtSeconds The duration of the timestep the speeds should be applied for.
   * @return Discretized ChassisSpeeds.
-   * @deprecated Use instance method instead.
   */
-  @Deprecated(forRemoval = true, since = "2025")
  public static ChassisSpeeds discretize(ChassisSpeeds continuousSpeeds, double dtSeconds) {
    return discretize(
        continuousSpeeds.vxMetersPerSecond,
@@ -177,36 +171,6 @@ public class ChassisSpeeds implements ProtobufSerializable, StructSerializable {
        dtSeconds);
  }

-  /**
-   * Discretizes a continuous-time chassis speed.
-   *
-   * <p>This function converts this continuous-time chassis speed into a discrete-time one such that
-   * when the discrete-time chassis speed is applied for one timestep, the robot moves as if the
-   * velocity components are independent (i.e., the robot moves v_x * dt along the x-axis, v_y * dt
-   * along the y-axis, and omega * dt around the z-axis).
-   *
-   * <p>This is useful for compensating for translational skew when translating and rotating a
-   * swerve drivetrain.
-   *
-   * @param dtSeconds The duration of the timestep the speeds should be applied for.
-   */
-  public void discretize(double dtSeconds) {
-    var desiredDeltaPose =
-        new Pose2d(
-            vxMetersPerSecond * dtSeconds,
-            vyMetersPerSecond * dtSeconds,
-            new Rotation2d(omegaRadiansPerSecond * dtSeconds));
-
-    // Find the chassis translation/rotation deltas in the robot frame that move the robot from its
-    // current pose to the desired pose
-    var twist = Pose2d.kZero.log(desiredDeltaPose);
-
-    // Turn the chassis translation/rotation deltas into average velocities
-    vxMetersPerSecond = twist.dx / dtSeconds;
-    vyMetersPerSecond = twist.dy / dtSeconds;
-    omegaRadiansPerSecond = twist.dtheta / dtSeconds;
-  }
-
  /**
   * Converts a user provided field-relative set of speeds into a robot-relative ChassisSpeeds
   * object.
@@ -220,9 +184,7 @@ public class ChassisSpeeds implements ProtobufSerializable, StructSerializable {
   *     considered to be zero when it is facing directly away from your alliance station wall.
   *     Remember that this should be CCW positive.
   * @return ChassisSpeeds object representing the speeds in the robot's frame of reference.
-   * @deprecated Use toRobotRelativeSpeeds instead.
   */
-  @Deprecated(forRemoval = true, since = "2025")
  public static ChassisSpeeds fromFieldRelativeSpeeds(
      double vxMetersPerSecond,
      double vyMetersPerSecond,
@@ -247,9 +209,7 @@ public class ChassisSpeeds implements ProtobufSerializable, StructSerializable {
   *     considered to be zero when it is facing directly away from your alliance station wall.
   *     Remember that this should be CCW positive.
   * @return ChassisSpeeds object representing the speeds in the robot's frame of reference.
-   * @deprecated Use toRobotRelativeSpeeds instead.
   */
-  @Deprecated(forRemoval = true, since = "2025")
  public static ChassisSpeeds fromFieldRelativeSpeeds(
      LinearVelocity vx, LinearVelocity vy, AngularVelocity omega, Rotation2d robotAngle) {
    return fromFieldRelativeSpeeds(
@@ -267,9 +227,7 @@ public class ChassisSpeeds implements ProtobufSerializable, StructSerializable {
   *     considered to be zero when it is facing directly away from your alliance station wall.
   *     Remember that this should be CCW positive.
   * @return ChassisSpeeds object representing the speeds in the robot's frame of reference.
-   * @deprecated Use toRobotRelativeSpeeds instead.
   */
-  @Deprecated(forRemoval = true, since = "2025")
  public static ChassisSpeeds fromFieldRelativeSpeeds(
      ChassisSpeeds fieldRelativeSpeeds, Rotation2d robotAngle) {
    return fromFieldRelativeSpeeds(
@@ -279,21 +237,6 @@ public class ChassisSpeeds implements ProtobufSerializable, StructSerializable {
        robotAngle);
  }

-  /**
-   * Converts this field-relative set of speeds into a robot-relative ChassisSpeeds object.
-   *
-   * @param robotAngle The angle of the robot as measured by a gyroscope. The robot's angle is
-   *     considered to be zero when it is facing directly away from your alliance station wall.
-   *     Remember that this should be CCW positive.
-   */
-  public void toRobotRelativeSpeeds(Rotation2d robotAngle) {
-    // CW rotation into chassis frame
-    var rotated =
-        new Translation2d(vxMetersPerSecond, vyMetersPerSecond).rotateBy(robotAngle.unaryMinus());
-    vxMetersPerSecond = rotated.getX();
-    vyMetersPerSecond = rotated.getY();
-  }
-
  /**
   * Converts a user provided robot-relative set of speeds into a field-relative ChassisSpeeds
   * object.
@@ -307,9 +250,7 @@ public class ChassisSpeeds implements ProtobufSerializable, StructSerializable {
   *     considered to be zero when it is facing directly away from your alliance station wall.
   *     Remember that this should be CCW positive.
   * @return ChassisSpeeds object representing the speeds in the field's frame of reference.
-   * @deprecated Use toFieldRelativeSpeeds instead.
   */
-  @Deprecated(forRemoval = true, since = "2025")
  public static ChassisSpeeds fromRobotRelativeSpeeds(
      double vxMetersPerSecond,
      double vyMetersPerSecond,
@@ -333,9 +274,7 @@ public class ChassisSpeeds implements ProtobufSerializable, StructSerializable {
   *     considered to be zero when it is facing directly away from your alliance station wall.
   *     Remember that this should be CCW positive.
   * @return ChassisSpeeds object representing the speeds in the field's frame of reference.
-   * @deprecated Use toFieldRelativeSpeeds instead.
   */
-  @Deprecated(forRemoval = true, since = "2025")
  public static ChassisSpeeds fromRobotRelativeSpeeds(
      LinearVelocity vx, LinearVelocity vy, AngularVelocity omega, Rotation2d robotAngle) {
    return fromRobotRelativeSpeeds(
@@ -353,9 +292,7 @@ public class ChassisSpeeds implements ProtobufSerializable, StructSerializable {
   *     considered to be zero when it is facing directly away from your alliance station wall.
   *     Remember that this should be CCW positive.
   * @return ChassisSpeeds object representing the speeds in the field's frame of reference.
-   * @deprecated Use toFieldRelativeSpeeds instead.
   */
-  @Deprecated(forRemoval = true, since = "2025")
  public static ChassisSpeeds fromRobotRelativeSpeeds(
      ChassisSpeeds robotRelativeSpeeds, Rotation2d robotAngle) {
    return fromRobotRelativeSpeeds(
@@ -365,20 +302,6 @@ public class ChassisSpeeds implements ProtobufSerializable, StructSerializable {
        robotAngle);
  }

-  /**
-   * Converts this robot-relative set of speeds into a field-relative ChassisSpeeds object.
-   *
-   * @param robotAngle The angle of the robot as measured by a gyroscope. The robot's angle is
-   *     considered to be zero when it is facing directly away from your alliance station wall.
-   *     Remember that this should be CCW positive.
-   */
-  public void toFieldRelativeSpeeds(Rotation2d robotAngle) {
-    // CCW rotation out of chassis frame
-    var rotated = new Translation2d(vxMetersPerSecond, vyMetersPerSecond).rotateBy(robotAngle);
-    vxMetersPerSecond = rotated.getX();
-    vyMetersPerSecond = rotated.getY();
-  }
-
  /**
   * Adds two ChassisSpeeds and returns the sum.
   *
--- a/wpimath/src/main/java/edu/wpi/first/math/kinematics/MecanumDriveMotorVoltages.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/kinematics/MecanumDriveMotorVoltages.java
@@ -4,13 +4,9 @@

 package edu.wpi.first.math.kinematics;

-import edu.wpi.first.math.kinematics.proto.MecanumDriveMotorVoltagesProto;
-import edu.wpi.first.math.kinematics.struct.MecanumDriveMotorVoltagesStruct;
-import edu.wpi.first.util.protobuf.ProtobufSerializable;
-import edu.wpi.first.util.struct.StructSerializable;
-
 /** Represents the motor voltages for a mecanum drive drivetrain. */
-public class MecanumDriveMotorVoltages implements ProtobufSerializable, StructSerializable {
+@Deprecated(since = "2025", forRemoval = true)
+public class MecanumDriveMotorVoltages {
  /** Voltage of the front left motor. */
  public double frontLeftVoltage;

@@ -52,11 +48,4 @@ public class MecanumDriveMotorVoltages implements ProtobufSerializable, StructSe
            + "Rear Left: %.2f V, Rear Right: %.2f V)",
        frontLeftVoltage, frontRightVoltage, rearLeftVoltage, rearRightVoltage);
  }
-
-  /** MecanumDriveMotorVoltages struct for serialization. */
-  public static final MecanumDriveMotorVoltagesStruct struct =
-      new MecanumDriveMotorVoltagesStruct();
-
-  /** MecanumDriveMotorVoltages protobuf for serialization. */
-  public static final MecanumDriveMotorVoltagesProto proto = new MecanumDriveMotorVoltagesProto();
 }
--- a/wpimath/src/main/java/edu/wpi/first/math/kinematics/proto/MecanumDriveMotorVoltagesProto.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/kinematics/proto/MecanumDriveMotorVoltagesProto.java
@@ -1,42 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-package edu.wpi.first.math.kinematics.proto;
-
-import edu.wpi.first.math.kinematics.MecanumDriveMotorVoltages;
-import edu.wpi.first.math.proto.Kinematics.ProtobufMecanumDriveMotorVoltages;
-import edu.wpi.first.util.protobuf.Protobuf;
-import us.hebi.quickbuf.Descriptors.Descriptor;
-
-public final class MecanumDriveMotorVoltagesProto
-    implements Protobuf<MecanumDriveMotorVoltages, ProtobufMecanumDriveMotorVoltages> {
-  @Override
-  public Class<MecanumDriveMotorVoltages> getTypeClass() {
-    return MecanumDriveMotorVoltages.class;
-  }
-
-  @Override
-  public Descriptor getDescriptor() {
-    return ProtobufMecanumDriveMotorVoltages.getDescriptor();
-  }
-
-  @Override
-  public ProtobufMecanumDriveMotorVoltages createMessage() {
-    return ProtobufMecanumDriveMotorVoltages.newInstance();
-  }
-
-  @Override
-  public MecanumDriveMotorVoltages unpack(ProtobufMecanumDriveMotorVoltages msg) {
-    return new MecanumDriveMotorVoltages(
-        msg.getFrontLeft(), msg.getFrontRight(), msg.getRearLeft(), msg.getRearRight());
-  }
-
-  @Override
-  public void pack(ProtobufMecanumDriveMotorVoltages msg, MecanumDriveMotorVoltages value) {
-    msg.setFrontLeft(value.frontLeftVoltage);
-    msg.setFrontRight(value.frontRightVoltage);
-    msg.setRearLeft(value.rearLeftVoltage);
-    msg.setRearRight(value.rearRightVoltage);
-  }
-}
--- a/wpimath/src/main/java/edu/wpi/first/math/kinematics/struct/MecanumDriveMotorVoltagesStruct.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/kinematics/struct/MecanumDriveMotorVoltagesStruct.java
@@ -1,48 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-package edu.wpi.first.math.kinematics.struct;
-
-import edu.wpi.first.math.kinematics.MecanumDriveMotorVoltages;
-import edu.wpi.first.util.struct.Struct;
-import java.nio.ByteBuffer;
-
-public final class MecanumDriveMotorVoltagesStruct implements Struct<MecanumDriveMotorVoltages> {
-  @Override
-  public Class<MecanumDriveMotorVoltages> getTypeClass() {
-    return MecanumDriveMotorVoltages.class;
-  }
-
-  @Override
-  public String getTypeName() {
-    return "MecanumDriveMotorVoltages";
-  }
-
-  @Override
-  public int getSize() {
-    return kSizeDouble * 4;
-  }
-
-  @Override
-  public String getSchema() {
-    return "double front_left;double front_right;double rear_left;double rear_right";
-  }
-
-  @Override
-  public MecanumDriveMotorVoltages unpack(ByteBuffer bb) {
-    double front_left = bb.getDouble();
-    double front_right = bb.getDouble();
-    double rear_left = bb.getDouble();
-    double rear_right = bb.getDouble();
-    return new MecanumDriveMotorVoltages(front_left, front_right, rear_left, rear_right);
-  }
-
-  @Override
-  public void pack(ByteBuffer bb, MecanumDriveMotorVoltages value) {
-    bb.putDouble(value.frontLeftVoltage);
-    bb.putDouble(value.frontRightVoltage);
-    bb.putDouble(value.rearLeftVoltage);
-    bb.putDouble(value.rearRightVoltage);
-  }
-}
--- a/wpimath/src/main/java/edu/wpi/first/math/system/NumericalIntegration.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/system/NumericalIntegration.java
@@ -8,8 +8,9 @@ import edu.wpi.first.math.Matrix;
 import edu.wpi.first.math.Num;
 import edu.wpi.first.math.numbers.N1;
 import java.util.function.BiFunction;
-import java.util.function.DoubleFunction;
-import java.util.function.Function;
+import java.util.function.DoubleBinaryOperator;
+import java.util.function.DoubleUnaryOperator;
+import java.util.function.UnaryOperator;

 /** Numerical integration utilities. */
 public final class NumericalIntegration {
@@ -25,13 +26,12 @@ public final class NumericalIntegration {
   * @param dtSeconds The time over which to integrate.
   * @return the integration of dx/dt = f(x) for dt.
   */
-  @SuppressWarnings("overloads")
-  public static double rk4(DoubleFunction<Double> f, double x, double dtSeconds) {
+  public static double rk4(DoubleUnaryOperator f, double x, double dtSeconds) {
    final var h = dtSeconds;
-    final var k1 = f.apply(x);
-    final var k2 = f.apply(x + h * k1 * 0.5);
-    final var k3 = f.apply(x + h * k2 * 0.5);
-    final var k4 = f.apply(x + h * k3);
+    final var k1 = f.applyAsDouble(x);
+    final var k2 = f.applyAsDouble(x + h * k1 * 0.5);
+    final var k3 = f.applyAsDouble(x + h * k2 * 0.5);
+    final var k4 = f.applyAsDouble(x + h * k3);

    return x + h / 6.0 * (k1 + 2.0 * k2 + 2.0 * k3 + k4);
  }
@@ -45,15 +45,13 @@ public final class NumericalIntegration {
   * @param dtSeconds The time over which to integrate.
   * @return The result of Runge Kutta integration (4th order).
   */
-  @SuppressWarnings("overloads")
-  public static double rk4(
-      BiFunction<Double, Double, Double> f, double x, Double u, double dtSeconds) {
+  public static double rk4(DoubleBinaryOperator f, double x, double u, double dtSeconds) {
    final var h = dtSeconds;

-    final var k1 = f.apply(x, u);
-    final var k2 = f.apply(x + h * k1 * 0.5, u);
-    final var k3 = f.apply(x + h * k2 * 0.5, u);
-    final var k4 = f.apply(x + h * k3, u);
+    final var k1 = f.applyAsDouble(x, u);
+    final var k2 = f.applyAsDouble(x + h * k1 * 0.5, u);
+    final var k3 = f.applyAsDouble(x + h * k2 * 0.5, u);
+    final var k4 = f.applyAsDouble(x + h * k3, u);

    return x + h / 6.0 * (k1 + 2.0 * k2 + 2.0 * k3 + k4);
  }
@@ -69,7 +67,6 @@ public final class NumericalIntegration {
   * @param dtSeconds The time over which to integrate.
   * @return the integration of dx/dt = f(x, u) for dt.
   */
-  @SuppressWarnings("overloads")
  public static <States extends Num, Inputs extends Num> Matrix<States, N1> rk4(
      BiFunction<Matrix<States, N1>, Matrix<Inputs, N1>, Matrix<States, N1>> f,
      Matrix<States, N1> x,
@@ -94,9 +91,8 @@ public final class NumericalIntegration {
   * @param dtSeconds The time over which to integrate.
   * @return 4th order Runge-Kutta integration of dx/dt = f(x) for dt.
   */
-  @SuppressWarnings("overloads")
  public static <States extends Num> Matrix<States, N1> rk4(
-      Function<Matrix<States, N1>, Matrix<States, N1>> f, Matrix<States, N1> x, double dtSeconds) {
+      UnaryOperator<Matrix<States, N1>> f, Matrix<States, N1> x, double dtSeconds) {
    final var h = dtSeconds;

    Matrix<States, N1> k1 = f.apply(x);
@@ -145,7 +141,6 @@ public final class NumericalIntegration {
   * @param dtSeconds The time over which to integrate.
   * @return the integration of dx/dt = f(x, u) for dt.
   */
-  @SuppressWarnings("overloads")
  public static <States extends Num, Inputs extends Num> Matrix<States, N1> rkdp(
      BiFunction<Matrix<States, N1>, Matrix<Inputs, N1>, Matrix<States, N1>> f,
      Matrix<States, N1> x,
@@ -166,7 +161,6 @@ public final class NumericalIntegration {
   * @param maxError The maximum acceptable truncation error. Usually a small number like 1e-6.
   * @return the integration of dx/dt = f(x, u) for dt.
   */
-  @SuppressWarnings("overloads")
  public static <States extends Num, Inputs extends Num> Matrix<States, N1> rkdp(
      BiFunction<Matrix<States, N1>, Matrix<Inputs, N1>, Matrix<States, N1>> f,
      Matrix<States, N1> x,
@@ -291,7 +285,6 @@ public final class NumericalIntegration {
   * @param maxError The maximum acceptable truncation error. Usually a small number like 1e-6.
   * @return the integration of dx/dt = f(x, u) for dt.
   */
-  @SuppressWarnings("overloads")
  public static <Rows extends Num, Cols extends Num> Matrix<Rows, Cols> rkdp(
      BiFunction<Double, Matrix<Rows, Cols>, Matrix<Rows, Cols>> f,
      double t,
--- a/wpimath/src/main/proto/kinematics.proto
+++ b/wpimath/src/main/proto/kinematics.proto
@@ -33,13 +33,6 @@ message ProtobufMecanumDriveKinematics {
  ProtobufTranslation2d rear_right = 4;
 }

-message ProtobufMecanumDriveMotorVoltages {
-  double front_left = 1;
-  double front_right = 2;
-  double rear_left = 3;
-  double rear_right = 4;
-}
-
 message ProtobufMecanumDriveWheelPositions {
  double front_left = 1;
  double front_right = 2;
--- a/wpimath/src/test/java/edu/wpi/first/math/kinematics/ChassisSpeedsTest.java
+++ b/wpimath/src/test/java/edu/wpi/first/math/kinematics/ChassisSpeedsTest.java
@@ -20,11 +20,10 @@ class ChassisSpeedsTest {
  @Test
  void testDiscretize() {
    final var target = new ChassisSpeeds(1.0, 0.0, 0.5);
-    final var speeds = new ChassisSpeeds(1.0, 0.0, 0.5);
    final var duration = 1.0;
    final var dt = 0.01;

-    speeds.discretize(duration);
+    final var speeds = ChassisSpeeds.discretize(target, duration);
    final var twist =
        new Twist2d(
            speeds.vxMetersPerSecond * dt,
@@ -62,8 +61,8 @@ class ChassisSpeedsTest {

  @Test
  void testFromFieldRelativeSpeeds() {
-    final var chassisSpeeds = new ChassisSpeeds(1.0, 0.0, 0.5);
-    chassisSpeeds.toRobotRelativeSpeeds(Rotation2d.kCW_Pi_2);
+    final var chassisSpeeds =
+        ChassisSpeeds.fromFieldRelativeSpeeds(1.0, 0.0, 0.5, Rotation2d.kCW_Pi_2);

    assertAll(
        () -> assertEquals(0.0, chassisSpeeds.vxMetersPerSecond, kEpsilon),
@@ -73,8 +72,8 @@ class ChassisSpeedsTest {

  @Test
  void testFromRobotRelativeSpeeds() {
-    final var chassisSpeeds = new ChassisSpeeds(1.0, 0.0, 0.5);
-    chassisSpeeds.toFieldRelativeSpeeds(Rotation2d.fromDegrees(45.0));
+    final var chassisSpeeds =
+        ChassisSpeeds.fromRobotRelativeSpeeds(1.0, 0.0, 0.5, Rotation2d.fromDegrees(45.0));

    assertAll(
        () -> assertEquals(1.0 / Math.sqrt(2.0), chassisSpeeds.vxMetersPerSecond, kEpsilon),
--- a/wpimath/src/test/java/edu/wpi/first/math/kinematics/proto/MecanumDriveMotorVoltagesProtoTest.java
+++ b/wpimath/src/test/java/edu/wpi/first/math/kinematics/proto/MecanumDriveMotorVoltagesProtoTest.java
@@ -1,27 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-package edu.wpi.first.math.kinematics.proto;
-
-import static org.junit.jupiter.api.Assertions.assertEquals;
-
-import edu.wpi.first.math.kinematics.MecanumDriveMotorVoltages;
-import edu.wpi.first.math.proto.Kinematics.ProtobufMecanumDriveMotorVoltages;
-import edu.wpi.first.wpilibj.ProtoTestBase;
-
-@SuppressWarnings("PMD.TestClassWithoutTestCases")
-class MecanumDriveMotorVoltagesProtoTest
-    extends ProtoTestBase<MecanumDriveMotorVoltages, ProtobufMecanumDriveMotorVoltages> {
-  MecanumDriveMotorVoltagesProtoTest() {
-    super(new MecanumDriveMotorVoltages(1.2, 3.1, 2.5, -0.1), MecanumDriveMotorVoltages.proto);
-  }
-
-  @Override
-  public void checkEquals(MecanumDriveMotorVoltages testData, MecanumDriveMotorVoltages data) {
-    assertEquals(testData.frontLeftVoltage, data.frontLeftVoltage);
-    assertEquals(testData.frontRightVoltage, data.frontRightVoltage);
-    assertEquals(testData.rearLeftVoltage, data.rearLeftVoltage);
-    assertEquals(testData.rearRightVoltage, data.rearRightVoltage);
-  }
-}
--- a/wpimath/src/test/java/edu/wpi/first/math/kinematics/struct/MecanumDriveMotorVoltagesStructTest.java
+++ b/wpimath/src/test/java/edu/wpi/first/math/kinematics/struct/MecanumDriveMotorVoltagesStructTest.java
@@ -1,25 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-package edu.wpi.first.math.kinematics.struct;
-
-import static org.junit.jupiter.api.Assertions.assertEquals;
-
-import edu.wpi.first.math.kinematics.MecanumDriveMotorVoltages;
-import edu.wpi.first.wpilibj.StructTestBase;
-
-@SuppressWarnings("PMD.TestClassWithoutTestCases")
-class MecanumDriveMotorVoltagesStructTest extends StructTestBase<MecanumDriveMotorVoltages> {
-  MecanumDriveMotorVoltagesStructTest() {
-    super(new MecanumDriveMotorVoltages(1.2, 3.1, 2.5, -0.1), MecanumDriveMotorVoltages.struct);
-  }
-
-  @Override
-  public void checkEquals(MecanumDriveMotorVoltages testData, MecanumDriveMotorVoltages data) {
-    assertEquals(testData.frontLeftVoltage, data.frontLeftVoltage);
-    assertEquals(testData.frontRightVoltage, data.frontRightVoltage);
-    assertEquals(testData.rearLeftVoltage, data.rearLeftVoltage);
-    assertEquals(testData.rearRightVoltage, data.rearRightVoltage);
-  }
-}
--- a/wpiutil/src/main/java/edu/wpi/first/util/EventVector.java
+++ b/wpiutil/src/main/java/edu/wpi/first/util/EventVector.java
@@ -48,7 +48,7 @@ public class EventVector {
  public void wakeup() {
    m_lock.lock();
    try {
-      for (Integer eventHandle : m_events) {
+      for (int eventHandle : m_events) {
        WPIUtilJNI.setEvent(eventHandle);
      }
    } finally {
--- a/wpiutil/src/main/java/edu/wpi/first/util/struct/StructFetcher.java
+++ b/wpiutil/src/main/java/edu/wpi/first/util/struct/StructFetcher.java
@@ -0,0 +1,65 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package edu.wpi.first.util.struct;
+
+import java.util.Optional;
+
+/**
+ * A utility class for fetching the assigned struct of existing classes. These are usually public,
+ * static, and final properties with the Struct type.
+ */
+public final class StructFetcher {
+  private StructFetcher() {
+    throw new UnsupportedOperationException("This is a utility class!");
+  }
+
+  /**
+   * Returns a {@link Struct} for the given {@link StructSerializable} marked class. Due to the
+   * non-contractual nature of the marker this can fail. If the {@code struct} field could not be
+   * accessed for any reason, an empty {@link Optional} is returned.
+   *
+   * @param <T> The type of the class.
+   * @param clazz The class object to extract the struct from.
+   * @return An optional containing the struct if it could be extracted.
+   */
+  @SuppressWarnings("unchecked")
+  public static <T extends StructSerializable> Optional<Struct<T>> fetchStruct(
+      Class<? extends T> clazz) {
+    try {
+      var possibleField = Optional.ofNullable(clazz.getDeclaredField("struct"));
+      return possibleField.flatMap(
+          field -> {
+            if (Struct.class.isAssignableFrom(field.getType())) {
+              try {
+                return Optional.ofNullable((Struct<T>) field.get(null));
+              } catch (IllegalAccessException e) {
+                return Optional.empty();
+              }
+            } else {
+              return Optional.empty();
+            }
+          });
+    } catch (NoSuchFieldException e) {
+      return Optional.empty();
+    }
+  }
+
+  /**
+   * Returns a {@link Struct} for the given class. This does not do compile time checking that the
+   * class is a {@link StructSerializable}. Whenever possible it is reccomended to use {@link
+   * #fetchStruct(Class)}.
+   *
+   * @param clazz The class object to extract the struct from.
+   * @return An optional containing the struct if it could be extracted.
+   */
+  @SuppressWarnings("unchecked")
+  public static Optional<Struct<?>> fetchStructDynamic(Class<?> clazz) {
+    if (StructSerializable.class.isAssignableFrom(clazz)) {
+      return fetchStruct((Class<? extends StructSerializable>) clazz).map(struct -> struct);
+    } else {
+      return Optional.empty();
+    }
+  }
+}
--- a/wpiutil/src/main/java/edu/wpi/first/util/struct/ProceduralStructGenerator.java
+++ b/wpiutil/src/main/java/edu/wpi/first/util/struct/ProceduralStructGenerator.java
@@ -12,11 +12,10 @@ import java.nio.ByteBuffer;
 import java.util.ArrayList;
 import java.util.HashMap;
 import java.util.List;
-import java.util.Optional;

 /** A utility class for procedurally generating {@link Struct}s from records and enums. */
-public final class ProceduralStructGenerator {
-  private ProceduralStructGenerator() {
+public final class StructGenerator {
+  private StructGenerator() {
    throw new UnsupportedOperationException("This is a utility class!");
  }

@@ -123,54 +122,6 @@ public final class ProceduralStructGenerator {
    }
  }

-  /**
-   * Returns a {@link Struct} for the given {@link StructSerializable} marked class. Due to the
-   * non-contractual nature of the marker this can fail. If the {@code struct} field could not be
-   * accessed for any reason, an empty {@link Optional} is returned.
-   *
-   * @param <T> The type of the class.
-   * @param clazz The class object to extract the struct from.
-   * @return An optional containing the struct if it could be extracted.
-   */
-  @SuppressWarnings("unchecked")
-  public static <T extends StructSerializable> Optional<Struct<T>> extractClassStruct(
-      Class<? extends T> clazz) {
-    try {
-      var possibleField = Optional.ofNullable(clazz.getDeclaredField("struct"));
-      return possibleField.flatMap(
-          field -> {
-            if (Struct.class.isAssignableFrom(field.getType())) {
-              try {
-                return Optional.ofNullable((Struct<T>) field.get(null));
-              } catch (IllegalAccessException e) {
-                return Optional.empty();
-              }
-            } else {
-              return Optional.empty();
-            }
-          });
-    } catch (NoSuchFieldException e) {
-      return Optional.empty();
-    }
-  }
-
-  /**
-   * Returns a {@link Struct} for the given class. This does not do compile time checking that the
-   * class is a {@link StructSerializable}. Whenever possible it is reccomended to use {@link
-   * #extractClassStruct(Class)}.
-   *
-   * @param clazz The class object to extract the struct from.
-   * @return An optional containing the struct if it could be extracted.
-   */
-  @SuppressWarnings("unchecked")
-  public static Optional<Struct<?>> extractClassStructDynamic(Class<?> clazz) {
-    if (StructSerializable.class.isAssignableFrom(clazz)) {
-      return extractClassStruct((Class<? extends StructSerializable>) clazz).map(struct -> struct);
-    } else {
-      return Optional.empty();
-    }
-  }
-
  /** A utility for building schema syntax in a procedural manner. */
  @SuppressWarnings("PMD.AvoidStringBufferField")
  public static class SchemaBuilder {
@@ -303,7 +254,7 @@ public final class ProceduralStructGenerator {
   * @return The generated struct.
   */
  @SuppressWarnings({"unchecked", "PMD.AvoidAccessibilityAlteration"})
-  static <R extends Record> Struct<R> genRecord(final Class<R> recordClass) {
+  public static <R extends Record> Struct<R> genRecord(final Class<R> recordClass) {
    final RecordComponent[] components = recordClass.getRecordComponents();
    final SchemaBuilder schemaBuilder = new SchemaBuilder();
    final ArrayList<Struct<?>> nestedStructs = new ArrayList<>();
@@ -329,7 +280,7 @@ public final class ProceduralStructGenerator {
        if (customStructTypeMap.containsKey(type)) {
          struct = customStructTypeMap.get(type);
        } else if (StructSerializable.class.isAssignableFrom(type)) {
-          var optStruct = extractClassStructDynamic(type);
+          var optStruct = StructFetcher.fetchStructDynamic(type);
          if (optStruct.isPresent()) {
            struct = optStruct.get();
          } else {
@@ -465,7 +416,7 @@ public final class ProceduralStructGenerator {
   * @return The generated struct.
   */
  @SuppressWarnings({"unchecked", "PMD.AvoidAccessibilityAlteration"})
-  static <E extends Enum<E>> Struct<E> genEnum(Class<E> enumClass) {
+  public static <E extends Enum<E>> Struct<E> genEnum(Class<E> enumClass) {
    final E[] enumVariants = enumClass.getEnumConstants();
    final Field[] allEnumFields = enumClass.getDeclaredFields();
    final SchemaBuilder schemaBuilder = new SchemaBuilder();
@@ -516,7 +467,7 @@ public final class ProceduralStructGenerator {
        if (customStructTypeMap.containsKey(type)) {
          struct = customStructTypeMap.get(type);
        } else if (StructSerializable.class.isAssignableFrom(type)) {
-          var optStruct = extractClassStructDynamic(type);
+          var optStruct = StructFetcher.fetchStructDynamic(type);
          if (optStruct.isPresent()) {
            struct = optStruct.get();
          } else {
--- a/wpiutil/src/test/java/edu/wpi/first/util/struct/ProceduralStructGeneratorTest.java
+++ b/wpiutil/src/test/java/edu/wpi/first/util/struct/ProceduralStructGeneratorTest.java
@@ -4,15 +4,15 @@

 package edu.wpi.first.util.struct;

-import static edu.wpi.first.util.struct.ProceduralStructGenerator.genEnum;
-import static edu.wpi.first.util.struct.ProceduralStructGenerator.genRecord;
+import static edu.wpi.first.util.struct.StructGenerator.genEnum;
+import static edu.wpi.first.util.struct.StructGenerator.genRecord;
 import static org.junit.jupiter.api.Assertions.assertEquals;

 import java.nio.ByteBuffer;
 import java.nio.ByteOrder;
 import org.junit.jupiter.api.Test;

-class ProceduralStructGeneratorTest {
+class StructGeneratorTest {
  public record CustomRecord(int int32, boolean bool, double float64, char character, short int16)
      implements StructSerializable {
    public static CustomRecord create() {
@@ -95,8 +95,7 @@ class ProceduralStructGeneratorTest {

  @SuppressWarnings("unchecked")
  private <S extends StructSerializable> void testStructRoundTrip(S value) {
-    Struct<S> struct =
-        ProceduralStructGenerator.extractClassStruct((Class<S>) value.getClass()).get();
+    Struct<S> struct = StructFetcher.fetchStruct((Class<S>) value.getClass()).get();
    ByteBuffer buffer = ByteBuffer.allocate(struct.getSize());
    buffer.order(ByteOrder.LITTLE_ENDIAN);
    struct.pack(buffer, value);
@@ -108,8 +107,7 @@ class ProceduralStructGeneratorTest {

  @SuppressWarnings("unchecked")
  private <S extends StructSerializable> void testStructDoublePack(S value) {
-    Struct<S> struct =
-        ProceduralStructGenerator.extractClassStruct((Class<S>) value.getClass()).get();
+    Struct<S> struct = StructFetcher.fetchStruct((Class<S>) value.getClass()).get();
    ByteBuffer buffer = ByteBuffer.allocate(struct.getSize());
    buffer.order(ByteOrder.LITTLE_ENDIAN);
    struct.pack(buffer, value);
@@ -123,8 +121,7 @@ class ProceduralStructGeneratorTest {

  @SuppressWarnings("unchecked")
  private <S extends StructSerializable> void testStructDoubleUnpack(S value) {
-    Struct<S> struct =
-        ProceduralStructGenerator.extractClassStruct((Class<S>) value.getClass()).get();
+    Struct<S> struct = StructFetcher.fetchStruct((Class<S>) value.getClass()).get();
    ByteBuffer buffer = ByteBuffer.allocate(struct.getSize());
    buffer.order(ByteOrder.LITTLE_ENDIAN);
    struct.pack(buffer, value);