diff --git a/buildSrc/src/main/groovy/java-common-conventions.gradle b/buildSrc/src/main/groovy/java-common-conventions.gradle
index a0b1ba8e..69bd59e3 100644
--- a/buildSrc/src/main/groovy/java-common-conventions.gradle
+++ b/buildSrc/src/main/groovy/java-common-conventions.gradle
@@ -114,7 +114,7 @@ javadoc {
         // CTRE (Phoenix 5 & 6)
         links += "https://api.ctr-electronics.com/phoenix6/release/java/"
         // WPILib
-        links += "https://github.wpilib.org/allwpilib/docs/2027/java/"
+        links += "https://github.wpilib.org/allwpilib/docs/release/java/"
         // REVLib
         links += "https://codedocs.revrobotics.com/java/"
         // PhotonVision
diff --git a/lib/build.gradle b/lib/build.gradle
index b6f8b332..effad811 100644
--- a/lib/build.gradle
+++ b/lib/build.gradle
@@ -1,6 +1,6 @@
 plugins {
     id 'java-common-conventions'
-    id 'edu.wpi.first.GradleRIO' version '2025.1.1'
+    id 'edu.wpi.first.GradleRIO' version '2026.1.1-beta-1'
     id 'maven-publish'
 }
 
diff --git a/lib/src/main/java/com/team2813/lib2813/control/motors/TalonFXWrapper.java b/lib/src/main/java/com/team2813/lib2813/control/motors/TalonFXWrapper.java
index 95f035e6..15d2e92b 100644
--- a/lib/src/main/java/com/team2813/lib2813/control/motors/TalonFXWrapper.java
+++ b/lib/src/main/java/com/team2813/lib2813/control/motors/TalonFXWrapper.java
@@ -17,12 +17,14 @@
 
 import static com.team2813.lib2813.util.InputValidation.checkCanId;
 
+import com.ctre.phoenix6.CANBus;
 import com.ctre.phoenix6.configs.CurrentLimitsConfigs;
 import com.ctre.phoenix6.configs.SlotConfigs;
 import com.ctre.phoenix6.configs.TalonFXConfiguration;
 import com.ctre.phoenix6.configs.TalonFXConfigurator;
 import com.ctre.phoenix6.controls.*;
 import com.ctre.phoenix6.hardware.TalonFX;
+import com.ctre.phoenix6.signals.MotorAlignmentValue;
 import com.ctre.phoenix6.signals.NeutralModeValue;
 import com.team2813.lib2813.control.ControlMode;
 import com.team2813.lib2813.control.DeviceInformation;
@@ -37,6 +39,7 @@
 import java.util.ArrayList;
 import java.util.List;
 import java.util.Objects;
+import java.util.Optional;
 
 public class TalonFXWrapper implements PIDMotor {
   /** A list of followers, so that they aren't garbage collected */
@@ -225,31 +228,45 @@ public void configPID(double p, double i, double d) {
     configPIDF(0, p, i, d, 0);
   }
 
+  @Deprecated(forRemoval = true)
   public void addFollower(int deviceNumber, String canbus, InvertType invertType) {
+    addFollower(deviceNumber, new CANBus(canbus), invertType);
+  }
+
+  public void addFollower(int deviceNumber, CANBus canbus, InvertType invertType) {
     TalonFX follower = new TalonFX(checkCanId(deviceNumber), canbus);
-    if (InvertType.rotationValues.contains(invertType)) {
+    Optional<MotorAlignmentValue> alignmentValue = toMotorAlignmentValue(invertType);
+    if (alignmentValue.isEmpty()) {
       TalonFXConfiguration conf = new TalonFXConfiguration();
       // guaranteed to succeed
       conf.MotorOutput.Inverted = invertType.phoenixInvert().orElseThrow(AssertionError::new);
       follower.setControl(new StrictFollower(information.id()));
     } else {
-      follower.setControl(
-          new Follower(information.id(), invertType.equals(InvertType.OPPOSE_MASTER)));
+      follower.setControl(new Follower(information.id(), alignmentValue.get()));
     }
     followers.add(follower); // add to follower list so TalonFX follower object is preserved
   }
 
   public void addFollower(int deviceNumber, InvertType invertType) {
     TalonFX follower = new TalonFX(checkCanId(deviceNumber));
-    if (InvertType.rotationValues.contains(invertType)) {
+    Optional<MotorAlignmentValue> alignmentValue = toMotorAlignmentValue(invertType);
+    if (alignmentValue.isEmpty()) {
       TalonFXConfiguration conf = new TalonFXConfiguration();
       // guaranteed to succeed
       conf.MotorOutput.Inverted = invertType.phoenixInvert().orElseThrow(AssertionError::new);
       follower.setControl(new StrictFollower(information.id()));
     } else {
-      follower.setControl(
-          new Follower(information.id(), invertType.equals(InvertType.OPPOSE_MASTER)));
+      follower.setControl(new Follower(information.id(), alignmentValue.get()));
     }
     followers.add(follower); // add to follower list so TalonFX follower object is preserved
   }
+
+  private static Optional<MotorAlignmentValue> toMotorAlignmentValue(InvertType invertType) {
+    if (InvertType.rotationValues.contains(invertType)) {
+      return Optional.empty();
+    }
+    return invertType.equals(InvertType.FOLLOW_MASTER)
+        ? Optional.of(MotorAlignmentValue.Aligned)
+        : Optional.of(MotorAlignmentValue.Opposed);
+  }
 }
diff --git a/lib/vendordeps/Phoenix5.json b/lib/vendordeps/Phoenix5.json
index c93641c9..d22a3fc3 100644
--- a/lib/vendordeps/Phoenix5.json
+++ b/lib/vendordeps/Phoenix5.json
@@ -1,171 +1,171 @@
-{
-  "fileName": "Phoenix5-frc2025-latest.json",
-  "name": "CTRE-Phoenix (v5)",
-  "version": "5.35.1",
-  "frcYear": "2025",
-  "uuid": "ab676553-b602-441f-a38d-f1296eff6537",
-  "mavenUrls": [
-      "https://maven.ctr-electronics.com/release/"
-  ],
-  "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix/Phoenix5-frc2025-latest.json",
-  "requires": [
-      {
-          "uuid": "e995de00-2c64-4df5-8831-c1441420ff19",
-          "errorMessage": "Phoenix 5 requires low-level libraries from Phoenix 6.  Please add the Phoenix 6 vendordep before adding Phoenix 5.",
-          "offlineFileName": "Phoenix6-frc2025-latest.json",
-          "onlineUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2025-latest.json"
-      }
-  ],
-  "conflictsWith": [
-      {
-          "uuid": "e7900d8d-826f-4dca-a1ff-182f658e98af",
-          "errorMessage": "Users must use the Phoenix 5 replay vendordep when using the Phoenix 6 replay vendordep.",
-          "offlineFileName": "Phoenix6-replay-frc2025-latest.json"
-      },
-      {
-          "uuid": "fbc886a4-2cec-40c0-9835-71086a8cc3df",
-          "errorMessage": "Users cannot have both the replay and regular Phoenix 5 vendordeps in their robot program.",
-          "offlineFileName": "Phoenix5-replay-frc2025-latest.json"
-      }
-  ],
-  "javaDependencies": [
-      {
-          "groupId": "com.ctre.phoenix",
-          "artifactId": "api-java",
-          "version": "5.35.1"
-      },
-      {
-          "groupId": "com.ctre.phoenix",
-          "artifactId": "wpiapi-java",
-          "version": "5.35.1"
-      }
-  ],
-  "jniDependencies": [
-      {
-          "groupId": "com.ctre.phoenix",
-          "artifactId": "cci",
-          "version": "5.35.1",
-          "isJar": false,
-          "skipInvalidPlatforms": true,
-          "validPlatforms": [
-              "windowsx86-64",
-              "linuxx86-64",
-              "linuxarm64",
-              "linuxathena"
-          ],
-          "simMode": "hwsim"
-      },
-      {
-          "groupId": "com.ctre.phoenix.sim",
-          "artifactId": "cci-sim",
-          "version": "5.35.1",
-          "isJar": false,
-          "skipInvalidPlatforms": true,
-          "validPlatforms": [
-              "windowsx86-64",
-              "linuxx86-64",
-              "linuxarm64",
-              "osxuniversal"
-          ],
-          "simMode": "swsim"
-      }
-  ],
-  "cppDependencies": [
-      {
-          "groupId": "com.ctre.phoenix",
-          "artifactId": "wpiapi-cpp",
-          "version": "5.35.1",
-          "libName": "CTRE_Phoenix_WPI",
-          "headerClassifier": "headers",
-          "sharedLibrary": true,
-          "skipInvalidPlatforms": true,
-          "binaryPlatforms": [
-              "windowsx86-64",
-              "linuxx86-64",
-              "linuxarm64",
-              "linuxathena"
-          ],
-          "simMode": "hwsim"
-      },
-      {
-          "groupId": "com.ctre.phoenix",
-          "artifactId": "api-cpp",
-          "version": "5.35.1",
-          "libName": "CTRE_Phoenix",
-          "headerClassifier": "headers",
-          "sharedLibrary": true,
-          "skipInvalidPlatforms": true,
-          "binaryPlatforms": [
-              "windowsx86-64",
-              "linuxx86-64",
-              "linuxarm64",
-              "linuxathena"
-          ],
-          "simMode": "hwsim"
-      },
-      {
-          "groupId": "com.ctre.phoenix",
-          "artifactId": "cci",
-          "version": "5.35.1",
-          "libName": "CTRE_PhoenixCCI",
-          "headerClassifier": "headers",
-          "sharedLibrary": true,
-          "skipInvalidPlatforms": true,
-          "binaryPlatforms": [
-              "windowsx86-64",
-              "linuxx86-64",
-              "linuxarm64",
-              "linuxathena"
-          ],
-          "simMode": "hwsim"
-      },
-      {
-          "groupId": "com.ctre.phoenix.sim",
-          "artifactId": "wpiapi-cpp-sim",
-          "version": "5.35.1",
-          "libName": "CTRE_Phoenix_WPISim",
-          "headerClassifier": "headers",
-          "sharedLibrary": true,
-          "skipInvalidPlatforms": true,
-          "binaryPlatforms": [
-              "windowsx86-64",
-              "linuxx86-64",
-              "linuxarm64",
-              "osxuniversal"
-          ],
-          "simMode": "swsim"
-      },
-      {
-          "groupId": "com.ctre.phoenix.sim",
-          "artifactId": "api-cpp-sim",
-          "version": "5.35.1",
-          "libName": "CTRE_PhoenixSim",
-          "headerClassifier": "headers",
-          "sharedLibrary": true,
-          "skipInvalidPlatforms": true,
-          "binaryPlatforms": [
-              "windowsx86-64",
-              "linuxx86-64",
-              "linuxarm64",
-              "osxuniversal"
-          ],
-          "simMode": "swsim"
-      },
-      {
-          "groupId": "com.ctre.phoenix.sim",
-          "artifactId": "cci-sim",
-          "version": "5.35.1",
-          "libName": "CTRE_PhoenixCCISim",
-          "headerClassifier": "headers",
-          "sharedLibrary": true,
-          "skipInvalidPlatforms": true,
-          "binaryPlatforms": [
-              "windowsx86-64",
-              "linuxx86-64",
-              "linuxarm64",
-              "osxuniversal"
-          ],
-          "simMode": "swsim"
-      }
-  ]
-}
\ No newline at end of file
+{
+  "fileName": "Phoenix5-5.36.0-beta-1.json",
+  "name": "CTRE-Phoenix (v5)",
+  "version": "5.36.0-beta-1",
+  "frcYear": "2026beta",
+  "uuid": "ab676553-b602-441f-a38d-f1296eff6537",
+  "mavenUrls": [
+      "https://maven.ctr-electronics.com/release/"
+  ],
+  "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix/Phoenix5-frc2026-beta-latest.json",
+  "requires": [
+      {
+          "uuid": "e995de00-2c64-4df5-8831-c1441420ff19",
+          "errorMessage": "Phoenix 5 requires low-level libraries from Phoenix 6.  Please add the Phoenix 6 vendordep before adding Phoenix 5.",
+          "offlineFileName": "Phoenix6-frc2026-beta-latest.json",
+          "onlineUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2026-beta-latest.json"
+      }
+  ],
+  "conflictsWith": [
+      {
+          "uuid": "e7900d8d-826f-4dca-a1ff-182f658e98af",
+          "errorMessage": "Users must use the Phoenix 5 replay vendordep when using the Phoenix 6 replay vendordep.",
+          "offlineFileName": "Phoenix6-replay-frc2026-beta-latest.json"
+      },
+      {
+          "uuid": "fbc886a4-2cec-40c0-9835-71086a8cc3df",
+          "errorMessage": "Users cannot have both the replay and regular Phoenix 5 vendordeps in their robot program.",
+          "offlineFileName": "Phoenix5-replay-frc2026-beta-latest.json"
+      }
+  ],
+  "javaDependencies": [
+      {
+          "groupId": "com.ctre.phoenix",
+          "artifactId": "api-java",
+          "version": "5.36.0-beta-1"
+      },
+      {
+          "groupId": "com.ctre.phoenix",
+          "artifactId": "wpiapi-java",
+          "version": "5.36.0-beta-1"
+      }
+  ],
+  "jniDependencies": [
+      {
+          "groupId": "com.ctre.phoenix",
+          "artifactId": "cci",
+          "version": "5.36.0-beta-1",
+          "isJar": false,
+          "skipInvalidPlatforms": true,
+          "validPlatforms": [
+              "windowsx86-64",
+              "linuxx86-64",
+              "linuxarm64",
+              "linuxathena"
+          ],
+          "simMode": "hwsim"
+      },
+      {
+          "groupId": "com.ctre.phoenix.sim",
+          "artifactId": "cci-sim",
+          "version": "5.36.0-beta-1",
+          "isJar": false,
+          "skipInvalidPlatforms": true,
+          "validPlatforms": [
+              "windowsx86-64",
+              "linuxx86-64",
+              "linuxarm64",
+              "osxuniversal"
+          ],
+          "simMode": "swsim"
+      }
+  ],
+  "cppDependencies": [
+      {
+          "groupId": "com.ctre.phoenix",
+          "artifactId": "wpiapi-cpp",
+          "version": "5.36.0-beta-1",
+          "libName": "CTRE_Phoenix_WPI",
+          "headerClassifier": "headers",
+          "sharedLibrary": true,
+          "skipInvalidPlatforms": true,
+          "binaryPlatforms": [
+              "windowsx86-64",
+              "linuxx86-64",
+              "linuxarm64",
+              "linuxathena"
+          ],
+          "simMode": "hwsim"
+      },
+      {
+          "groupId": "com.ctre.phoenix",
+          "artifactId": "api-cpp",
+          "version": "5.36.0-beta-1",
+          "libName": "CTRE_Phoenix",
+          "headerClassifier": "headers",
+          "sharedLibrary": true,
+          "skipInvalidPlatforms": true,
+          "binaryPlatforms": [
+              "windowsx86-64",
+              "linuxx86-64",
+              "linuxarm64",
+              "linuxathena"
+          ],
+          "simMode": "hwsim"
+      },
+      {
+          "groupId": "com.ctre.phoenix",
+          "artifactId": "cci",
+          "version": "5.36.0-beta-1",
+          "libName": "CTRE_PhoenixCCI",
+          "headerClassifier": "headers",
+          "sharedLibrary": true,
+          "skipInvalidPlatforms": true,
+          "binaryPlatforms": [
+              "windowsx86-64",
+              "linuxx86-64",
+              "linuxarm64",
+              "linuxathena"
+          ],
+          "simMode": "hwsim"
+      },
+      {
+          "groupId": "com.ctre.phoenix.sim",
+          "artifactId": "wpiapi-cpp-sim",
+          "version": "5.36.0-beta-1",
+          "libName": "CTRE_Phoenix_WPISim",
+          "headerClassifier": "headers",
+          "sharedLibrary": true,
+          "skipInvalidPlatforms": true,
+          "binaryPlatforms": [
+              "windowsx86-64",
+              "linuxx86-64",
+              "linuxarm64",
+              "osxuniversal"
+          ],
+          "simMode": "swsim"
+      },
+      {
+          "groupId": "com.ctre.phoenix.sim",
+          "artifactId": "api-cpp-sim",
+          "version": "5.36.0-beta-1",
+          "libName": "CTRE_PhoenixSim",
+          "headerClassifier": "headers",
+          "sharedLibrary": true,
+          "skipInvalidPlatforms": true,
+          "binaryPlatforms": [
+              "windowsx86-64",
+              "linuxx86-64",
+              "linuxarm64",
+              "osxuniversal"
+          ],
+          "simMode": "swsim"
+      },
+      {
+          "groupId": "com.ctre.phoenix.sim",
+          "artifactId": "cci-sim",
+          "version": "5.36.0-beta-1",
+          "libName": "CTRE_PhoenixCCISim",
+          "headerClassifier": "headers",
+          "sharedLibrary": true,
+          "skipInvalidPlatforms": true,
+          "binaryPlatforms": [
+              "windowsx86-64",
+              "linuxx86-64",
+              "linuxarm64",
+              "osxuniversal"
+          ],
+          "simMode": "swsim"
+      }
+  ]
+}
diff --git a/lib/vendordeps/Phoenix6.json b/lib/vendordeps/Phoenix6.json
index 80d99733..db9414ea 100644
--- a/lib/vendordeps/Phoenix6.json
+++ b/lib/vendordeps/Phoenix6.json
@@ -1,419 +1,449 @@
 {
-  "fileName": "Phoenix6-frc2025-latest.json",
+  "fileName": "Phoenix6-26.0.0-beta-1.json",
   "name": "CTRE-Phoenix (v6)",
-  "version": "25.2.1",
-  "frcYear": "2025",
+  "version": "26.0.0-beta-1",
+  "frcYear": "2026beta",
   "uuid": "e995de00-2c64-4df5-8831-c1441420ff19",
   "mavenUrls": [
-      "https://maven.ctr-electronics.com/release/"
-  ],
-  "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2025-latest.json",
+        "https://maven.ctr-electronics.com/release/"
+    ],
+  "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2026-latest.json",
   "conflictsWith": [
-      {
-          "uuid": "e7900d8d-826f-4dca-a1ff-182f658e98af",
-          "errorMessage": "Users can not have both the replay and regular Phoenix 6 vendordeps in their robot program.",
-          "offlineFileName": "Phoenix6-replay-frc2025-latest.json"
-      }
-  ],
+        {
+            "uuid": "e7900d8d-826f-4dca-a1ff-182f658e98af",
+            "errorMessage": "Users can not have both the replay and regular Phoenix 6 vendordeps in their robot program.",
+            "offlineFileName": "Phoenix6-replay-frc2026-latest.json"
+        }
+    ],
   "javaDependencies": [
-      {
-          "groupId": "com.ctre.phoenix6",
-          "artifactId": "wpiapi-java",
-          "version": "25.2.1"
-      }
-  ],
+        {
+            "groupId": "com.ctre.phoenix6",
+            "artifactId": "wpiapi-java",
+            "version": "26.0.0-beta-1"
+        }
+    ],
   "jniDependencies": [
-      {
-          "groupId": "com.ctre.phoenix6",
-          "artifactId": "api-cpp",
-          "version": "25.2.1",
-          "isJar": false,
-          "skipInvalidPlatforms": true,
-          "validPlatforms": [
-              "windowsx86-64",
-              "linuxx86-64",
-              "linuxarm64",
-              "linuxathena"
-          ],
-          "simMode": "hwsim"
-      },
-      {
-          "groupId": "com.ctre.phoenix6",
-          "artifactId": "tools",
-          "version": "25.2.1",
-          "isJar": false,
-          "skipInvalidPlatforms": true,
-          "validPlatforms": [
-              "windowsx86-64",
-              "linuxx86-64",
-              "linuxarm64",
-              "linuxathena"
-          ],
-          "simMode": "hwsim"
-      },
-      {
-          "groupId": "com.ctre.phoenix6.sim",
-          "artifactId": "api-cpp-sim",
-          "version": "25.2.1",
-          "isJar": false,
-          "skipInvalidPlatforms": true,
-          "validPlatforms": [
-              "windowsx86-64",
-              "linuxx86-64",
-              "linuxarm64",
-              "osxuniversal"
-          ],
-          "simMode": "swsim"
-      },
-      {
-          "groupId": "com.ctre.phoenix6.sim",
-          "artifactId": "tools-sim",
-          "version": "25.2.1",
-          "isJar": false,
-          "skipInvalidPlatforms": true,
-          "validPlatforms": [
-              "windowsx86-64",
-              "linuxx86-64",
-              "linuxarm64",
-              "osxuniversal"
-          ],
-          "simMode": "swsim"
-      },
-      {
-          "groupId": "com.ctre.phoenix6.sim",
-          "artifactId": "simTalonSRX",
-          "version": "25.2.1",
-          "isJar": false,
-          "skipInvalidPlatforms": true,
-          "validPlatforms": [
-              "windowsx86-64",
-              "linuxx86-64",
-              "linuxarm64",
-              "osxuniversal"
-          ],
-          "simMode": "swsim"
-      },
-      {
-          "groupId": "com.ctre.phoenix6.sim",
-          "artifactId": "simVictorSPX",
-          "version": "25.2.1",
-          "isJar": false,
-          "skipInvalidPlatforms": true,
-          "validPlatforms": [
-              "windowsx86-64",
-              "linuxx86-64",
-              "linuxarm64",
-              "osxuniversal"
-          ],
-          "simMode": "swsim"
-      },
-      {
-          "groupId": "com.ctre.phoenix6.sim",
-          "artifactId": "simPigeonIMU",
-          "version": "25.2.1",
-          "isJar": false,
-          "skipInvalidPlatforms": true,
-          "validPlatforms": [
-              "windowsx86-64",
-              "linuxx86-64",
-              "linuxarm64",
-              "osxuniversal"
-          ],
-          "simMode": "swsim"
-      },
-      {
-          "groupId": "com.ctre.phoenix6.sim",
-          "artifactId": "simCANCoder",
-          "version": "25.2.1",
-          "isJar": false,
-          "skipInvalidPlatforms": true,
-          "validPlatforms": [
-              "windowsx86-64",
-              "linuxx86-64",
-              "linuxarm64",
-              "osxuniversal"
-          ],
-          "simMode": "swsim"
-      },
-      {
-          "groupId": "com.ctre.phoenix6.sim",
-          "artifactId": "simProTalonFX",
-          "version": "25.2.1",
-          "isJar": false,
-          "skipInvalidPlatforms": true,
-          "validPlatforms": [
-              "windowsx86-64",
-              "linuxx86-64",
-              "linuxarm64",
-              "osxuniversal"
-          ],
-          "simMode": "swsim"
-      },
-      {
-          "groupId": "com.ctre.phoenix6.sim",
-          "artifactId": "simProTalonFXS",
-          "version": "25.2.1",
-          "isJar": false,
-          "skipInvalidPlatforms": true,
-          "validPlatforms": [
-              "windowsx86-64",
-              "linuxx86-64",
-              "linuxarm64",
-              "osxuniversal"
-          ],
-          "simMode": "swsim"
-      },
-      {
-          "groupId": "com.ctre.phoenix6.sim",
-          "artifactId": "simProCANcoder",
-          "version": "25.2.1",
-          "isJar": false,
-          "skipInvalidPlatforms": true,
-          "validPlatforms": [
-              "windowsx86-64",
-              "linuxx86-64",
-              "linuxarm64",
-              "osxuniversal"
-          ],
-          "simMode": "swsim"
-      },
-      {
-          "groupId": "com.ctre.phoenix6.sim",
-          "artifactId": "simProPigeon2",
-          "version": "25.2.1",
-          "isJar": false,
-          "skipInvalidPlatforms": true,
-          "validPlatforms": [
-              "windowsx86-64",
-              "linuxx86-64",
-              "linuxarm64",
-              "osxuniversal"
-          ],
-          "simMode": "swsim"
-      },
-      {
-          "groupId": "com.ctre.phoenix6.sim",
-          "artifactId": "simProCANrange",
-          "version": "25.2.1",
-          "isJar": false,
-          "skipInvalidPlatforms": true,
-          "validPlatforms": [
-              "windowsx86-64",
-              "linuxx86-64",
-              "linuxarm64",
-              "osxuniversal"
-          ],
-          "simMode": "swsim"
-      }
-  ],
+        {
+            "groupId": "com.ctre.phoenix6",
+            "artifactId": "api-cpp",
+            "version": "26.0.0-beta-1",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "linuxathena"
+            ],
+            "simMode": "hwsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6",
+            "artifactId": "tools",
+            "version": "26.0.0-beta-1",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "linuxathena"
+            ],
+            "simMode": "hwsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "api-cpp-sim",
+            "version": "26.0.0-beta-1",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "tools-sim",
+            "version": "26.0.0-beta-1",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simTalonSRX",
+            "version": "26.0.0-beta-1",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simVictorSPX",
+            "version": "26.0.0-beta-1",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simPigeonIMU",
+            "version": "26.0.0-beta-1",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simProTalonFX",
+            "version": "26.0.0-beta-1",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simProTalonFXS",
+            "version": "26.0.0-beta-1",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simProCANcoder",
+            "version": "26.0.0-beta-1",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simProPigeon2",
+            "version": "26.0.0-beta-1",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simProCANrange",
+            "version": "26.0.0-beta-1",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simProCANdi",
+            "version": "26.0.0-beta-1",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simProCANdle",
+            "version": "26.0.0-beta-1",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        }
+    ],
   "cppDependencies": [
-      {
-          "groupId": "com.ctre.phoenix6",
-          "artifactId": "wpiapi-cpp",
-          "version": "25.2.1",
-          "libName": "CTRE_Phoenix6_WPI",
-          "headerClassifier": "headers",
-          "sharedLibrary": true,
-          "skipInvalidPlatforms": true,
-          "binaryPlatforms": [
-              "windowsx86-64",
-              "linuxx86-64",
-              "linuxarm64",
-              "linuxathena"
-          ],
-          "simMode": "hwsim"
-      },
-      {
-          "groupId": "com.ctre.phoenix6",
-          "artifactId": "tools",
-          "version": "25.2.1",
-          "libName": "CTRE_PhoenixTools",
-          "headerClassifier": "headers",
-          "sharedLibrary": true,
-          "skipInvalidPlatforms": true,
-          "binaryPlatforms": [
-              "windowsx86-64",
-              "linuxx86-64",
-              "linuxarm64",
-              "linuxathena"
-          ],
-          "simMode": "hwsim"
-      },
-      {
-          "groupId": "com.ctre.phoenix6.sim",
-          "artifactId": "wpiapi-cpp-sim",
-          "version": "25.2.1",
-          "libName": "CTRE_Phoenix6_WPISim",
-          "headerClassifier": "headers",
-          "sharedLibrary": true,
-          "skipInvalidPlatforms": true,
-          "binaryPlatforms": [
-              "windowsx86-64",
-              "linuxx86-64",
-              "linuxarm64",
-              "osxuniversal"
-          ],
-          "simMode": "swsim"
-      },
-      {
-          "groupId": "com.ctre.phoenix6.sim",
-          "artifactId": "tools-sim",
-          "version": "25.2.1",
-          "libName": "CTRE_PhoenixTools_Sim",
-          "headerClassifier": "headers",
-          "sharedLibrary": true,
-          "skipInvalidPlatforms": true,
-          "binaryPlatforms": [
-              "windowsx86-64",
-              "linuxx86-64",
-              "linuxarm64",
-              "osxuniversal"
-          ],
-          "simMode": "swsim"
-      },
-      {
-          "groupId": "com.ctre.phoenix6.sim",
-          "artifactId": "simTalonSRX",
-          "version": "25.2.1",
-          "libName": "CTRE_SimTalonSRX",
-          "headerClassifier": "headers",
-          "sharedLibrary": true,
-          "skipInvalidPlatforms": true,
-          "binaryPlatforms": [
-              "windowsx86-64",
-              "linuxx86-64",
-              "linuxarm64",
-              "osxuniversal"
-          ],
-          "simMode": "swsim"
-      },
-      {
-          "groupId": "com.ctre.phoenix6.sim",
-          "artifactId": "simVictorSPX",
-          "version": "25.2.1",
-          "libName": "CTRE_SimVictorSPX",
-          "headerClassifier": "headers",
-          "sharedLibrary": true,
-          "skipInvalidPlatforms": true,
-          "binaryPlatforms": [
-              "windowsx86-64",
-              "linuxx86-64",
-              "linuxarm64",
-              "osxuniversal"
-          ],
-          "simMode": "swsim"
-      },
-      {
-          "groupId": "com.ctre.phoenix6.sim",
-          "artifactId": "simPigeonIMU",
-          "version": "25.2.1",
-          "libName": "CTRE_SimPigeonIMU",
-          "headerClassifier": "headers",
-          "sharedLibrary": true,
-          "skipInvalidPlatforms": true,
-          "binaryPlatforms": [
-              "windowsx86-64",
-              "linuxx86-64",
-              "linuxarm64",
-              "osxuniversal"
-          ],
-          "simMode": "swsim"
-      },
-      {
-          "groupId": "com.ctre.phoenix6.sim",
-          "artifactId": "simCANCoder",
-          "version": "25.2.1",
-          "libName": "CTRE_SimCANCoder",
-          "headerClassifier": "headers",
-          "sharedLibrary": true,
-          "skipInvalidPlatforms": true,
-          "binaryPlatforms": [
-              "windowsx86-64",
-              "linuxx86-64",
-              "linuxarm64",
-              "osxuniversal"
-          ],
-          "simMode": "swsim"
-      },
-      {
-          "groupId": "com.ctre.phoenix6.sim",
-          "artifactId": "simProTalonFX",
-          "version": "25.2.1",
-          "libName": "CTRE_SimProTalonFX",
-          "headerClassifier": "headers",
-          "sharedLibrary": true,
-          "skipInvalidPlatforms": true,
-          "binaryPlatforms": [
-              "windowsx86-64",
-              "linuxx86-64",
-              "linuxarm64",
-              "osxuniversal"
-          ],
-          "simMode": "swsim"
-      },
-      {
-          "groupId": "com.ctre.phoenix6.sim",
-          "artifactId": "simProTalonFXS",
-          "version": "25.2.1",
-          "libName": "CTRE_SimProTalonFXS",
-          "headerClassifier": "headers",
-          "sharedLibrary": true,
-          "skipInvalidPlatforms": true,
-          "binaryPlatforms": [
-              "windowsx86-64",
-              "linuxx86-64",
-              "linuxarm64",
-              "osxuniversal"
-          ],
-          "simMode": "swsim"
-      },
-      {
-          "groupId": "com.ctre.phoenix6.sim",
-          "artifactId": "simProCANcoder",
-          "version": "25.2.1",
-          "libName": "CTRE_SimProCANcoder",
-          "headerClassifier": "headers",
-          "sharedLibrary": true,
-          "skipInvalidPlatforms": true,
-          "binaryPlatforms": [
-              "windowsx86-64",
-              "linuxx86-64",
-              "linuxarm64",
-              "osxuniversal"
-          ],
-          "simMode": "swsim"
-      },
-      {
-          "groupId": "com.ctre.phoenix6.sim",
-          "artifactId": "simProPigeon2",
-          "version": "25.2.1",
-          "libName": "CTRE_SimProPigeon2",
-          "headerClassifier": "headers",
-          "sharedLibrary": true,
-          "skipInvalidPlatforms": true,
-          "binaryPlatforms": [
-              "windowsx86-64",
-              "linuxx86-64",
-              "linuxarm64",
-              "osxuniversal"
-          ],
-          "simMode": "swsim"
-      },
-      {
-          "groupId": "com.ctre.phoenix6.sim",
-          "artifactId": "simProCANrange",
-          "version": "25.2.1",
-          "libName": "CTRE_SimProCANrange",
-          "headerClassifier": "headers",
-          "sharedLibrary": true,
-          "skipInvalidPlatforms": true,
-          "binaryPlatforms": [
-              "windowsx86-64",
-              "linuxx86-64",
-              "linuxarm64",
-              "osxuniversal"
-          ],
-          "simMode": "swsim"
-      }
-  ]
-}
\ No newline at end of file
+        {
+            "groupId": "com.ctre.phoenix6",
+            "artifactId": "wpiapi-cpp",
+            "version": "26.0.0-beta-1",
+            "libName": "CTRE_Phoenix6_WPI",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "linuxathena"
+            ],
+            "simMode": "hwsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6",
+            "artifactId": "tools",
+            "version": "26.0.0-beta-1",
+            "libName": "CTRE_PhoenixTools",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "linuxathena"
+            ],
+            "simMode": "hwsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "wpiapi-cpp-sim",
+            "version": "26.0.0-beta-1",
+            "libName": "CTRE_Phoenix6_WPISim",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "tools-sim",
+            "version": "26.0.0-beta-1",
+            "libName": "CTRE_PhoenixTools_Sim",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simTalonSRX",
+            "version": "26.0.0-beta-1",
+            "libName": "CTRE_SimTalonSRX",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simVictorSPX",
+            "version": "26.0.0-beta-1",
+            "libName": "CTRE_SimVictorSPX",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simPigeonIMU",
+            "version": "26.0.0-beta-1",
+            "libName": "CTRE_SimPigeonIMU",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simProTalonFX",
+            "version": "26.0.0-beta-1",
+            "libName": "CTRE_SimProTalonFX",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simProTalonFXS",
+            "version": "26.0.0-beta-1",
+            "libName": "CTRE_SimProTalonFXS",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simProCANcoder",
+            "version": "26.0.0-beta-1",
+            "libName": "CTRE_SimProCANcoder",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simProPigeon2",
+            "version": "26.0.0-beta-1",
+            "libName": "CTRE_SimProPigeon2",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simProCANrange",
+            "version": "26.0.0-beta-1",
+            "libName": "CTRE_SimProCANrange",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simProCANdi",
+            "version": "26.0.0-beta-1",
+            "libName": "CTRE_SimProCANdi",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simProCANdle",
+            "version": "26.0.0-beta-1",
+            "libName": "CTRE_SimProCANdle",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        }
+    ]
+}
diff --git a/lib/vendordeps/REVLib.json b/lib/vendordeps/REVLib.json
index b6513a4c..436e9fc0 100644
--- a/lib/vendordeps/REVLib.json
+++ b/lib/vendordeps/REVLib.json
@@ -1,25 +1,55 @@
 {
   "fileName": "REVLib.json",
   "name": "REVLib",
-  "version": "2025.0.1",
-  "frcYear": "2025",
+  "version": "2026.0.0-beta-1",
+  "frcYear": "2026beta",
   "uuid": "3f48eb8c-50fe-43a6-9cb7-44c86353c4cb",
   "mavenUrls": [
       "https://maven.revrobotics.com/"
   ],
-  "jsonUrl": "https://software-metadata.revrobotics.com/REVLib-2025.json",
+  "jsonUrl": "https://software-metadata.revrobotics.com/REVLib-2026.json",
   "javaDependencies": [
       {
           "groupId": "com.revrobotics.frc",
           "artifactId": "REVLib-java",
-          "version": "2025.0.1"
+          "version": "2026.0.0-beta-1"
       }
   ],
   "jniDependencies": [
       {
           "groupId": "com.revrobotics.frc",
           "artifactId": "REVLib-driver",
-          "version": "2025.0.1",
+          "version": "2026.0.0-beta-1",
+          "skipInvalidPlatforms": true,
+          "isJar": false,
+          "validPlatforms": [
+              "windowsx86-64",
+              "linuxarm64",
+              "linuxx86-64",
+              "linuxathena",
+              "linuxarm32",
+              "osxuniversal"
+          ]
+      },
+      {
+          "groupId": "com.revrobotics.frc",
+          "artifactId": "RevLibBackendDriver",
+          "version": "2026.0.0-beta-1",
+          "skipInvalidPlatforms": true,
+          "isJar": false,
+          "validPlatforms": [
+              "windowsx86-64",
+              "linuxarm64",
+              "linuxx86-64",
+              "linuxathena",
+              "linuxarm32",
+              "osxuniversal"
+          ]
+      },
+      {
+          "groupId": "com.revrobotics.frc",
+          "artifactId": "RevLibWpiBackendDriver",
+          "version": "2026.0.0-beta-1",
           "skipInvalidPlatforms": true,
           "isJar": false,
           "validPlatforms": [
@@ -36,7 +66,7 @@
       {
           "groupId": "com.revrobotics.frc",
           "artifactId": "REVLib-cpp",
-          "version": "2025.0.1",
+          "version": "2026.0.0-beta-1",
           "libName": "REVLib",
           "headerClassifier": "headers",
           "sharedLibrary": false,
@@ -53,7 +83,7 @@
       {
           "groupId": "com.revrobotics.frc",
           "artifactId": "REVLib-driver",
-          "version": "2025.0.1",
+          "version": "2026.0.0-beta-1",
           "libName": "REVLibDriver",
           "headerClassifier": "headers",
           "sharedLibrary": false,
@@ -66,6 +96,38 @@
               "linuxarm32",
               "osxuniversal"
           ]
+      },
+      {
+          "groupId": "com.revrobotics.frc",
+          "artifactId": "RevLibBackendDriver",
+          "version": "2026.0.0-beta-1",
+          "libName": "BackendDriver",
+          "sharedLibrary": true,
+          "skipInvalidPlatforms": true,
+          "binaryPlatforms": [
+              "windowsx86-64",
+              "linuxarm64",
+              "linuxx86-64",
+              "linuxathena",
+              "linuxarm32",
+              "osxuniversal"
+          ]
+      },
+      {
+          "groupId": "com.revrobotics.frc",
+          "artifactId": "RevLibWpiBackendDriver",
+          "version": "2026.0.0-beta-1",
+          "libName": "REVLibWpi",
+          "sharedLibrary": true,
+          "skipInvalidPlatforms": true,
+          "binaryPlatforms": [
+              "windowsx86-64",
+              "linuxarm64",
+              "linuxx86-64",
+              "linuxathena",
+              "linuxarm32",
+              "osxuniversal"
+          ]
       }
   ]
-}
\ No newline at end of file
+}
diff --git a/lib/vendordeps/WPILibNewCommands.json b/lib/vendordeps/WPILibNewCommands.json
index b7aedf69..61ee7c7c 100644
--- a/lib/vendordeps/WPILibNewCommands.json
+++ b/lib/vendordeps/WPILibNewCommands.json
@@ -1,9 +1,9 @@
 {
   "fileName": "WPILibNewCommands.json",
   "name": "WPILib-New-Commands",
-  "version": "1.0.0",
+  "version": "1.1-beta-1",
   "uuid": "111e20f7-815e-48f8-9dd6-e675ce75b266",
-  "frcYear": "2025",
+  "frcYear": "2026beta",
   "mavenUrls": [],
   "jsonUrl": "",
   "javaDependencies": [
@@ -35,4 +35,4 @@
       ]
     }
   ]
-}
\ No newline at end of file
+}
diff --git a/limelight/build.gradle b/limelight/build.gradle
index 3354e674..bcfe4766 100644
--- a/limelight/build.gradle
+++ b/limelight/build.gradle
@@ -1,6 +1,6 @@
 plugins {
     id 'java-common-conventions'
-    id "edu.wpi.first.GradleRIO" version "2025.1.1"
+    id 'edu.wpi.first.GradleRIO' version '2026.1.1-beta-1'
     id 'idea'
 }
 
diff --git a/limelight/vendordeps/Phoenix6.json b/limelight/vendordeps/Phoenix6.json
index 80d99733..db9414ea 100644
--- a/limelight/vendordeps/Phoenix6.json
+++ b/limelight/vendordeps/Phoenix6.json
@@ -1,419 +1,449 @@
 {
-  "fileName": "Phoenix6-frc2025-latest.json",
+  "fileName": "Phoenix6-26.0.0-beta-1.json",
   "name": "CTRE-Phoenix (v6)",
-  "version": "25.2.1",
-  "frcYear": "2025",
+  "version": "26.0.0-beta-1",
+  "frcYear": "2026beta",
   "uuid": "e995de00-2c64-4df5-8831-c1441420ff19",
   "mavenUrls": [
-      "https://maven.ctr-electronics.com/release/"
-  ],
-  "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2025-latest.json",
+        "https://maven.ctr-electronics.com/release/"
+    ],
+  "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2026-latest.json",
   "conflictsWith": [
-      {
-          "uuid": "e7900d8d-826f-4dca-a1ff-182f658e98af",
-          "errorMessage": "Users can not have both the replay and regular Phoenix 6 vendordeps in their robot program.",
-          "offlineFileName": "Phoenix6-replay-frc2025-latest.json"
-      }
-  ],
+        {
+            "uuid": "e7900d8d-826f-4dca-a1ff-182f658e98af",
+            "errorMessage": "Users can not have both the replay and regular Phoenix 6 vendordeps in their robot program.",
+            "offlineFileName": "Phoenix6-replay-frc2026-latest.json"
+        }
+    ],
   "javaDependencies": [
-      {
-          "groupId": "com.ctre.phoenix6",
-          "artifactId": "wpiapi-java",
-          "version": "25.2.1"
-      }
-  ],
+        {
+            "groupId": "com.ctre.phoenix6",
+            "artifactId": "wpiapi-java",
+            "version": "26.0.0-beta-1"
+        }
+    ],
   "jniDependencies": [
-      {
-          "groupId": "com.ctre.phoenix6",
-          "artifactId": "api-cpp",
-          "version": "25.2.1",
-          "isJar": false,
-          "skipInvalidPlatforms": true,
-          "validPlatforms": [
-              "windowsx86-64",
-              "linuxx86-64",
-              "linuxarm64",
-              "linuxathena"
-          ],
-          "simMode": "hwsim"
-      },
-      {
-          "groupId": "com.ctre.phoenix6",
-          "artifactId": "tools",
-          "version": "25.2.1",
-          "isJar": false,
-          "skipInvalidPlatforms": true,
-          "validPlatforms": [
-              "windowsx86-64",
-              "linuxx86-64",
-              "linuxarm64",
-              "linuxathena"
-          ],
-          "simMode": "hwsim"
-      },
-      {
-          "groupId": "com.ctre.phoenix6.sim",
-          "artifactId": "api-cpp-sim",
-          "version": "25.2.1",
-          "isJar": false,
-          "skipInvalidPlatforms": true,
-          "validPlatforms": [
-              "windowsx86-64",
-              "linuxx86-64",
-              "linuxarm64",
-              "osxuniversal"
-          ],
-          "simMode": "swsim"
-      },
-      {
-          "groupId": "com.ctre.phoenix6.sim",
-          "artifactId": "tools-sim",
-          "version": "25.2.1",
-          "isJar": false,
-          "skipInvalidPlatforms": true,
-          "validPlatforms": [
-              "windowsx86-64",
-              "linuxx86-64",
-              "linuxarm64",
-              "osxuniversal"
-          ],
-          "simMode": "swsim"
-      },
-      {
-          "groupId": "com.ctre.phoenix6.sim",
-          "artifactId": "simTalonSRX",
-          "version": "25.2.1",
-          "isJar": false,
-          "skipInvalidPlatforms": true,
-          "validPlatforms": [
-              "windowsx86-64",
-              "linuxx86-64",
-              "linuxarm64",
-              "osxuniversal"
-          ],
-          "simMode": "swsim"
-      },
-      {
-          "groupId": "com.ctre.phoenix6.sim",
-          "artifactId": "simVictorSPX",
-          "version": "25.2.1",
-          "isJar": false,
-          "skipInvalidPlatforms": true,
-          "validPlatforms": [
-              "windowsx86-64",
-              "linuxx86-64",
-              "linuxarm64",
-              "osxuniversal"
-          ],
-          "simMode": "swsim"
-      },
-      {
-          "groupId": "com.ctre.phoenix6.sim",
-          "artifactId": "simPigeonIMU",
-          "version": "25.2.1",
-          "isJar": false,
-          "skipInvalidPlatforms": true,
-          "validPlatforms": [
-              "windowsx86-64",
-              "linuxx86-64",
-              "linuxarm64",
-              "osxuniversal"
-          ],
-          "simMode": "swsim"
-      },
-      {
-          "groupId": "com.ctre.phoenix6.sim",
-          "artifactId": "simCANCoder",
-          "version": "25.2.1",
-          "isJar": false,
-          "skipInvalidPlatforms": true,
-          "validPlatforms": [
-              "windowsx86-64",
-              "linuxx86-64",
-              "linuxarm64",
-              "osxuniversal"
-          ],
-          "simMode": "swsim"
-      },
-      {
-          "groupId": "com.ctre.phoenix6.sim",
-          "artifactId": "simProTalonFX",
-          "version": "25.2.1",
-          "isJar": false,
-          "skipInvalidPlatforms": true,
-          "validPlatforms": [
-              "windowsx86-64",
-              "linuxx86-64",
-              "linuxarm64",
-              "osxuniversal"
-          ],
-          "simMode": "swsim"
-      },
-      {
-          "groupId": "com.ctre.phoenix6.sim",
-          "artifactId": "simProTalonFXS",
-          "version": "25.2.1",
-          "isJar": false,
-          "skipInvalidPlatforms": true,
-          "validPlatforms": [
-              "windowsx86-64",
-              "linuxx86-64",
-              "linuxarm64",
-              "osxuniversal"
-          ],
-          "simMode": "swsim"
-      },
-      {
-          "groupId": "com.ctre.phoenix6.sim",
-          "artifactId": "simProCANcoder",
-          "version": "25.2.1",
-          "isJar": false,
-          "skipInvalidPlatforms": true,
-          "validPlatforms": [
-              "windowsx86-64",
-              "linuxx86-64",
-              "linuxarm64",
-              "osxuniversal"
-          ],
-          "simMode": "swsim"
-      },
-      {
-          "groupId": "com.ctre.phoenix6.sim",
-          "artifactId": "simProPigeon2",
-          "version": "25.2.1",
-          "isJar": false,
-          "skipInvalidPlatforms": true,
-          "validPlatforms": [
-              "windowsx86-64",
-              "linuxx86-64",
-              "linuxarm64",
-              "osxuniversal"
-          ],
-          "simMode": "swsim"
-      },
-      {
-          "groupId": "com.ctre.phoenix6.sim",
-          "artifactId": "simProCANrange",
-          "version": "25.2.1",
-          "isJar": false,
-          "skipInvalidPlatforms": true,
-          "validPlatforms": [
-              "windowsx86-64",
-              "linuxx86-64",
-              "linuxarm64",
-              "osxuniversal"
-          ],
-          "simMode": "swsim"
-      }
-  ],
+        {
+            "groupId": "com.ctre.phoenix6",
+            "artifactId": "api-cpp",
+            "version": "26.0.0-beta-1",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "linuxathena"
+            ],
+            "simMode": "hwsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6",
+            "artifactId": "tools",
+            "version": "26.0.0-beta-1",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "linuxathena"
+            ],
+            "simMode": "hwsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "api-cpp-sim",
+            "version": "26.0.0-beta-1",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "tools-sim",
+            "version": "26.0.0-beta-1",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simTalonSRX",
+            "version": "26.0.0-beta-1",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simVictorSPX",
+            "version": "26.0.0-beta-1",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simPigeonIMU",
+            "version": "26.0.0-beta-1",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simProTalonFX",
+            "version": "26.0.0-beta-1",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simProTalonFXS",
+            "version": "26.0.0-beta-1",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simProCANcoder",
+            "version": "26.0.0-beta-1",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simProPigeon2",
+            "version": "26.0.0-beta-1",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simProCANrange",
+            "version": "26.0.0-beta-1",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simProCANdi",
+            "version": "26.0.0-beta-1",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simProCANdle",
+            "version": "26.0.0-beta-1",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        }
+    ],
   "cppDependencies": [
-      {
-          "groupId": "com.ctre.phoenix6",
-          "artifactId": "wpiapi-cpp",
-          "version": "25.2.1",
-          "libName": "CTRE_Phoenix6_WPI",
-          "headerClassifier": "headers",
-          "sharedLibrary": true,
-          "skipInvalidPlatforms": true,
-          "binaryPlatforms": [
-              "windowsx86-64",
-              "linuxx86-64",
-              "linuxarm64",
-              "linuxathena"
-          ],
-          "simMode": "hwsim"
-      },
-      {
-          "groupId": "com.ctre.phoenix6",
-          "artifactId": "tools",
-          "version": "25.2.1",
-          "libName": "CTRE_PhoenixTools",
-          "headerClassifier": "headers",
-          "sharedLibrary": true,
-          "skipInvalidPlatforms": true,
-          "binaryPlatforms": [
-              "windowsx86-64",
-              "linuxx86-64",
-              "linuxarm64",
-              "linuxathena"
-          ],
-          "simMode": "hwsim"
-      },
-      {
-          "groupId": "com.ctre.phoenix6.sim",
-          "artifactId": "wpiapi-cpp-sim",
-          "version": "25.2.1",
-          "libName": "CTRE_Phoenix6_WPISim",
-          "headerClassifier": "headers",
-          "sharedLibrary": true,
-          "skipInvalidPlatforms": true,
-          "binaryPlatforms": [
-              "windowsx86-64",
-              "linuxx86-64",
-              "linuxarm64",
-              "osxuniversal"
-          ],
-          "simMode": "swsim"
-      },
-      {
-          "groupId": "com.ctre.phoenix6.sim",
-          "artifactId": "tools-sim",
-          "version": "25.2.1",
-          "libName": "CTRE_PhoenixTools_Sim",
-          "headerClassifier": "headers",
-          "sharedLibrary": true,
-          "skipInvalidPlatforms": true,
-          "binaryPlatforms": [
-              "windowsx86-64",
-              "linuxx86-64",
-              "linuxarm64",
-              "osxuniversal"
-          ],
-          "simMode": "swsim"
-      },
-      {
-          "groupId": "com.ctre.phoenix6.sim",
-          "artifactId": "simTalonSRX",
-          "version": "25.2.1",
-          "libName": "CTRE_SimTalonSRX",
-          "headerClassifier": "headers",
-          "sharedLibrary": true,
-          "skipInvalidPlatforms": true,
-          "binaryPlatforms": [
-              "windowsx86-64",
-              "linuxx86-64",
-              "linuxarm64",
-              "osxuniversal"
-          ],
-          "simMode": "swsim"
-      },
-      {
-          "groupId": "com.ctre.phoenix6.sim",
-          "artifactId": "simVictorSPX",
-          "version": "25.2.1",
-          "libName": "CTRE_SimVictorSPX",
-          "headerClassifier": "headers",
-          "sharedLibrary": true,
-          "skipInvalidPlatforms": true,
-          "binaryPlatforms": [
-              "windowsx86-64",
-              "linuxx86-64",
-              "linuxarm64",
-              "osxuniversal"
-          ],
-          "simMode": "swsim"
-      },
-      {
-          "groupId": "com.ctre.phoenix6.sim",
-          "artifactId": "simPigeonIMU",
-          "version": "25.2.1",
-          "libName": "CTRE_SimPigeonIMU",
-          "headerClassifier": "headers",
-          "sharedLibrary": true,
-          "skipInvalidPlatforms": true,
-          "binaryPlatforms": [
-              "windowsx86-64",
-              "linuxx86-64",
-              "linuxarm64",
-              "osxuniversal"
-          ],
-          "simMode": "swsim"
-      },
-      {
-          "groupId": "com.ctre.phoenix6.sim",
-          "artifactId": "simCANCoder",
-          "version": "25.2.1",
-          "libName": "CTRE_SimCANCoder",
-          "headerClassifier": "headers",
-          "sharedLibrary": true,
-          "skipInvalidPlatforms": true,
-          "binaryPlatforms": [
-              "windowsx86-64",
-              "linuxx86-64",
-              "linuxarm64",
-              "osxuniversal"
-          ],
-          "simMode": "swsim"
-      },
-      {
-          "groupId": "com.ctre.phoenix6.sim",
-          "artifactId": "simProTalonFX",
-          "version": "25.2.1",
-          "libName": "CTRE_SimProTalonFX",
-          "headerClassifier": "headers",
-          "sharedLibrary": true,
-          "skipInvalidPlatforms": true,
-          "binaryPlatforms": [
-              "windowsx86-64",
-              "linuxx86-64",
-              "linuxarm64",
-              "osxuniversal"
-          ],
-          "simMode": "swsim"
-      },
-      {
-          "groupId": "com.ctre.phoenix6.sim",
-          "artifactId": "simProTalonFXS",
-          "version": "25.2.1",
-          "libName": "CTRE_SimProTalonFXS",
-          "headerClassifier": "headers",
-          "sharedLibrary": true,
-          "skipInvalidPlatforms": true,
-          "binaryPlatforms": [
-              "windowsx86-64",
-              "linuxx86-64",
-              "linuxarm64",
-              "osxuniversal"
-          ],
-          "simMode": "swsim"
-      },
-      {
-          "groupId": "com.ctre.phoenix6.sim",
-          "artifactId": "simProCANcoder",
-          "version": "25.2.1",
-          "libName": "CTRE_SimProCANcoder",
-          "headerClassifier": "headers",
-          "sharedLibrary": true,
-          "skipInvalidPlatforms": true,
-          "binaryPlatforms": [
-              "windowsx86-64",
-              "linuxx86-64",
-              "linuxarm64",
-              "osxuniversal"
-          ],
-          "simMode": "swsim"
-      },
-      {
-          "groupId": "com.ctre.phoenix6.sim",
-          "artifactId": "simProPigeon2",
-          "version": "25.2.1",
-          "libName": "CTRE_SimProPigeon2",
-          "headerClassifier": "headers",
-          "sharedLibrary": true,
-          "skipInvalidPlatforms": true,
-          "binaryPlatforms": [
-              "windowsx86-64",
-              "linuxx86-64",
-              "linuxarm64",
-              "osxuniversal"
-          ],
-          "simMode": "swsim"
-      },
-      {
-          "groupId": "com.ctre.phoenix6.sim",
-          "artifactId": "simProCANrange",
-          "version": "25.2.1",
-          "libName": "CTRE_SimProCANrange",
-          "headerClassifier": "headers",
-          "sharedLibrary": true,
-          "skipInvalidPlatforms": true,
-          "binaryPlatforms": [
-              "windowsx86-64",
-              "linuxx86-64",
-              "linuxarm64",
-              "osxuniversal"
-          ],
-          "simMode": "swsim"
-      }
-  ]
-}
\ No newline at end of file
+        {
+            "groupId": "com.ctre.phoenix6",
+            "artifactId": "wpiapi-cpp",
+            "version": "26.0.0-beta-1",
+            "libName": "CTRE_Phoenix6_WPI",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "linuxathena"
+            ],
+            "simMode": "hwsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6",
+            "artifactId": "tools",
+            "version": "26.0.0-beta-1",
+            "libName": "CTRE_PhoenixTools",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "linuxathena"
+            ],
+            "simMode": "hwsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "wpiapi-cpp-sim",
+            "version": "26.0.0-beta-1",
+            "libName": "CTRE_Phoenix6_WPISim",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "tools-sim",
+            "version": "26.0.0-beta-1",
+            "libName": "CTRE_PhoenixTools_Sim",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simTalonSRX",
+            "version": "26.0.0-beta-1",
+            "libName": "CTRE_SimTalonSRX",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simVictorSPX",
+            "version": "26.0.0-beta-1",
+            "libName": "CTRE_SimVictorSPX",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simPigeonIMU",
+            "version": "26.0.0-beta-1",
+            "libName": "CTRE_SimPigeonIMU",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simProTalonFX",
+            "version": "26.0.0-beta-1",
+            "libName": "CTRE_SimProTalonFX",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simProTalonFXS",
+            "version": "26.0.0-beta-1",
+            "libName": "CTRE_SimProTalonFXS",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simProCANcoder",
+            "version": "26.0.0-beta-1",
+            "libName": "CTRE_SimProCANcoder",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simProPigeon2",
+            "version": "26.0.0-beta-1",
+            "libName": "CTRE_SimProPigeon2",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simProCANrange",
+            "version": "26.0.0-beta-1",
+            "libName": "CTRE_SimProCANrange",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simProCANdi",
+            "version": "26.0.0-beta-1",
+            "libName": "CTRE_SimProCANdi",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simProCANdle",
+            "version": "26.0.0-beta-1",
+            "libName": "CTRE_SimProCANdle",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        }
+    ]
+}
diff --git a/testing/build.gradle b/testing/build.gradle
index 4cb56e84..7435986b 100644
--- a/testing/build.gradle
+++ b/testing/build.gradle
@@ -1,6 +1,6 @@
 plugins {
     id 'java-common-conventions'
-    id 'edu.wpi.first.GradleRIO' version '2025.1.1'
+    id 'edu.wpi.first.GradleRIO' version '2026.1.1-beta-1'
 }
 
 version = '1.0.0-alpha.1'
diff --git a/testing/vendordeps/WPILibNewCommands.json b/testing/vendordeps/WPILibNewCommands.json
index b7aedf69..61ee7c7c 100644
--- a/testing/vendordeps/WPILibNewCommands.json
+++ b/testing/vendordeps/WPILibNewCommands.json
@@ -1,9 +1,9 @@
 {
   "fileName": "WPILibNewCommands.json",
   "name": "WPILib-New-Commands",
-  "version": "1.0.0",
+  "version": "1.1-beta-1",
   "uuid": "111e20f7-815e-48f8-9dd6-e675ce75b266",
-  "frcYear": "2025",
+  "frcYear": "2026beta",
   "mavenUrls": [],
   "jsonUrl": "",
   "javaDependencies": [
@@ -35,4 +35,4 @@
       ]
     }
   ]
-}
\ No newline at end of file
+}
diff --git a/vision/build.gradle b/vision/build.gradle
index 9d400bfa..0d2e041f 100644
--- a/vision/build.gradle
+++ b/vision/build.gradle
@@ -1,6 +1,6 @@
 plugins {
     id 'java-common-conventions'
-    id 'edu.wpi.first.GradleRIO' version '2025.1.1'
+    id 'edu.wpi.first.GradleRIO' version '2026.1.1-beta-1'
     id 'idea'
 }