diff --git a/simulation/halsim_ws_core/doc/hardware_ws_api.md b/simulation/halsim_ws_core/doc/hardware_ws_api.md
index 63d450848c..061fa984be 100644
--- a/simulation/halsim_ws_core/doc/hardware_ws_api.md
+++ b/simulation/halsim_ws_core/doc/hardware_ws_api.md
@@ -77,13 +77,17 @@ The “hardware“ (which might be a full-fledged 3D simulation engine, a physic
 | Type value              | Description                | Device value              |
 | ----------------------- | -------------------------- | ------------------------- |
 | [``"Accel"``][]         | Accelerometer              | Arbitrary device name     |
+| [``"AddressableLED"``][]| Addressable LED Strip      | Arbitrary device number   |
 | [``"AI"``][]            | Analog input               | Port index, e.g. "1", "2" |
+| [``"AO"``][]            | Analog output              | Port index, e.g. "1", "2" |
+| [``"CTREPCM"``][]       | PCM                        | Module number, e.g. "1", "2" |
 | [``"DIO"``][]           | Digital input/output       | Port index, e.g. "1", "2" |
 | [``"dPWM"``][]          | Duty cycle output          | Arbitrary device number   |
 | [``"DriverStation"``][] | Driver station / FMS state | Blank                     |
 | [``"DutyCycle"``][]     | Duty cycle input           | Arbitrary device name     |
 | [``"Encoder"``][]       | Quadrature encoder         | Arbitrary device number   |
 | [``"Gyro"``][]          | Gyro                       | Arbitrary device name     |
+| [``"HAL"``][]           | HAL data                   | ``"HAL"``                 |
 | [``"Joystick"``][]      | Joystick data              | Joystick number           |
 | [``"PWM"``][]           | PWM output                 | Port index, e.g. "1", "2" |
 | [``"Relay"``][]         | Relay output               | Port index, e.g. "1", "2" |
@@ -105,16 +109,46 @@ C++/Java implementation note: these are created as either BuiltInAccelerometer o
 | ``">y"``     | Float   | Acceleration in G’s                                  |
 | ``">z"``     | Float   | Acceleration in G’s                                  |
 
+#### Addressable LED Strip ("AddressableLED")
+
+[``"AddressableLED"``]:#addressable-led-strip-addressableled
+
+| Data Key           | Type    | Description                                          |
+| ------------------ | ------- | ---------------------------------------------------- |
+| ``"<init"``        | Boolean | If the led strip is initialized in the robot program |
+| ``"<output_port"`` | Integer | DIO pin number                                       |
+| ``"<length"``      | Integer | The number of leds in the strip                      |
+| ``"<running"``     | Boolean | Whether the strip is outputting data                 |
+| ``"<data"``        | Array (See Below)  | One value per led; value is an object with ``"r"``, ``"g"``, and ``"b"`` keys, representing the rgb (0-255) components of the color |
+
 #### Analog Input ("AI")
 
 [``"AI"``]:#analog-input-ai
 
-The basic analog input just reads a voltage.
+The basic analog input just reads a voltage. An analog input can also be configured to use an averaging and oversampling engine.
 
-| Data Key       | Type    | Description                                         |
-| -------------- | ------- | --------------------------------------------------- |
-| ``"<init"``    | Boolean | If analog input is initialized in the robot program |
-| ``">voltage"`` | Float   | Input voltage, in volts                             |
+| Data Key              | Type    | Description                                         |
+| --------------------- | ------- | --------------------------------------------------- |
+| ``"<init"``           | Boolean | If analog input is initialized in the robot program |
+| ``"<avg_bits"``       | Integer | The number of averaging bits                        |
+| ``"<oversample_bits"` | Integer | The number of oversampling bits                     |
+| ``">voltage"``        | Float   | Input voltage, in volts                             |
+| ``"<accum_init"``     | Boolean | If the accumulator is initialized in the robot program |
+| ``">accum_value"``    | Integer | The accumulated value                               |
+| ``">accum_count"``    | Integer | The number of accumulated values                    |
+| ``"<accum_center"``   | Integer | The center value of the accumulator                 |
+| ``"<accum_deadband"`` | Integer | The accumulator's deadband                          |
+
+#### Analog Output ("AO")
+
+[``"AO"``]:#analog-output-ao
+
+The basic analog output just sends a voltage.
+
+| Data Key              | Type    | Description                                          |
+| --------------------- | ------- | ---------------------------------------------------- |
+| ``"<init"``           | Boolean | If analog output is initialized in the robot program |
+| ``"<voltage"``        | Float   | Output voltage, in volts                             |
 
 #### Digital Input/Output ("DIO")
 
@@ -125,6 +159,7 @@ The basic analog input just reads a voltage.
 | ``"<init"``   | Boolean | If DIO is initialized in the robot program |
 | ``"<input"``  | Boolean | True if input, false if output             |
 | ``"<>value"`` | Boolean | Input or output state                      |
+| ``"<pulse_length"`` | Float | Reserved for future use                |
 
 #### Duty Cycle Output ("dPWM")
 
@@ -172,14 +207,15 @@ C++/Java implementation note: these are created as SimDevice nodes where the dev
 
 A relative encoder.  For absolute encoders, use ``"DutyCycle"``.
 
-| Data Key              | Type    | Description                                         |
-| --------------------- | ------- | --------------------------------------------------- |
-| ``"<init"``           | Boolean | If encoder is initialized in the robot program      |
-| ``"<channel_a"``      | Integer | Digital channel number for “A” phase                |
-| ``"<channel_b"``      | Integer | Digital channel number for “B” phase                |
-| ``"<samples_to_avg"`` | Integer | Number of samples to average for period measurement |
-| ``">count"``          | Integer | Accumulated count (pulses)                          |
-| ``">period"``         | Float   | Period between pulses in seconds                    |
+| Data Key                 | Type    | Description                                         |
+| ------------------------ | ------- | --------------------------------------------------- |
+| ``"<init"``              | Boolean | If encoder is initialized in the robot program      |
+| ``"<channel_a"``         | Integer | Digital channel number for “A” phase                |
+| ``"<channel_b"``         | Integer | Digital channel number for “B” phase                |
+| ``"<samples_to_avg"``    | Integer | Number of samples to average for period measurement |
+| ``">count"``             | Integer | Accumulated count (pulses)                          |
+| ``">period"``            | Float   | Period between pulses in seconds                    |
+| ``"<reverse_direction"`` | Boolean | If the encoder direction should be inverted         |
 
 #### Gyro ("Gyro")
 
@@ -201,6 +237,19 @@ C++/Java implementation note: these are created as SimDevice nodes where the dev
 | ``">rate_y"``     | Float   | The current gyro angular rate of change in degrees/second |
 | ``">rate_z"``     | Float   | The current gyro angular rate of change in degrees/second |
 
+#### HAL Data ("HAL")
+
+[``"HAL"``]:#hal-data-hal
+
+Only sent in XRP mode.
+
+Only one of ``">sim_periodic_before"`` or ``">sim_periodic_after"`` should be sent in a single message.
+
+| Data Key                   | Type    | Description                                                    |
+| -------------------------- | ------- | -------------------------------------------------------------- |
+| ``">sim_periodic_before"`` | Boolean | Sent by the robot before running periodic simulation functions |
+| ``">sim_periodic_after"``  | Boolean | Sent by the robot after running periodic simulation functions  |
+
 #### Joystick Data ("Joystick")
 
 [``"Joystick"``]:#joystick-data-joystick
@@ -215,17 +264,34 @@ Joystick data is an input to the robot program and should be updated for each in
 | ``"<rumble_left"``  | Float            | Left rumble, value is 0-1 range |
 | ``"<rumble_right"`` | Float            | Right rumble, value is 0-1 range |
 
+#### PCM Data ("CTREPCM")
+
+[``"CTREPCM"``]#pcm-data-ctrepcm
+
+A pneumatic control module is used to regulate the pressure in a pneumatic system by switching a compressor on or off.
+
+| Data Key               | Type    | Description                                |
+| ---------------------- | ------- | ------------------------------------------ |
+| ``"<init"``            | Boolean | If PCM is initialized in the robot program |
+| ``">on"``              | Boolean | Whether the compressor is running          |
+| ``"<closed_loop"``     | Boolean | Whether closed-loop control is enabled     |
+| ``">pressure_switch"`` | Boolean | The value of the pressure switch           |
+| ``">current"``         | Float   | The amount of current being drawn by the compressor, in Amps |
+
 #### PWM Output ("PWM")
 
 [``"PWM"``]:#pwm-output-pwm
 
-PWMs may be used to control either motor controllers or servos.  Typically only one of either ``"<speed"`` (for a motor controller) or ``"<position"`` (for a servo) is used for a given PWM.
+PWMs may be used to control either motor controllers or servos.  Typically only one of either ``"<speed"`` (for a motor controller) ``"<position"`` (for a servo), or ``"raw"`` is used for a given PWM.
 
-| Data Key        | Type    | Description                                |
-| --------------- | ------- | ------------------------------------------ |
-| ``"<init"``     | Boolean | If PWM is initialized in the robot program |
-| ``"<speed"``    | Float   | Speed, -1.0 to 1.0 range                   |
-| ``"<position"`` | Float   | Servo position, 0.0 to 1.0 range           |
+| Data Key            | Type    | Description                                |
+| ------------------- | ------- | ------------------------------------------ |
+| ``"<init"``         | Boolean | If PWM is initialized in the robot program |
+| ``"<speed"``        | Float   | Speed, -1.0 to 1.0 range                   |
+| ``"<position"``     | Float   | Servo position, 0.0 to 1.0 range           |
+| ``"<raw"``          | Integer | The pulse time in microseconds             |
+| ``"<period_scale"`` | Integer | Scales the PWM signal by squelching setting a 2-bit mask of outputs to squelch (ex. `1` -> squelch every other value; `3` -> squelch 3 of 4 values) |
+| ``"<zero_latch"``   | Boolean | Whether the PWM should be latched to 0     |
 
 #### Relay Output ("Relay")
 
diff --git a/simulation/halsim_ws_core/doc/wpilib-ws.yaml b/simulation/halsim_ws_core/doc/wpilib-ws.yaml
index a8300c1e74..b1f86d7e76 100644
--- a/simulation/halsim_ws_core/doc/wpilib-ws.yaml
+++ b/simulation/halsim_ws_core/doc/wpilib-ws.yaml
@@ -1,7 +1,7 @@
 asyncapi: 2.0.0
 info:
   title: WPILib WebSocket Remote Endpoint API
-  version: "1.0.0"
+  version: "1.1.0"
   description: |
     API to route WPILib HAL calls over WebSockets.
   license:
@@ -40,14 +40,18 @@ components:
         type: object
         oneOf:
             - $ref: "#/components/schemas/accelData"
+            - $ref: "#/components/schemas/addressableLEDData"
             - $ref: "#/components/schemas/aiData"
+            - $ref: "#/components/schemas/aoData"
             - $ref: "#/components/schemas/dioData"
             - $ref: "#/components/schemas/dpwmData"
             - $ref: "#/components/schemas/driverstationData"
             - $ref: "#/components/schemas/dutycycleData"
             - $ref: "#/components/schemas/encoderData"
             - $ref: "#/components/schemas/gyroData"
+            - $ref: "#/components/schemas/halData"
             - $ref: "#/components/schemas/joystickData"
+            - $ref: "#/components/schemas/pcmData"
             - $ref: "#/components/schemas/pwmData"
             - $ref: "#/components/schemas/relayData"
             - $ref: "#/components/schemas/solenoidData"
@@ -88,6 +92,49 @@ components:
               type: number
               description: "Acceleration in G’s "
 
+    addressableLEDData:
+      type: object
+      required:
+      - type
+      - device
+      properties:
+        type:
+          type: string
+          description: Device Type (e.g. DIO/AI/PWM/Encoder etc)
+          const: AddressableLED
+        device:
+          type: string
+          description: Arbitrary device number
+        data:
+          type: object
+          description: "Addressable LED Data (type: AddressableLED, device: arbitrary)"
+          properties:
+            <init:
+              type: boolean
+              description: "If the led strip is initialized in the robot program"
+            "<output_port":
+              type: integer
+              description: "DIO pin number"
+            "<length":
+              type: integer
+              description: "The number of leds in the strip"
+            "<running":
+              type: boolean
+              description: "Whether the strip is outputting data"
+            "<data":
+              type: array
+              description: "One value per led"
+              items:
+                type: object
+                description: "An object with \"r\", \"g\", and \"b\" keys, representing the rgb (0-255) components of the color"
+                properties:
+                  r:
+                    type: integer
+                  g:
+                    type: integer
+                  b:
+                    type: integer
+
     aiData:
       type: object
       required:
@@ -108,9 +155,54 @@ components:
             <init:
               type: boolean
               description: "If analog input is initialized in the robot program"
+            "<avg_bits":
+              type: integer
+              description: "The number of averaging bits"
+            "<oversample_bits":
+              type: integer
+              description: "The number of oversampling bits"
             ">voltage":
               type: number
               description: "Input voltage, in volts"
+            "<accum_init":
+              type: boolean
+              description: "If the accumulator is initialized in the robot program"
+            ">accum_value":
+              type: integer
+              description: "The accumulated value"
+            ">accum_count":
+              type: integer
+              description: "The number of accumulated values"
+            "<accum_center":
+              type: integer
+              description: "The center value of the accumulator"
+            "<accum_deadband":
+              type: integer
+              description: "The accumulator's deadband"
+
+    aoData:
+      type: object
+      required:
+      - type
+      - device
+      properties:
+        type:
+          type: string
+          description: Device Type (e.g. DIO/AI/PWM/Encoder etc)
+          const: AO
+        device:
+          type: string
+          description: Device Identifier (usually channel)
+        data:
+          type: object
+          description: "Analog Output Data (type: AO, device: channel number)"
+          properties:
+            <init:
+              type: boolean
+              description: "If analog output is initialized in the robot program"
+            "<voltage":
+              type: number
+              description: "Output voltage, in volts"
 
     dioData:
       type: object
@@ -138,6 +230,9 @@ components:
             <>value:
               type: boolean
               description: "Input or output state"
+            "<pulse_length":
+              type: number
+              description: "Reserved for future use"
 
     dpwmData:
       type: object
@@ -275,6 +370,9 @@ components:
             ">period":
               type: number
               description: "Period between pulses in seconds"
+            "<reverse_direction":
+              type: boolean
+              description: "If the encoder direction should be inverted"
 
     gyroData:
       type: object
@@ -321,6 +419,31 @@ components:
               type: number
               description: "The current gyro angular rate of change in degrees/second"
 
+    halData:
+      type: object
+      required:
+      - type
+      - device
+      properties:
+        type:
+          type: string
+          description: Device Type (e.g. DIO/AI/PWM/Encoder etc)
+          const: HAL
+        device:
+          type: string
+          description: "\"HAL\""
+          const: HAL
+        data:
+          type: object
+          description: "HAL Data (type: HAL, device: HAL)"
+          properties:
+            ">sim_periodic_before":
+              type: boolean
+              description: "Sent by the robot before running periodic simulation functions"
+            ">sim_periodic_after":
+              type: boolean
+              description: "Sent by the robot after running periodic simulation functions"
+
     joystickData:
       type: object
       required:
@@ -368,6 +491,36 @@ components:
               minimum: 0.0
               maximum: 1.0
 
+    pcmData:
+      type: object
+      required:
+      - type
+      - device
+      properties:
+        type:
+          type: string
+          description: Device Type (e.g. DIO/AI/PWM/Encoder etc)
+          const: CTREPCM
+        device:
+          type: string
+          description: Device Identifier (usually channel)
+        data:
+          <init:
+            type: boolean
+            description: "If PCM is initialized in the robot program"
+          ">on":
+            type: boolean
+            description: "Whether the compressor is running"
+          "<closed_loop":
+            type: boolean
+            description: "Whether closed-loop control is enabled"
+          ">pressure_switch":
+            type: boolean
+            description: "The value of the pressure switch"
+          ">current":
+            type: number
+            description: "The amount of current being drawn by the compressor, in Amps"
+
     pwmData:
       type: object
       required:
@@ -398,6 +551,15 @@ components:
               description: "Servo position"
               minimum: 0.0
               maximum: 1.0
+            "<raw":
+              type: integer
+              description: "The pulse time in microseconds"
+            "<period_scale":
+              type: integer
+              description: "Scales the PWM signal by squelching setting a 2-bit mask of outputs to squelch (ex. `1` -> squelch every other value; `3` -> squelch 3 of 4 values)"
+            "<zero_latch":
+              type: boolean
+              description: "Whether the PWM should be latched to 0"
 
     relayData:
       type: object
diff --git a/simulation/halsim_ws_core/src/main/native/cpp/WSProvider_AddressableLED.cpp b/simulation/halsim_ws_core/src/main/native/cpp/WSProvider_AddressableLED.cpp
index 4cac7f577f..d316fc17e4 100644
--- a/simulation/halsim_ws_core/src/main/native/cpp/WSProvider_AddressableLED.cpp
+++ b/simulation/halsim_ws_core/src/main/native/cpp/WSProvider_AddressableLED.cpp
@@ -51,7 +51,7 @@ void HALSimWSProviderAddressableLED::RegisterCallbacks() {
         }
 
         wpi::json payload;
-        payload[">data"] = jsonData;
+        payload["<data"] = jsonData;
 
         provider->ProcessHalCallback(payload);
       },