diff --git a/.editorconfig b/.editorconfig
new file mode 100644
index 0000000..3da42a0
--- /dev/null
+++ b/.editorconfig
@@ -0,0 +1,20 @@
+# EditorConfig is awesome: https://EditorConfig.org
+
+# top-most EditorConfig file
+root = true
+
+[*]
+indent_style = space
+indent_size = 2
+end_of_line = lf
+charset = utf-8
+trim_trailing_whitespace = true
+insert_final_newline = true
+
+[*.gradle]
+indent_style = tab
+indent_size = 2
+
+[*.py]
+indent_style = space
+indent_size = 4
diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
new file mode 100644
index 0000000..07ff814
--- /dev/null
+++ b/.github/workflows/ci.yml
@@ -0,0 +1,58 @@
+name: CI
+
+on: [push, pull_request]
+
+jobs:
+  assemble:
+    name: Assemble
+
+    runs-on: ubuntu-latest
+
+    steps:
+      - name: Checkout Git repository
+        uses: actions/checkout@v4
+      - name: Setup Java
+        uses: actions/setup-java@v4
+        with:
+          distribution: "temurin"
+          java-version: 17
+          cache: "gradle"
+      - name: Validate Gradle wrapper
+        uses: gradle/actions/wrapper-validation@v3
+      - name: Assemble project
+        run: ./gradlew assemble
+  style:
+    name: Check formatting
+
+    runs-on: ubuntu-latest
+
+    steps:
+      - name: Checkout Git repository
+        uses: actions/checkout@v4
+      - name: Setup Java
+        uses: actions/setup-java@v4
+        with:
+          distribution: "temurin"
+          java-version: 17
+          cache: "gradle"
+      - name: Validate Gradle wrapper
+        uses: gradle/actions/wrapper-validation@v3
+      - name: Check formatting
+        run: ./gradlew spotlessCheck
+  style-python:
+    name: Check Python formatting
+
+    runs-on: ubuntu-latest
+
+    steps:
+      - name: Checkout Git repository
+        uses: actions/checkout@v4
+      - name: Setup Python
+        uses: actions/setup-python@v5
+        with:
+          python-version: "3.12"
+          cache: "pip"
+      - name: Install Python dependencies
+        run: pip install black
+      - name: Check formatting
+        run: black --check .
diff --git a/.gitignore b/.gitignore
new file mode 100644
index 0000000..cc979f8
--- /dev/null
+++ b/.gitignore
@@ -0,0 +1,169 @@
+# Created by https://www.toptal.com/developers/gitignore/api/java,linux,macos,gradle,windows,visualstudiocode
+# Edit at https://www.toptal.com/developers/gitignore?templates=java,linux,macos,gradle,windows,visualstudiocode
+
+### Java ###
+# Compiled class file
+*.class
+
+# Log file
+*.log
+
+# BlueJ files
+*.ctxt
+
+# Mobile Tools for Java (J2ME)
+.mtj.tmp/
+
+# Package Files #
+*.jar
+*.war
+*.nar
+*.ear
+*.zip
+*.tar.gz
+*.rar
+
+# virtual machine crash logs, see http://www.java.com/en/download/help/error_hotspot.xml
+hs_err_pid*
+replay_pid*
+
+### Linux ###
+*~
+
+# temporary files which can be created if a process still has a handle open of a deleted file
+.fuse_hidden*
+
+# KDE directory preferences
+.directory
+
+# Linux trash folder which might appear on any partition or disk
+.Trash-*
+
+# .nfs files are created when an open file is removed but is still being accessed
+.nfs*
+
+### macOS ###
+# General
+.DS_Store
+.AppleDouble
+.LSOverride
+
+# Icon must end with two \r
+Icon
+
+
+# Thumbnails
+._*
+
+# Files that might appear in the root of a volume
+.DocumentRevisions-V100
+.fseventsd
+.Spotlight-V100
+.TemporaryItems
+.Trashes
+.VolumeIcon.icns
+.com.apple.timemachine.donotpresent
+
+# Directories potentially created on remote AFP share
+.AppleDB
+.AppleDesktop
+Network Trash Folder
+Temporary Items
+.apdisk
+
+### macOS Patch ###
+# iCloud generated files
+*.icloud
+
+### VisualStudioCode ###
+.vscode/*
+!.vscode/settings.json
+!.vscode/tasks.json
+!.vscode/launch.json
+!.vscode/extensions.json
+!.vscode/*.code-snippets
+
+# Local History for Visual Studio Code
+.history/
+
+# Built Visual Studio Code Extensions
+*.vsix
+
+### VisualStudioCode Patch ###
+# Ignore all local history of files
+.history
+.ionide
+
+### Windows ###
+# Windows thumbnail cache files
+Thumbs.db
+Thumbs.db:encryptable
+ehthumbs.db
+ehthumbs_vista.db
+
+# Dump file
+*.stackdump
+
+# Folder config file
+[Dd]esktop.ini
+
+# Recycle Bin used on file shares
+$RECYCLE.BIN/
+
+# Windows Installer files
+*.cab
+*.msi
+*.msix
+*.msm
+*.msp
+
+# Windows shortcuts
+*.lnk
+
+### Gradle ###
+.gradle
+**/build/
+!src/**/build/
+
+# Ignore Gradle GUI config
+gradle-app.setting
+
+# Avoid ignoring Gradle wrapper jar file (.jar files are usually ignored)
+!gradle-wrapper.jar
+
+# Avoid ignore Gradle wrappper properties
+!gradle-wrapper.properties
+
+# Cache of project
+.gradletasknamecache
+
+# Eclipse Gradle plugin generated files
+# Eclipse Core
+.project
+# JDT-specific (Eclipse Java Development Tools)
+.classpath
+
+### Gradle Patch ###
+# Java heap dump
+*.hprof
+
+# End of https://www.toptal.com/developers/gitignore/api/java,linux,macos,gradle,windows,visualstudiocode
+
+# Fleet
+.fleet
+
+# Simulation GUI and other tools window save file
+*-window.json
+
+# Simulation data log directory
+logs/
+
+# Folder that has CTRE Phoenix Sim device config storage
+ctre_sim/
+
+# Generated code
+src/main/java/frc/robot/generated/BuildConstants.java
+
+# Simulator files
+networktables.json
+simgui*.json
diff --git a/.roboRIOTeamNumberSetter/roborioteamnumbersetter.json b/.roboRIOTeamNumberSetter/roborioteamnumbersetter.json
new file mode 100644
index 0000000..bd0acbb
--- /dev/null
+++ b/.roboRIOTeamNumberSetter/roborioteamnumbersetter.json
@@ -0,0 +1 @@
+{"TeamNumber": 581}
diff --git a/.vscode/extensions.json b/.vscode/extensions.json
new file mode 100644
index 0000000..545ec38
--- /dev/null
+++ b/.vscode/extensions.json
@@ -0,0 +1,7 @@
+{"recommendations": [
+  "wpilibsuite.vscode-wpilib",
+  "editorconfig.editorconfig",
+  "vscjava.vscode-java-pack",
+  "richardwillis.vscode-spotless-gradle",
+  "ms-python.black-formatter"
+]}
diff --git a/.vscode/launch.json b/.vscode/launch.json
new file mode 100644
index 0000000..968b143
--- /dev/null
+++ b/.vscode/launch.json
@@ -0,0 +1,17 @@
+{
+  "configurations": [
+    {
+      "request": "launch",
+      "desktop": true,
+      "name": "WPILib Desktop Debug",
+      "type": "wpilib"
+    },
+    {
+      "request": "launch",
+      "desktop": false,
+      "name": "WPILib roboRIO Debug",
+      "type": "wpilib"
+    }
+  ],
+  "version": "0.2.0"
+}
diff --git a/.vscode/settings.json b/.vscode/settings.json
new file mode 100644
index 0000000..9460170
--- /dev/null
+++ b/.vscode/settings.json
@@ -0,0 +1,35 @@
+{
+  "[gradle]": {"editor.defaultFormatter": "richardwillis.vscode-spotless-gradle"},
+  "java.configuration.updateBuildConfiguration": "automatic",
+  "java.test.defaultConfig": "WPIlibUnitTests",
+  "[python]": {
+    "editor.defaultFormatter": "ms-python.black-formatter",
+    "editor.formatOnType": true
+  },
+  "java.test.config": [{
+    "workingDirectory": "${workspaceFolder}/build/jni/release",
+    "name": "WPIlibUnitTests",
+    "env": {
+      "DYLD_LIBRARY_PATH": "${workspaceFolder}/build/jni/release",
+      "LD_LIBRARY_PATH": "${workspaceFolder}/build/jni/release"
+    },
+    "vmargs": ["-Djava.library.path=${workspaceFolder}/build/jni/release"]
+  }],
+  "java.server.launchMode": "Standard",
+  "files.exclude": {
+    "**/CVS": true,
+    "**/*~": true,
+    "**/.svn": true,
+    "**/.project": true,
+    "**/.classpath": true,
+    "bin/": true,
+    "**/.settings": true,
+    "**/.factorypath": true,
+    "**/.DS_Store": true,
+    "**/.git": true,
+    "**/.hg": true
+  },
+  "[java]": {"editor.defaultFormatter": "richardwillis.vscode-spotless-gradle"},
+  "[json]": {"editor.defaultFormatter": "richardwillis.vscode-spotless-gradle"},
+  "[ignore]": {"editor.defaultFormatter": "richardwillis.vscode-spotless-gradle"}
+}
diff --git a/.wpilib/wpilib_preferences.json b/.wpilib/wpilib_preferences.json
new file mode 100644
index 0000000..a5ff8ad
--- /dev/null
+++ b/.wpilib/wpilib_preferences.json
@@ -0,0 +1,6 @@
+{
+  "currentLanguage": "java",
+  "enableCppIntellisense": false,
+  "teamNumber": 581,
+  "projectYear": "2024"
+}
diff --git a/README.md b/README.md
new file mode 100644
index 0000000..7626eca
--- /dev/null
+++ b/README.md
@@ -0,0 +1,5 @@
+# Team 581's FRC 2024 offseason robot code
+
+[![CI](https://github.com/team581/2024-offseason-bot/actions/workflows/ci.yml/badge.svg)](https://github.com/team581/2024-offseason-bot/actions/workflows/ci.yml)
+
+[Team 581](https://github.com/team581)'s robot code for our 2024 offseason robot.
diff --git a/build.gradle b/build.gradle
new file mode 100644
index 0000000..e55473b
--- /dev/null
+++ b/build.gradle
@@ -0,0 +1,161 @@
+plugins {
+	id "java"
+	id "edu.wpi.first.GradleRIO" version "2024.3.2"
+	id "com.peterabeles.gversion" version "1.10.3"
+	id "com.diffplug.spotless" version "6.25.0"
+}
+
+java {
+	sourceCompatibility = JavaVersion.VERSION_17
+	targetCompatibility = JavaVersion.VERSION_17
+}
+
+def ROBOT_MAIN_CLASS = "frc.robot.Main"
+
+// Define my targets (RoboRIO) and artifacts (deployable files)
+// This is added by GradleRIO's backing project DeployUtils.
+deploy {
+	targets {
+		roborio(getTargetTypeClass('RoboRIO')) {
+			// Team number is loaded either from the .wpilib/wpilib_preferences.json
+			// or from command line. If not found an exception will be thrown.
+			// You can use getTeamOrDefault(team) instead of getTeamNumber if you
+			// want to store a team number in this file.
+			team = project.frc.getTeamNumber()
+			debug = project.frc.getDebugOrDefault(false)
+
+			artifacts {
+				// First part is artifact name, 2nd is artifact type
+				// getTargetTypeClass is a shortcut to get the class type using a string
+
+				frcJava(getArtifactTypeClass('FRCJavaArtifact')) {
+				}
+
+				// Static files artifact
+				frcStaticFileDeploy(getArtifactTypeClass('FileTreeArtifact')) {
+					files = project.fileTree('src/main/deploy')
+					directory = '/home/lvuser/deploy'
+				}
+			}
+		}
+	}
+}
+
+def deployArtifact = deploy.targets.roborio.artifacts.frcJava
+
+// Set to true to use debug for JNI.
+wpi.java.debugJni = false
+
+// Set this to true to enable desktop support.
+def includeDesktopSupport = false
+
+// Defining my dependencies. In this case, WPILib (+ friends), and vendor libraries.
+// Also defines JUnit 5.
+dependencies {
+	implementation wpi.java.deps.wpilib()
+	implementation wpi.java.vendor.java()
+
+	roborioDebug wpi.java.deps.wpilibJniDebug(wpi.platforms.roborio)
+	roborioDebug wpi.java.vendor.jniDebug(wpi.platforms.roborio)
+
+	roborioRelease wpi.java.deps.wpilibJniRelease(wpi.platforms.roborio)
+	roborioRelease wpi.java.vendor.jniRelease(wpi.platforms.roborio)
+
+	nativeDebug wpi.java.deps.wpilibJniDebug(wpi.platforms.desktop)
+	nativeDebug wpi.java.vendor.jniDebug(wpi.platforms.desktop)
+	simulationDebug wpi.sim.enableDebug()
+
+	nativeRelease wpi.java.deps.wpilibJniRelease(wpi.platforms.desktop)
+	nativeRelease wpi.java.vendor.jniRelease(wpi.platforms.desktop)
+	simulationRelease wpi.sim.enableRelease()
+
+	testImplementation 'org.junit.jupiter:junit-jupiter:5.10.3'
+	testRuntimeOnly 'org.junit.platform:junit-platform-launcher'
+}
+
+test {
+	useJUnitPlatform()
+	systemProperty 'junit.jupiter.extensions.autodetection.enabled', 'true'
+}
+
+// Simulation configuration (e.g. environment variables).
+wpi.sim.addGui().defaultEnabled = true
+wpi.sim.addDriverstation()
+
+// Setting up my Jar File. In this case, adding all libraries into the main jar ('fat jar')
+// in order to make them all available at runtime. Also adding the manifest so WPILib
+// knows where to look for our Robot Class.
+jar {
+	from {
+		configurations.runtimeClasspath.collect {
+			it.isDirectory() ? it : zipTree(it)
+		}
+	}
+	from sourceSets.main.allSource
+	manifest edu.wpi.first.gradlerio.GradleRIOPlugin.javaManifest(ROBOT_MAIN_CLASS)
+	duplicatesStrategy = DuplicatesStrategy.INCLUDE
+}
+
+// Configure jar and deploy tasks
+deployArtifact.jarTask = jar
+wpi.java.configureExecutableTasks(jar)
+wpi.java.configureTestTasks(test)
+
+// Configure string concat to always inline compile
+tasks.withType(JavaCompile) {
+	options.compilerArgs.add '-XDstringConcat=inline'
+}
+
+// Create build constants file during build
+project.compileJava.dependsOn(createVersionFile)
+gversion {
+	srcDir       = "src/main/java"
+	classPackage = "frc.robot.generated"
+	className    = "BuildConstants"
+	dateFormat   = "yyyy-MM-dd HH:mm:ss z"
+	timeZone     = "America/Los_Angeles"
+	indent       = "  "
+}
+
+apply plugin: 'groovy'
+spotless {
+	enforceCheck false
+
+	encoding 'UTF-8'
+	lineEndings 'UNIX'
+
+	java {
+		toggleOffOn()
+		importOrder()
+		removeUnusedImports()
+		googleJavaFormat()
+		trimTrailingWhitespace()
+		endWithNewline()
+
+		targetExclude('src/main/java/frc/robot/generated/BuildConstants.java')
+	}
+
+	groovy {
+		importOrder()
+		excludeJava()
+		greclipse()
+	}
+
+	groovyGradle {
+		greclipse()
+	}
+
+	json {
+		target '**/*.json'
+		simple().indentWithSpaces(2)
+
+		targetExclude('.pathplanner/**')
+	}
+
+	format 'misc', {
+		target '.gitignore'
+
+		trimTrailingWhitespace()
+		endWithNewline()
+	}
+}
diff --git a/gradle/wrapper/gradle-wrapper.jar b/gradle/wrapper/gradle-wrapper.jar
new file mode 100644
index 0000000..2c35211
Binary files /dev/null and b/gradle/wrapper/gradle-wrapper.jar differ
diff --git a/gradle/wrapper/gradle-wrapper.properties b/gradle/wrapper/gradle-wrapper.properties
new file mode 100644
index 0000000..2a545f6
--- /dev/null
+++ b/gradle/wrapper/gradle-wrapper.properties
@@ -0,0 +1,7 @@
+distributionBase=GRADLE_USER_HOME
+distributionPath=permwrapper/dists
+distributionUrl=https\://services.gradle.org/distributions/gradle-8.9-bin.zip
+networkTimeout=10000
+validateDistributionUrl=true
+zipStoreBase=GRADLE_USER_HOME
+zipStorePath=permwrapper/dists
diff --git a/gradlew b/gradlew
new file mode 100755
index 0000000..f5feea6
--- /dev/null
+++ b/gradlew
@@ -0,0 +1,252 @@
+#!/bin/sh
+
+#
+# Copyright © 2015-2021 the original authors.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#      https://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+#
+# SPDX-License-Identifier: Apache-2.0
+#
+
+##############################################################################
+#
+#   Gradle start up script for POSIX generated by Gradle.
+#
+#   Important for running:
+#
+#   (1) You need a POSIX-compliant shell to run this script. If your /bin/sh is
+#       noncompliant, but you have some other compliant shell such as ksh or
+#       bash, then to run this script, type that shell name before the whole
+#       command line, like:
+#
+#           ksh Gradle
+#
+#       Busybox and similar reduced shells will NOT work, because this script
+#       requires all of these POSIX shell features:
+#         * functions;
+#         * expansions «$var», «${var}», «${var:-default}», «${var+SET}»,
+#           «${var#prefix}», «${var%suffix}», and «$( cmd )»;
+#         * compound commands having a testable exit status, especially «case»;
+#         * various built-in commands including «command», «set», and «ulimit».
+#
+#   Important for patching:
+#
+#   (2) This script targets any POSIX shell, so it avoids extensions provided
+#       by Bash, Ksh, etc; in particular arrays are avoided.
+#
+#       The "traditional" practice of packing multiple parameters into a
+#       space-separated string is a well documented source of bugs and security
+#       problems, so this is (mostly) avoided, by progressively accumulating
+#       options in "$@", and eventually passing that to Java.
+#
+#       Where the inherited environment variables (DEFAULT_JVM_OPTS, JAVA_OPTS,
+#       and GRADLE_OPTS) rely on word-splitting, this is performed explicitly;
+#       see the in-line comments for details.
+#
+#       There are tweaks for specific operating systems such as AIX, CygWin,
+#       Darwin, MinGW, and NonStop.
+#
+#   (3) This script is generated from the Groovy template
+#       https://github.com/gradle/gradle/blob/HEAD/platforms/jvm/plugins-application/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt
+#       within the Gradle project.
+#
+#       You can find Gradle at https://github.com/gradle/gradle/.
+#
+##############################################################################
+
+# Attempt to set APP_HOME
+
+# Resolve links: $0 may be a link
+app_path=$0
+
+# Need this for daisy-chained symlinks.
+while
+    APP_HOME=${app_path%"${app_path##*/}"}  # leaves a trailing /; empty if no leading path
+    [ -h "$app_path" ]
+do
+    ls=$( ls -ld "$app_path" )
+    link=${ls#*' -> '}
+    case $link in             #(
+      /*)   app_path=$link ;; #(
+      *)    app_path=$APP_HOME$link ;;
+    esac
+done
+
+# This is normally unused
+# shellcheck disable=SC2034
+APP_BASE_NAME=${0##*/}
+# Discard cd standard output in case $CDPATH is set (https://github.com/gradle/gradle/issues/25036)
+APP_HOME=$( cd -P "${APP_HOME:-./}" > /dev/null && printf '%s
+' "$PWD" ) || exit
+
+# Use the maximum available, or set MAX_FD != -1 to use that value.
+MAX_FD=maximum
+
+warn () {
+    echo "$*"
+} >&2
+
+die () {
+    echo
+    echo "$*"
+    echo
+    exit 1
+} >&2
+
+# OS specific support (must be 'true' or 'false').
+cygwin=false
+msys=false
+darwin=false
+nonstop=false
+case "$( uname )" in                #(
+  CYGWIN* )         cygwin=true  ;; #(
+  Darwin* )         darwin=true  ;; #(
+  MSYS* | MINGW* )  msys=true    ;; #(
+  NONSTOP* )        nonstop=true ;;
+esac
+
+CLASSPATH=$APP_HOME/gradle/wrapper/gradle-wrapper.jar
+
+
+# Determine the Java command to use to start the JVM.
+if [ -n "$JAVA_HOME" ] ; then
+    if [ -x "$JAVA_HOME/jre/sh/java" ] ; then
+        # IBM's JDK on AIX uses strange locations for the executables
+        JAVACMD=$JAVA_HOME/jre/sh/java
+    else
+        JAVACMD=$JAVA_HOME/bin/java
+    fi
+    if [ ! -x "$JAVACMD" ] ; then
+        die "ERROR: JAVA_HOME is set to an invalid directory: $JAVA_HOME
+
+Please set the JAVA_HOME variable in your environment to match the
+location of your Java installation."
+    fi
+else
+    JAVACMD=java
+    if ! command -v java >/dev/null 2>&1
+    then
+        die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
+
+Please set the JAVA_HOME variable in your environment to match the
+location of your Java installation."
+    fi
+fi
+
+# Increase the maximum file descriptors if we can.
+if ! "$cygwin" && ! "$darwin" && ! "$nonstop" ; then
+    case $MAX_FD in #(
+      max*)
+        # In POSIX sh, ulimit -H is undefined. That's why the result is checked to see if it worked.
+        # shellcheck disable=SC2039,SC3045
+        MAX_FD=$( ulimit -H -n ) ||
+            warn "Could not query maximum file descriptor limit"
+    esac
+    case $MAX_FD in  #(
+      '' | soft) :;; #(
+      *)
+        # In POSIX sh, ulimit -n is undefined. That's why the result is checked to see if it worked.
+        # shellcheck disable=SC2039,SC3045
+        ulimit -n "$MAX_FD" ||
+            warn "Could not set maximum file descriptor limit to $MAX_FD"
+    esac
+fi
+
+# Collect all arguments for the java command, stacking in reverse order:
+#   * args from the command line
+#   * the main class name
+#   * -classpath
+#   * -D...appname settings
+#   * --module-path (only if needed)
+#   * DEFAULT_JVM_OPTS, JAVA_OPTS, and GRADLE_OPTS environment variables.
+
+# For Cygwin or MSYS, switch paths to Windows format before running java
+if "$cygwin" || "$msys" ; then
+    APP_HOME=$( cygpath --path --mixed "$APP_HOME" )
+    CLASSPATH=$( cygpath --path --mixed "$CLASSPATH" )
+
+    JAVACMD=$( cygpath --unix "$JAVACMD" )
+
+    # Now convert the arguments - kludge to limit ourselves to /bin/sh
+    for arg do
+        if
+            case $arg in                                #(
+              -*)   false ;;                            # don't mess with options #(
+              /?*)  t=${arg#/} t=/${t%%/*}              # looks like a POSIX filepath
+                    [ -e "$t" ] ;;                      #(
+              *)    false ;;
+            esac
+        then
+            arg=$( cygpath --path --ignore --mixed "$arg" )
+        fi
+        # Roll the args list around exactly as many times as the number of
+        # args, so each arg winds up back in the position where it started, but
+        # possibly modified.
+        #
+        # NB: a `for` loop captures its iteration list before it begins, so
+        # changing the positional parameters here affects neither the number of
+        # iterations, nor the values presented in `arg`.
+        shift                   # remove old arg
+        set -- "$@" "$arg"      # push replacement arg
+    done
+fi
+
+
+# Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script.
+DEFAULT_JVM_OPTS='"-Xmx64m" "-Xms64m"'
+
+# Collect all arguments for the java command:
+#   * DEFAULT_JVM_OPTS, JAVA_OPTS, JAVA_OPTS, and optsEnvironmentVar are not allowed to contain shell fragments,
+#     and any embedded shellness will be escaped.
+#   * For example: A user cannot expect ${Hostname} to be expanded, as it is an environment variable and will be
+#     treated as '${Hostname}' itself on the command line.
+
+set -- \
+        "-Dorg.gradle.appname=$APP_BASE_NAME" \
+        -classpath "$CLASSPATH" \
+        org.gradle.wrapper.GradleWrapperMain \
+        "$@"
+
+# Stop when "xargs" is not available.
+if ! command -v xargs >/dev/null 2>&1
+then
+    die "xargs is not available"
+fi
+
+# Use "xargs" to parse quoted args.
+#
+# With -n1 it outputs one arg per line, with the quotes and backslashes removed.
+#
+# In Bash we could simply go:
+#
+#   readarray ARGS < <( xargs -n1 <<<"$var" ) &&
+#   set -- "${ARGS[@]}" "$@"
+#
+# but POSIX shell has neither arrays nor command substitution, so instead we
+# post-process each arg (as a line of input to sed) to backslash-escape any
+# character that might be a shell metacharacter, then use eval to reverse
+# that process (while maintaining the separation between arguments), and wrap
+# the whole thing up as a single "set" statement.
+#
+# This will of course break if any of these variables contains a newline or
+# an unmatched quote.
+#
+
+eval "set -- $(
+        printf '%s\n' "$DEFAULT_JVM_OPTS $JAVA_OPTS $GRADLE_OPTS" |
+        xargs -n1 |
+        sed ' s~[^-[:alnum:]+,./:=@_]~\\&~g; ' |
+        tr '\n' ' '
+    )" '"$@"'
+
+exec "$JAVACMD" "$@"
diff --git a/gradlew.bat b/gradlew.bat
new file mode 100755
index 0000000..9b42019
--- /dev/null
+++ b/gradlew.bat
@@ -0,0 +1,94 @@
+@rem
+@rem Copyright 2015 the original author or authors.
+@rem
+@rem Licensed under the Apache License, Version 2.0 (the "License");
+@rem you may not use this file except in compliance with the License.
+@rem You may obtain a copy of the License at
+@rem
+@rem      https://www.apache.org/licenses/LICENSE-2.0
+@rem
+@rem Unless required by applicable law or agreed to in writing, software
+@rem distributed under the License is distributed on an "AS IS" BASIS,
+@rem WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+@rem See the License for the specific language governing permissions and
+@rem limitations under the License.
+@rem
+@rem SPDX-License-Identifier: Apache-2.0
+@rem
+
+@if "%DEBUG%"=="" @echo off
+@rem ##########################################################################
+@rem
+@rem  Gradle startup script for Windows
+@rem
+@rem ##########################################################################
+
+@rem Set local scope for the variables with windows NT shell
+if "%OS%"=="Windows_NT" setlocal
+
+set DIRNAME=%~dp0
+if "%DIRNAME%"=="" set DIRNAME=.
+@rem This is normally unused
+set APP_BASE_NAME=%~n0
+set APP_HOME=%DIRNAME%
+
+@rem Resolve any "." and ".." in APP_HOME to make it shorter.
+for %%i in ("%APP_HOME%") do set APP_HOME=%%~fi
+
+@rem Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script.
+set DEFAULT_JVM_OPTS="-Xmx64m" "-Xms64m"
+
+@rem Find java.exe
+if defined JAVA_HOME goto findJavaFromJavaHome
+
+set JAVA_EXE=java.exe
+%JAVA_EXE% -version >NUL 2>&1
+if %ERRORLEVEL% equ 0 goto execute
+
+echo. 1>&2
+echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH. 1>&2
+echo. 1>&2
+echo Please set the JAVA_HOME variable in your environment to match the 1>&2
+echo location of your Java installation. 1>&2
+
+goto fail
+
+:findJavaFromJavaHome
+set JAVA_HOME=%JAVA_HOME:"=%
+set JAVA_EXE=%JAVA_HOME%/bin/java.exe
+
+if exist "%JAVA_EXE%" goto execute
+
+echo. 1>&2
+echo ERROR: JAVA_HOME is set to an invalid directory: %JAVA_HOME% 1>&2
+echo. 1>&2
+echo Please set the JAVA_HOME variable in your environment to match the 1>&2
+echo location of your Java installation. 1>&2
+
+goto fail
+
+:execute
+@rem Setup the command line
+
+set CLASSPATH=%APP_HOME%\gradle\wrapper\gradle-wrapper.jar
+
+
+@rem Execute Gradle
+"%JAVA_EXE%" %DEFAULT_JVM_OPTS% %JAVA_OPTS% %GRADLE_OPTS% "-Dorg.gradle.appname=%APP_BASE_NAME%" -classpath "%CLASSPATH%" org.gradle.wrapper.GradleWrapperMain %*
+
+:end
+@rem End local scope for the variables with windows NT shell
+if %ERRORLEVEL% equ 0 goto mainEnd
+
+:fail
+rem Set variable GRADLE_EXIT_CONSOLE if you need the _script_ return code instead of
+rem the _cmd.exe /c_ return code!
+set EXIT_CODE=%ERRORLEVEL%
+if %EXIT_CODE% equ 0 set EXIT_CODE=1
+if not ""=="%GRADLE_EXIT_CONSOLE%" exit %EXIT_CODE%
+exit /b %EXIT_CODE%
+
+:mainEnd
+if "%OS%"=="Windows_NT" endlocal
+
+:omega
diff --git a/pyproject.toml b/pyproject.toml
new file mode 100644
index 0000000..e25ffa4
--- /dev/null
+++ b/pyproject.toml
@@ -0,0 +1 @@
+tool.black.line-length = 120
diff --git a/renovate.json b/renovate.json
new file mode 100644
index 0000000..ded3981
--- /dev/null
+++ b/renovate.json
@@ -0,0 +1,10 @@
+{
+  "$schema": "https://docs.renovatebot.com/renovate-schema.json",
+  "extends": [
+    "config:base",
+    ":disableRateLimiting",
+    "schedule:daily"
+  ],
+  "semanticCommits": "disabled",
+  "labels": ["dependencies"]
+}
diff --git a/settings.gradle b/settings.gradle
new file mode 100644
index 0000000..5832fbf
--- /dev/null
+++ b/settings.gradle
@@ -0,0 +1,30 @@
+import org.gradle.internal.os.OperatingSystem
+
+pluginManagement {
+	repositories {
+		mavenLocal()
+		gradlePluginPortal()
+		String frcYear = '2024'
+		File frcHome
+		if (OperatingSystem.current().isWindows()) {
+			String publicFolder = System.getenv('PUBLIC')
+			if (publicFolder == null) {
+				publicFolder = "C:\\Users\\Public"
+			}
+			def homeRoot = new File(publicFolder, "wpilib")
+			frcHome = new File(homeRoot, frcYear)
+		} else {
+			def userFolder = System.getProperty("user.home")
+			def homeRoot = new File(userFolder, "wpilib")
+			frcHome = new File(homeRoot, frcYear)
+		}
+		def frcHomeMaven = new File(frcHome, 'maven')
+		maven {
+			name 'frcHome'
+			url frcHomeMaven
+		}
+	}
+}
+
+Properties props = System.getProperties();
+props.setProperty("org.gradle.internal.native.headers.unresolved.dependencies.ignore", "true");
diff --git a/src/main/deploy/example.txt b/src/main/deploy/example.txt
new file mode 100644
index 0000000..bb82515
--- /dev/null
+++ b/src/main/deploy/example.txt
@@ -0,0 +1,3 @@
+Files placed in this directory will be deployed to the RoboRIO into the
+'deploy' directory in the home folder. Use the 'Filesystem.getDeployDirectory' wpilib function
+to get a proper path relative to the deploy directory.
\ No newline at end of file
diff --git a/src/main/java/frc/robot/Main.java b/src/main/java/frc/robot/Main.java
new file mode 100644
index 0000000..8e389ea
--- /dev/null
+++ b/src/main/java/frc/robot/Main.java
@@ -0,0 +1,11 @@
+package frc.robot;
+
+import edu.wpi.first.wpilibj.RobotBase;
+
+public final class Main {
+  private Main() {}
+
+  public static void main(String... args) {
+    RobotBase.startRobot(Robot::new);
+  }
+}
diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java
new file mode 100644
index 0000000..ff8f58d
--- /dev/null
+++ b/src/main/java/frc/robot/Robot.java
@@ -0,0 +1,118 @@
+package frc.robot;
+
+import dev.doglog.DogLog;
+import dev.doglog.DogLogOptions;
+import edu.wpi.first.wpilibj.PowerDistribution;
+import edu.wpi.first.wpilibj.TimedRobot;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.CommandScheduler;
+import frc.robot.autos.Autos;
+import frc.robot.config.RobotConfig;
+import frc.robot.fms.FmsSubsystem;
+import frc.robot.generated.BuildConstants;
+import frc.robot.util.Stopwatch;
+import frc.robot.util.scheduling.LifecycleSubsystemManager;
+
+public class Robot extends TimedRobot {
+  private Command autonomousCommand;
+
+  private final FmsSubsystem fms = new FmsSubsystem();
+  private final Autos autos = new Autos();
+
+  public Robot() {
+    System.out.println("roboRIO serial number: " + RobotConfig.SERIAL_NUMBER);
+
+    DogLog.setOptions(
+        new DogLogOptions().withCaptureNt(false).withNtPublish(RobotConfig.IS_DEVELOPMENT));
+    DogLog.setPdh(new PowerDistribution());
+
+    // Record metadata
+    DogLog.log("Metadata/ProjectName", BuildConstants.MAVEN_NAME);
+    DogLog.log("Metadata/RoborioSerialNumber", RobotConfig.SERIAL_NUMBER);
+    DogLog.log("Metadata/RobotName", RobotConfig.get().robotName());
+    DogLog.log("Metadata/BuildDate", BuildConstants.BUILD_DATE);
+    DogLog.log("Metadata/GitSHA", BuildConstants.GIT_SHA);
+    DogLog.log("Metadata/GitDate", BuildConstants.GIT_DATE);
+    DogLog.log("Metadata/GitBranch", BuildConstants.GIT_BRANCH);
+
+    switch (BuildConstants.DIRTY) {
+      case 0:
+        DogLog.log("Metadata/GitDirty", "All changes committed");
+        break;
+      case 1:
+        DogLog.log("Metadata/GitDirty", "Uncomitted changes");
+        break;
+      default:
+        DogLog.log("Metadata/GitDirty", "Unknown");
+        break;
+    }
+
+    // This must be run before any commands are scheduled
+    LifecycleSubsystemManager.getInstance().ready();
+
+    SmartDashboard.putData(CommandScheduler.getInstance());
+
+    configureBindings();
+  }
+
+  @Override
+  public void robotInit() {}
+
+  @Override
+  public void robotPeriodic() {
+    Stopwatch.getInstance().start("Scheduler/CommandSchedulerPeriodic");
+    CommandScheduler.getInstance().run();
+    Stopwatch.getInstance().stop("Scheduler/CommandSchedulerPeriodic");
+  }
+
+  @Override
+  public void disabledInit() {}
+
+  @Override
+  public void disabledPeriodic() {}
+
+  @Override
+  public void disabledExit() {}
+
+  @Override
+  public void autonomousInit() {
+    autonomousCommand = autos.getAutoCommand();
+
+    if (autonomousCommand != null) {
+      autonomousCommand.schedule();
+    }
+  }
+
+  @Override
+  public void autonomousPeriodic() {}
+
+  @Override
+  public void autonomousExit() {}
+
+  @Override
+  public void teleopInit() {
+    if (autonomousCommand != null) {
+      autonomousCommand.cancel();
+    }
+  }
+
+  @Override
+  public void teleopPeriodic() {}
+
+  @Override
+  public void teleopExit() {}
+
+  @Override
+  public void testInit() {
+    CommandScheduler.getInstance().cancelAll();
+  }
+
+  @Override
+  public void testPeriodic() {}
+
+  @Override
+  public void testExit() {}
+
+  private void configureBindings() {}
+}
diff --git a/src/main/java/frc/robot/autos/AutoChooser.java b/src/main/java/frc/robot/autos/AutoChooser.java
new file mode 100644
index 0000000..350a409
--- /dev/null
+++ b/src/main/java/frc/robot/autos/AutoChooser.java
@@ -0,0 +1,83 @@
+package frc.robot.autos;
+
+import com.pathplanner.lib.auto.AutoBuilder;
+import dev.doglog.DogLog;
+import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.Commands;
+import frc.robot.fms.FmsSubsystem;
+import java.util.EnumSet;
+import java.util.HashSet;
+import java.util.Optional;
+import java.util.Set;
+
+public class AutoChooser {
+  private final SendableChooser<AutoSelection> chooser = new SendableChooser<>();
+  private final Set<String> brokenAutoNames = new HashSet<>();
+  private final Command doNothingAuto;
+  private Optional<Command> cachedCommand = Optional.empty();
+  private String cachedAutoName = "";
+
+  public AutoChooser(AutoCommands commands) {
+    SmartDashboard.putData("Autos/SelectedAuto", chooser);
+    chooser.setDefaultOption(AutoSelection.DO_NOTHING.toString(), AutoSelection.DO_NOTHING);
+
+    for (AutoSelection selection : EnumSet.allOf(AutoSelection.class)) {
+      chooser.addOption(selection.toString(), selection);
+    }
+
+    this.doNothingAuto = commands.doNothingCommand();
+  }
+
+  public Command getAutoCommand() {
+    var selection = getAutoSelection();
+
+    String autoName = FmsSubsystem.isRedAlliance() ? selection.redAutoName : selection.blueAutoName;
+
+    // When the name of the auto changes (either from changing alliance color or from making a new
+    // selection), clear out the cached command
+    if (!autoName.equals(cachedAutoName)) {
+      cachedCommand = Optional.empty();
+    }
+
+    cachedAutoName = autoName;
+
+    DogLog.log(
+        "Autos/BrokenAutoNames", brokenAutoNames.toArray(new String[brokenAutoNames.size()]));
+    DogLog.log("Autos/SelectedAutoName", selection);
+    DogLog.log("Autos/SelectedAutoFileName", autoName.equals("") ? "(none)" : autoName);
+
+    if (cachedCommand.isPresent()) {
+      return cachedCommand.get();
+    }
+
+    if (autoName.equals("")) {
+      var command = Commands.print("No auto path provided, running do nothing auto");
+      cachedCommand = Optional.of(command.andThen(doNothingAuto));
+      return command;
+    }
+
+    try {
+      var command =
+          AutoBuilder.buildAuto(autoName)
+              .withName("Auto__" + selection.toString() + "__" + autoName);
+
+      cachedCommand = Optional.of(command);
+      return command;
+    } catch (Exception e) {
+      var alliance = FmsSubsystem.isRedAlliance() ? "red" : "blue";
+      brokenAutoNames.add(selection.toString() + " - " + alliance + ": " + autoName);
+    }
+
+    var command = Commands.print("Auto failed to load, check Autos/BrokenAutoNames");
+    cachedCommand = Optional.of(command);
+    return command;
+  }
+
+  public AutoSelection getAutoSelection() {
+    var selected = Optional.ofNullable(chooser.getSelected());
+
+    return selected.orElse(AutoSelection.DO_NOTHING);
+  }
+}
diff --git a/src/main/java/frc/robot/autos/AutoCommands.java b/src/main/java/frc/robot/autos/AutoCommands.java
new file mode 100644
index 0000000..249ba33
--- /dev/null
+++ b/src/main/java/frc/robot/autos/AutoCommands.java
@@ -0,0 +1,10 @@
+package frc.robot.autos;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.Commands;
+
+public class AutoCommands {
+  public Command doNothingCommand() {
+    return Commands.none();
+  }
+}
diff --git a/src/main/java/frc/robot/autos/AutoSelection.java b/src/main/java/frc/robot/autos/AutoSelection.java
new file mode 100644
index 0000000..20edbff
--- /dev/null
+++ b/src/main/java/frc/robot/autos/AutoSelection.java
@@ -0,0 +1,13 @@
+package frc.robot.autos;
+
+public enum AutoSelection {
+  DO_NOTHING("", "");
+
+  public final String redAutoName;
+  public final String blueAutoName;
+
+  private AutoSelection(String redAutoName, String blueAutoName) {
+    this.redAutoName = redAutoName;
+    this.blueAutoName = blueAutoName;
+  }
+}
diff --git a/src/main/java/frc/robot/autos/Autos.java b/src/main/java/frc/robot/autos/Autos.java
new file mode 100644
index 0000000..a80cfcf
--- /dev/null
+++ b/src/main/java/frc/robot/autos/Autos.java
@@ -0,0 +1,29 @@
+package frc.robot.autos;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.util.scheduling.LifecycleSubsystem;
+import frc.robot.util.scheduling.SubsystemPriority;
+
+public class Autos extends LifecycleSubsystem {
+
+  private final AutoChooser autoChooser;
+  private final AutoCommands autoCommands;
+
+  public Autos() {
+    super(SubsystemPriority.AUTOS);
+
+    autoCommands = new AutoCommands();
+
+    autoChooser = new AutoChooser(autoCommands);
+  }
+
+  public Command getAutoCommand() {
+    return autoChooser.getAutoCommand();
+  }
+
+  @Override
+  public void disabledPeriodic() {
+    // Constantly load the selected auto to avoid lag on auto init
+    getAutoCommand();
+  }
+}
diff --git a/src/main/java/frc/robot/config/CompConfig.java b/src/main/java/frc/robot/config/CompConfig.java
new file mode 100644
index 0000000..80bd574
--- /dev/null
+++ b/src/main/java/frc/robot/config/CompConfig.java
@@ -0,0 +1,27 @@
+package frc.robot.config;
+
+import com.ctre.phoenix6.configs.ClosedLoopRampsConfigs;
+import com.ctre.phoenix6.configs.OpenLoopRampsConfigs;
+import com.ctre.phoenix6.mechanisms.swerve.utility.PhoenixPIDController;
+import frc.robot.config.RobotConfig.SwerveConfig;
+
+class CompConfig {
+  private static final ClosedLoopRampsConfigs CLOSED_LOOP_RAMP =
+      new ClosedLoopRampsConfigs()
+          .withDutyCycleClosedLoopRampPeriod(0.04)
+          .withTorqueClosedLoopRampPeriod(0.04)
+          .withVoltageClosedLoopRampPeriod(0.04);
+  private static final OpenLoopRampsConfigs OPEN_LOOP_RAMP =
+      new OpenLoopRampsConfigs()
+          .withDutyCycleOpenLoopRampPeriod(0.04)
+          .withTorqueOpenLoopRampPeriod(0.04)
+          .withVoltageOpenLoopRampPeriod(0.04);
+
+  public static final RobotConfig competitionBot =
+      new RobotConfig(
+          "competition",
+          "581CANivore",
+          new SwerveConfig(new PhoenixPIDController(20, 0, 2), true, true, true));
+
+  private CompConfig() {}
+}
diff --git a/src/main/java/frc/robot/config/RobotConfig.java b/src/main/java/frc/robot/config/RobotConfig.java
new file mode 100644
index 0000000..74dfeca
--- /dev/null
+++ b/src/main/java/frc/robot/config/RobotConfig.java
@@ -0,0 +1,19 @@
+package frc.robot.config;
+
+import com.ctre.phoenix6.mechanisms.swerve.utility.PhoenixPIDController;
+
+public record RobotConfig(String robotName, String canivoreName, SwerveConfig swerve) {
+  public record SwerveConfig(
+      PhoenixPIDController snapController,
+      boolean invertRotation,
+      boolean invertX,
+      boolean invertY) {}
+
+  // TODO: Change this to false during events
+  public static final boolean IS_DEVELOPMENT = true;
+  public static final String SERIAL_NUMBER = System.getenv("serialnum");
+
+  public static RobotConfig get() {
+    return CompConfig.competitionBot;
+  }
+}
diff --git a/src/main/java/frc/robot/fms/FmsSubsystem.java b/src/main/java/frc/robot/fms/FmsSubsystem.java
new file mode 100644
index 0000000..41a4f56
--- /dev/null
+++ b/src/main/java/frc/robot/fms/FmsSubsystem.java
@@ -0,0 +1,24 @@
+package frc.robot.fms;
+
+import dev.doglog.DogLog;
+import edu.wpi.first.wpilibj.DriverStation;
+import edu.wpi.first.wpilibj.DriverStation.Alliance;
+import frc.robot.util.scheduling.LifecycleSubsystem;
+import frc.robot.util.scheduling.SubsystemPriority;
+
+public class FmsSubsystem extends LifecycleSubsystem {
+  public FmsSubsystem() {
+    super(SubsystemPriority.FMS);
+  }
+
+  public static boolean isRedAlliance() {
+    Alliance alliance = DriverStation.getAlliance().orElse(Alliance.Red);
+
+    return alliance == Alliance.Red;
+  }
+
+  @Override
+  public void robotPeriodic() {
+    DogLog.log("Fms/Alliance", isRedAlliance() ? "Red" : "Blue");
+  }
+}
diff --git a/src/main/java/frc/robot/util/ControllerHelpers.java b/src/main/java/frc/robot/util/ControllerHelpers.java
new file mode 100644
index 0000000..7a7b216
--- /dev/null
+++ b/src/main/java/frc/robot/util/ControllerHelpers.java
@@ -0,0 +1,22 @@
+package frc.robot.util;
+
+public class ControllerHelpers {
+  public static double getDeadbanded(double joystickVal, double threshold) {
+    double newJoystickVal = joystickVal;
+    if (Math.abs(joystickVal) < threshold) {
+      newJoystickVal = 0;
+    } else {
+      newJoystickVal =
+          getSign(joystickVal) * (1 / (1 - threshold)) * (Math.abs(joystickVal) - threshold);
+    }
+    return newJoystickVal;
+  }
+
+  private static double getSign(double num) {
+    return num >= 0 ? 1 : -1;
+  }
+
+  public static double getExponent(double joystickVal, double exponent) {
+    return getSign(joystickVal) * Math.abs(Math.pow(Math.abs(joystickVal), exponent));
+  }
+}
diff --git a/src/main/java/frc/robot/util/HomingState.java b/src/main/java/frc/robot/util/HomingState.java
new file mode 100644
index 0000000..23d7300
--- /dev/null
+++ b/src/main/java/frc/robot/util/HomingState.java
@@ -0,0 +1,8 @@
+package frc.robot.util;
+
+public enum HomingState {
+  NOT_HOMED,
+  MID_MATCH_HOMING,
+  PRE_MATCH_HOMING,
+  HOMED;
+}
diff --git a/src/main/java/frc/robot/util/Stopwatch.java b/src/main/java/frc/robot/util/Stopwatch.java
new file mode 100644
index 0000000..8ee726b
--- /dev/null
+++ b/src/main/java/frc/robot/util/Stopwatch.java
@@ -0,0 +1,40 @@
+package frc.robot.util;
+
+import dev.doglog.DogLog;
+import edu.wpi.first.hal.HALUtil;
+import java.util.HashMap;
+import java.util.Map;
+
+public class Stopwatch {
+  private static Stopwatch instance;
+
+  public static synchronized Stopwatch getInstance() {
+    if (instance == null) {
+      instance = new Stopwatch();
+    }
+
+    return instance;
+  }
+
+  private static double getTimestamp() {
+    return HALUtil.getFPGATime() / 1e3;
+  }
+
+  private final Map<String, Double> lastTimestamps = new HashMap<>();
+
+  private Stopwatch() {}
+
+  public void start(String name) {
+    lastTimestamps.put(name, getTimestamp());
+  }
+
+  public void stop(String name) {
+    double timestamp = getTimestamp();
+    double lastTimestamp = lastTimestamps.get(name);
+    DogLog.log(name, timestamp - lastTimestamp);
+  }
+
+  public void skip(String name) {
+    DogLog.log(name, -1.0);
+  }
+}
diff --git a/src/main/java/frc/robot/util/scheduling/LifecycleStage.java b/src/main/java/frc/robot/util/scheduling/LifecycleStage.java
new file mode 100644
index 0000000..67f6b69
--- /dev/null
+++ b/src/main/java/frc/robot/util/scheduling/LifecycleStage.java
@@ -0,0 +1,8 @@
+package frc.robot.util.scheduling;
+
+public enum LifecycleStage {
+  TELEOP,
+  AUTONOMOUS,
+  TEST,
+  DISABLED
+}
diff --git a/src/main/java/frc/robot/util/scheduling/LifecycleSubsystem.java b/src/main/java/frc/robot/util/scheduling/LifecycleSubsystem.java
new file mode 100644
index 0000000..babe1f7
--- /dev/null
+++ b/src/main/java/frc/robot/util/scheduling/LifecycleSubsystem.java
@@ -0,0 +1,103 @@
+package frc.robot.util.scheduling;
+
+import edu.wpi.first.wpilibj.IterativeRobotBase;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import frc.robot.Robot;
+import frc.robot.util.Stopwatch;
+
+/**
+ * Extends {@link SubsystemBase} by adding in lifecycle methods for robotInit, teleopPeriodic, etc.,
+ * similar to {@link Robot}.
+ */
+public class LifecycleSubsystem extends SubsystemBase {
+  final SubsystemPriority priority;
+
+  private final Stopwatch stopwatch = Stopwatch.getInstance();
+  private final String loggerName;
+
+  private LifecycleStage previousStage = null;
+
+  public LifecycleSubsystem(SubsystemPriority priority) {
+    this.priority = priority;
+
+    LifecycleSubsystemManager.getInstance().registerSubsystem(this);
+
+    String name = this.getClass().getSimpleName();
+    name = name.substring(name.lastIndexOf('.') + 1);
+    loggerName = "Scheduler/LifecycleSubsystem/" + name + ".periodic()";
+  }
+
+  /** {@link IterativeRobotBase#robotPeriodic()} */
+  public void robotPeriodic() {}
+
+  /** {@link IterativeRobotBase#autonomousInit()} */
+  public void autonomousInit() {}
+
+  /** {@link IterativeRobotBase#autonomousPeriodic()} */
+  public void autonomousPeriodic() {}
+
+  /** {@link IterativeRobotBase#teleopInit()} */
+  public void teleopInit() {}
+
+  /** {@link IterativeRobotBase#teleopPeriodic()} */
+  public void teleopPeriodic() {}
+
+  /** {@link IterativeRobotBase#disabledInit()} */
+  public void disabledInit() {}
+
+  /** {@link IterativeRobotBase#disabledPeriodic()} */
+  public void disabledPeriodic() {}
+
+  @Override
+  public void periodic() {
+    stopwatch.start(loggerName);
+    LifecycleStage stage;
+
+    stage = LifecycleSubsystemManager.getStage();
+
+    boolean isInit = previousStage != stage;
+
+    robotPeriodic();
+
+    switch (stage) {
+      case DISABLED:
+        if (isInit) {
+          disabledInit();
+        }
+
+        disabledPeriodic();
+        break;
+      case TELEOP:
+        if (isInit) {
+          teleopInit();
+        }
+
+        teleopPeriodic();
+        break;
+      case AUTONOMOUS:
+        if (isInit) {
+          autonomousInit();
+        }
+
+        autonomousPeriodic();
+        break;
+      case TEST:
+        if (isInit) {
+          testInit();
+        }
+
+        testPeriodic();
+        break;
+    }
+
+    stopwatch.stop(loggerName);
+
+    previousStage = stage;
+  }
+
+  /** {@link IterativeRobotBase#testInit()} */
+  public void testInit() {}
+
+  /** {@link IterativeRobotBase#testPeriodic()} */
+  public void testPeriodic() {}
+}
diff --git a/src/main/java/frc/robot/util/scheduling/LifecycleSubsystemManager.java b/src/main/java/frc/robot/util/scheduling/LifecycleSubsystemManager.java
new file mode 100644
index 0000000..7c244da
--- /dev/null
+++ b/src/main/java/frc/robot/util/scheduling/LifecycleSubsystemManager.java
@@ -0,0 +1,59 @@
+package frc.robot.util.scheduling;
+
+import dev.doglog.DogLog;
+import edu.wpi.first.wpilibj.DriverStation;
+import edu.wpi.first.wpilibj2.command.CommandScheduler;
+import java.util.ArrayList;
+import java.util.Collections;
+import java.util.Comparator;
+import java.util.List;
+
+public class LifecycleSubsystemManager {
+  private static LifecycleSubsystemManager instance;
+
+  public static LifecycleSubsystemManager getInstance() {
+    if (instance == null) {
+      instance = new LifecycleSubsystemManager();
+    }
+
+    return instance;
+  }
+
+  public static LifecycleStage getStage() {
+    if (DriverStation.isTeleopEnabled()) {
+      return LifecycleStage.TELEOP;
+    } else if (DriverStation.isAutonomousEnabled()) {
+      return LifecycleStage.AUTONOMOUS;
+    } else if (DriverStation.isTestEnabled()) {
+      return LifecycleStage.TEST;
+    } else {
+
+      return LifecycleStage.DISABLED;
+    }
+  }
+
+  private final List<LifecycleSubsystem> subsystems = new ArrayList<>();
+  private final CommandScheduler commandScheduler = CommandScheduler.getInstance();
+
+  private LifecycleSubsystemManager() {}
+
+  public void ready() {
+    Collections.sort(
+        subsystems,
+        Comparator.comparingInt((LifecycleSubsystem subsystem) -> subsystem.priority.value)
+            .reversed());
+
+    for (LifecycleSubsystem lifecycleSubsystem : subsystems) {
+      commandScheduler.registerSubsystem(lifecycleSubsystem);
+    }
+  }
+
+  public void log() {
+    DogLog.log("Scheduler/Stage", getStage().toString());
+  }
+
+  void registerSubsystem(LifecycleSubsystem subsystem) {
+    subsystems.add(subsystem);
+    commandScheduler.unregisterSubsystem(subsystem);
+  }
+}
diff --git a/src/main/java/frc/robot/util/scheduling/SubsystemPriority.java b/src/main/java/frc/robot/util/scheduling/SubsystemPriority.java
new file mode 100644
index 0000000..5fd83de
--- /dev/null
+++ b/src/main/java/frc/robot/util/scheduling/SubsystemPriority.java
@@ -0,0 +1,36 @@
+package frc.robot.util.scheduling;
+
+public enum SubsystemPriority {
+  // Vision must run before **everything** to ensure that the cached data is fresh
+  VISION(50),
+
+  NOTE_TRACKING(41),
+  AUTOS(40),
+
+  NOTE_MANAGER(31),
+  ROBOT_MANAGER(30),
+
+  SNAPS(20),
+
+  CLIMBER(10),
+  SWERVE(10),
+  IMU(10),
+  SHOOTER(10),
+  ELEVATOR(10),
+  WRIST(10),
+  LOCALIZATION(10),
+  LIGHTS(10),
+  INTAKE(10),
+  QUEUER(10),
+  CONVEYOR(10),
+  REDIRECT(10),
+
+  FMS(0),
+  RUMBLE_CONTROLLER(0);
+
+  final int value;
+
+  private SubsystemPriority(int priority) {
+    this.value = priority;
+  }
+}
diff --git a/vendordeps/DogLog.json b/vendordeps/DogLog.json
new file mode 100644
index 0000000..7b22b2a
--- /dev/null
+++ b/vendordeps/DogLog.json
@@ -0,0 +1,16 @@
+{
+  "javaDependencies": [{
+    "groupId": "com.github.jonahsnider",
+    "artifactId": "doglog",
+    "version": "2024.5.8"
+  }],
+  "fileName": "DogLog.json",
+  "frcYear": "2024",
+  "jsonUrl": "https://doglog.dev/vendordep.json",
+  "name": "DogLog",
+  "jniDependencies": [],
+  "mavenUrls": ["https://jitpack.io"],
+  "cppDependencies": [],
+  "version": "2024.5.8",
+  "uuid": "65592ce1-2251-4a31-8e4b-2df20dacebe4"
+}
diff --git a/vendordeps/PathplannerLib.json b/vendordeps/PathplannerLib.json
new file mode 100644
index 0000000..aa8574f
--- /dev/null
+++ b/vendordeps/PathplannerLib.json
@@ -0,0 +1,32 @@
+{
+  "javaDependencies": [{
+    "groupId": "com.pathplanner.lib",
+    "artifactId": "PathplannerLib-java",
+    "version": "2024.2.8"
+  }],
+  "fileName": "PathplannerLib.json",
+  "frcYear": "2024",
+  "jsonUrl": "https://3015rangerrobotics.github.io/pathplannerlib/PathplannerLib.json",
+  "name": "PathplannerLib",
+  "jniDependencies": [],
+  "mavenUrls": ["https://3015rangerrobotics.github.io/pathplannerlib/repo"],
+  "cppDependencies": [{
+    "groupId": "com.pathplanner.lib",
+    "libName": "PathplannerLib",
+    "artifactId": "PathplannerLib-cpp",
+    "skipInvalidPlatforms": true,
+    "version": "2024.2.8",
+    "headerClassifier": "headers",
+    "binaryPlatforms": [
+      "windowsx86-64",
+      "linuxx86-64",
+      "osxuniversal",
+      "linuxathena",
+      "linuxarm32",
+      "linuxarm64"
+    ],
+    "sharedLibrary": false
+  }],
+  "version": "2024.2.8",
+  "uuid": "1b42324f-17c6-4875-8e77-1c312bc8c786"
+}
diff --git a/vendordeps/Phoenix6.json b/vendordeps/Phoenix6.json
new file mode 100644
index 0000000..5d6cd3a
--- /dev/null
+++ b/vendordeps/Phoenix6.json
@@ -0,0 +1,333 @@
+{
+  "javaDependencies": [{
+    "groupId": "com.ctre.phoenix6",
+    "artifactId": "wpiapi-java",
+    "version": "24.3.0"
+  }],
+  "fileName": "Phoenix6.json",
+  "frcYear": 2024,
+  "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2024-latest.json",
+  "name": "CTRE-Phoenix (v6)",
+  "jniDependencies": [
+    {
+      "simMode": "hwsim",
+      "validPlatforms": [
+        "windowsx86-64",
+        "linuxx86-64",
+        "linuxathena"
+      ],
+      "groupId": "com.ctre.phoenix6",
+      "artifactId": "tools",
+      "skipInvalidPlatforms": true,
+      "isJar": false,
+      "version": "24.3.0"
+    },
+    {
+      "simMode": "swsim",
+      "validPlatforms": [
+        "windowsx86-64",
+        "linuxx86-64",
+        "osxuniversal"
+      ],
+      "groupId": "com.ctre.phoenix6.sim",
+      "artifactId": "tools-sim",
+      "skipInvalidPlatforms": true,
+      "isJar": false,
+      "version": "24.3.0"
+    },
+    {
+      "simMode": "swsim",
+      "validPlatforms": [
+        "windowsx86-64",
+        "linuxx86-64",
+        "osxuniversal"
+      ],
+      "groupId": "com.ctre.phoenix6.sim",
+      "artifactId": "simTalonSRX",
+      "skipInvalidPlatforms": true,
+      "isJar": false,
+      "version": "24.3.0"
+    },
+    {
+      "simMode": "swsim",
+      "validPlatforms": [
+        "windowsx86-64",
+        "linuxx86-64",
+        "osxuniversal"
+      ],
+      "groupId": "com.ctre.phoenix6.sim",
+      "artifactId": "simTalonFX",
+      "skipInvalidPlatforms": true,
+      "isJar": false,
+      "version": "24.3.0"
+    },
+    {
+      "simMode": "swsim",
+      "validPlatforms": [
+        "windowsx86-64",
+        "linuxx86-64",
+        "osxuniversal"
+      ],
+      "groupId": "com.ctre.phoenix6.sim",
+      "artifactId": "simVictorSPX",
+      "skipInvalidPlatforms": true,
+      "isJar": false,
+      "version": "24.3.0"
+    },
+    {
+      "simMode": "swsim",
+      "validPlatforms": [
+        "windowsx86-64",
+        "linuxx86-64",
+        "osxuniversal"
+      ],
+      "groupId": "com.ctre.phoenix6.sim",
+      "artifactId": "simPigeonIMU",
+      "skipInvalidPlatforms": true,
+      "isJar": false,
+      "version": "24.3.0"
+    },
+    {
+      "simMode": "swsim",
+      "validPlatforms": [
+        "windowsx86-64",
+        "linuxx86-64",
+        "osxuniversal"
+      ],
+      "groupId": "com.ctre.phoenix6.sim",
+      "artifactId": "simCANCoder",
+      "skipInvalidPlatforms": true,
+      "isJar": false,
+      "version": "24.3.0"
+    },
+    {
+      "simMode": "swsim",
+      "validPlatforms": [
+        "windowsx86-64",
+        "linuxx86-64",
+        "osxuniversal"
+      ],
+      "groupId": "com.ctre.phoenix6.sim",
+      "artifactId": "simProTalonFX",
+      "skipInvalidPlatforms": true,
+      "isJar": false,
+      "version": "24.3.0"
+    },
+    {
+      "simMode": "swsim",
+      "validPlatforms": [
+        "windowsx86-64",
+        "linuxx86-64",
+        "osxuniversal"
+      ],
+      "groupId": "com.ctre.phoenix6.sim",
+      "artifactId": "simProCANcoder",
+      "skipInvalidPlatforms": true,
+      "isJar": false,
+      "version": "24.3.0"
+    },
+    {
+      "simMode": "swsim",
+      "validPlatforms": [
+        "windowsx86-64",
+        "linuxx86-64",
+        "osxuniversal"
+      ],
+      "groupId": "com.ctre.phoenix6.sim",
+      "artifactId": "simProPigeon2",
+      "skipInvalidPlatforms": true,
+      "isJar": false,
+      "version": "24.3.0"
+    }
+  ],
+  "conflictsWith": [{
+    "errorMessage": "The combined Phoenix-6-And-5 vendordep is no longer supported. Please remove the vendordep and instead add both the latest Phoenix 6 vendordep and Phoenix 5 vendordep.",
+    "offlineFileName": "Phoenix6And5.json",
+    "uuid": "3fcf3402-e646-4fa6-971e-18afe8173b1a"
+  }],
+  "mavenUrls": ["https://maven.ctr-electronics.com/release/"],
+  "cppDependencies": [
+    {
+      "simMode": "hwsim",
+      "groupId": "com.ctre.phoenix6",
+      "libName": "CTRE_Phoenix6_WPI",
+      "artifactId": "wpiapi-cpp",
+      "skipInvalidPlatforms": true,
+      "version": "24.3.0",
+      "headerClassifier": "headers",
+      "binaryPlatforms": [
+        "windowsx86-64",
+        "linuxx86-64",
+        "linuxathena"
+      ],
+      "sharedLibrary": true
+    },
+    {
+      "simMode": "hwsim",
+      "groupId": "com.ctre.phoenix6",
+      "libName": "CTRE_PhoenixTools",
+      "artifactId": "tools",
+      "skipInvalidPlatforms": true,
+      "version": "24.3.0",
+      "headerClassifier": "headers",
+      "binaryPlatforms": [
+        "windowsx86-64",
+        "linuxx86-64",
+        "linuxathena"
+      ],
+      "sharedLibrary": true
+    },
+    {
+      "simMode": "swsim",
+      "groupId": "com.ctre.phoenix6.sim",
+      "libName": "CTRE_Phoenix6_WPISim",
+      "artifactId": "wpiapi-cpp-sim",
+      "skipInvalidPlatforms": true,
+      "version": "24.3.0",
+      "headerClassifier": "headers",
+      "binaryPlatforms": [
+        "windowsx86-64",
+        "linuxx86-64",
+        "osxuniversal"
+      ],
+      "sharedLibrary": true
+    },
+    {
+      "simMode": "swsim",
+      "groupId": "com.ctre.phoenix6.sim",
+      "libName": "CTRE_PhoenixTools_Sim",
+      "artifactId": "tools-sim",
+      "skipInvalidPlatforms": true,
+      "version": "24.3.0",
+      "headerClassifier": "headers",
+      "binaryPlatforms": [
+        "windowsx86-64",
+        "linuxx86-64",
+        "osxuniversal"
+      ],
+      "sharedLibrary": true
+    },
+    {
+      "simMode": "swsim",
+      "groupId": "com.ctre.phoenix6.sim",
+      "libName": "CTRE_SimTalonSRX",
+      "artifactId": "simTalonSRX",
+      "skipInvalidPlatforms": true,
+      "version": "24.3.0",
+      "headerClassifier": "headers",
+      "binaryPlatforms": [
+        "windowsx86-64",
+        "linuxx86-64",
+        "osxuniversal"
+      ],
+      "sharedLibrary": true
+    },
+    {
+      "simMode": "swsim",
+      "groupId": "com.ctre.phoenix6.sim",
+      "libName": "CTRE_SimTalonFX",
+      "artifactId": "simTalonFX",
+      "skipInvalidPlatforms": true,
+      "version": "24.3.0",
+      "headerClassifier": "headers",
+      "binaryPlatforms": [
+        "windowsx86-64",
+        "linuxx86-64",
+        "osxuniversal"
+      ],
+      "sharedLibrary": true
+    },
+    {
+      "simMode": "swsim",
+      "groupId": "com.ctre.phoenix6.sim",
+      "libName": "CTRE_SimVictorSPX",
+      "artifactId": "simVictorSPX",
+      "skipInvalidPlatforms": true,
+      "version": "24.3.0",
+      "headerClassifier": "headers",
+      "binaryPlatforms": [
+        "windowsx86-64",
+        "linuxx86-64",
+        "osxuniversal"
+      ],
+      "sharedLibrary": true
+    },
+    {
+      "simMode": "swsim",
+      "groupId": "com.ctre.phoenix6.sim",
+      "libName": "CTRE_SimPigeonIMU",
+      "artifactId": "simPigeonIMU",
+      "skipInvalidPlatforms": true,
+      "version": "24.3.0",
+      "headerClassifier": "headers",
+      "binaryPlatforms": [
+        "windowsx86-64",
+        "linuxx86-64",
+        "osxuniversal"
+      ],
+      "sharedLibrary": true
+    },
+    {
+      "simMode": "swsim",
+      "groupId": "com.ctre.phoenix6.sim",
+      "libName": "CTRE_SimCANCoder",
+      "artifactId": "simCANCoder",
+      "skipInvalidPlatforms": true,
+      "version": "24.3.0",
+      "headerClassifier": "headers",
+      "binaryPlatforms": [
+        "windowsx86-64",
+        "linuxx86-64",
+        "osxuniversal"
+      ],
+      "sharedLibrary": true
+    },
+    {
+      "simMode": "swsim",
+      "groupId": "com.ctre.phoenix6.sim",
+      "libName": "CTRE_SimProTalonFX",
+      "artifactId": "simProTalonFX",
+      "skipInvalidPlatforms": true,
+      "version": "24.3.0",
+      "headerClassifier": "headers",
+      "binaryPlatforms": [
+        "windowsx86-64",
+        "linuxx86-64",
+        "osxuniversal"
+      ],
+      "sharedLibrary": true
+    },
+    {
+      "simMode": "swsim",
+      "groupId": "com.ctre.phoenix6.sim",
+      "libName": "CTRE_SimProCANcoder",
+      "artifactId": "simProCANcoder",
+      "skipInvalidPlatforms": true,
+      "version": "24.3.0",
+      "headerClassifier": "headers",
+      "binaryPlatforms": [
+        "windowsx86-64",
+        "linuxx86-64",
+        "osxuniversal"
+      ],
+      "sharedLibrary": true
+    },
+    {
+      "simMode": "swsim",
+      "groupId": "com.ctre.phoenix6.sim",
+      "libName": "CTRE_SimProPigeon2",
+      "artifactId": "simProPigeon2",
+      "skipInvalidPlatforms": true,
+      "version": "24.3.0",
+      "headerClassifier": "headers",
+      "binaryPlatforms": [
+        "windowsx86-64",
+        "linuxx86-64",
+        "osxuniversal"
+      ],
+      "sharedLibrary": true
+    }
+  ],
+  "version": "24.3.0",
+  "uuid": "e995de00-2c64-4df5-8831-c1441420ff19"
+}
diff --git a/vendordeps/WPILibNewCommands.json b/vendordeps/WPILibNewCommands.json
new file mode 100644
index 0000000..af69c6d
--- /dev/null
+++ b/vendordeps/WPILibNewCommands.json
@@ -0,0 +1,34 @@
+{
+  "javaDependencies": [{
+    "groupId": "edu.wpi.first.wpilibNewCommands",
+    "artifactId": "wpilibNewCommands-java",
+    "version": "wpilib"
+  }],
+  "fileName": "WPILibNewCommands.json",
+  "frcYear": "2024",
+  "jsonUrl": "",
+  "name": "WPILib-New-Commands",
+  "jniDependencies": [],
+  "mavenUrls": [],
+  "cppDependencies": [{
+    "groupId": "edu.wpi.first.wpilibNewCommands",
+    "libName": "wpilibNewCommands",
+    "artifactId": "wpilibNewCommands-cpp",
+    "skipInvalidPlatforms": true,
+    "sourcesClassifier": "sources",
+    "version": "wpilib",
+    "headerClassifier": "headers",
+    "binaryPlatforms": [
+      "linuxathena",
+      "linuxarm32",
+      "linuxarm64",
+      "windowsx86-64",
+      "windowsx86",
+      "linuxx86-64",
+      "osxuniversal"
+    ],
+    "sharedLibrary": true
+  }],
+  "version": "1.0.0",
+  "uuid": "111e20f7-815e-48f8-9dd6-e675ce75b266"
+}