meillieur subsytem swerve (pas tent)

simgui-ds.json

@@ -1,4 +1,9 @@
 {
+  "Joysticks": {
+    "window": {
+      "visible": false
+    }
+  },
   "System Joysticks": {
     "window": {
       "enabled": false

src/main/deploy/pathplanner/paths/BlueBasChercher.path

@@ -11,7 +11,7 @@
         "x": 4.699180327868851,
         "y": 2.1728995901639334
       },
-      "isLocked": false,
+      "isLocked": true,
       "linkedName": null
     },
     {
@@ -27,7 +27,7 @@
         "x": 2.853313965378558,
         "y": 1.5363479888253109
       },
-      "isLocked": false,
+      "isLocked": true,
       "linkedName": null
     },
     {
@@ -40,7 +40,7 @@
         "y": 1.3902362024139756
       },
       "nextControl": null,
-      "isLocked": false,
+      "isLocked": true,
       "linkedName": null
     }
   ],

src/main/java/frc/robot/RobotContainer.java

@@ -14,7 +14,6 @@ import com.pathplanner.lib.auto.AutoBuilder;
 
 import edu.wpi.first.cameraserver.CameraServer;
 import edu.wpi.first.math.MathUtil;
-import edu.wpi.first.math.geometry.Pose2d;
 import edu.wpi.first.networktables.GenericEntry;
 import edu.wpi.first.wpilibj.shuffleboard.BuiltInLayouts;
 import edu.wpi.first.wpilibj.shuffleboard.BuiltInWidgets;
@@ -23,12 +22,9 @@ import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardLayout;
 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.ParallelCommandGroup;
 import edu.wpi.first.wpilibj2.command.RunCommand;
-import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
 import frc.robot.TunerConstants.TunerConstants;
-import frc.robot.commands.RainBow;
 import frc.robot.commands.reset;
 import frc.robot.commands.Elevateur.Depart;
 import frc.robot.commands.Elevateur.ElevateurManuel;
@@ -96,7 +92,6 @@ public class RobotContainer {
   Bougie bougie = new Bougie();
   Limelight3G limelight3g = new Limelight3G();
   Limelight3 limelight3 = new Limelight3();
-  Pose2d pose = new Pose2d();
   Requin requin = new Requin();
   CorailAspir corailAspir = new CorailAspir(pince, bougie);
   public RobotContainer() {

src/main/java/frc/robot/commands/Limelight/AprilTag3.java

@@ -76,6 +76,7 @@ public class AprilTag3 extends Command {
         withRotationalRate(tx/20).
         withVelocityX(2-botx).
         withVelocityY(2-boty));
+
       }
   }
   else{

src/main/java/frc/robot/subsystems/CommandSwerveDrivetrain.java

@@ -1,8 +1,8 @@
 package frc.robot.subsystems;
 
+
 import java.util.function.Supplier;
 import com.ctre.phoenix6.Utils;
-import com.ctre.phoenix6.hardware.Pigeon2;
 import com.ctre.phoenix6.swerve.SwerveDrivetrainConstants;
 import com.ctre.phoenix6.swerve.SwerveModuleConstants;
 import com.ctre.phoenix6.swerve.SwerveRequest;
@@ -11,10 +11,9 @@ import com.pathplanner.lib.config.PIDConstants;
 import com.pathplanner.lib.config.RobotConfig;
 import com.pathplanner.lib.controllers.PPHolonomicDriveController;
 import edu.wpi.first.math.Matrix;
-import edu.wpi.first.math.estimator.SwerveDrivePoseEstimator;
-import edu.wpi.first.math.geometry.Pose2d;
 import edu.wpi.first.math.geometry.Rotation2d;
-import edu.wpi.first.math.kinematics.SwerveDriveOdometry;
+import edu.wpi.first.math.geometry.Translation2d;
+import edu.wpi.first.math.kinematics.ChassisSpeeds;
 import edu.wpi.first.math.numbers.N1;
 import edu.wpi.first.math.numbers.N3;
 import edu.wpi.first.wpilibj.DriverStation;
@@ -34,61 +33,112 @@ public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Su
     private static final double kSimLoopPeriod = 0.005; // 5 ms
     private Notifier m_simNotifier = null;
     private double m_lastSimTime;
-    private Pigeon2 pigeon2 = new Pigeon2(13);
     /* Blue alliance sees forward as 0 degrees (toward red alliance wall) */
     private static final Rotation2d kBlueAlliancePerspectiveRotation = Rotation2d.kZero;
     /* Red alliance sees forward as 180 degrees (toward blue alliance wall) */
     private static final Rotation2d kRedAlliancePerspectiveRotation = Rotation2d.k180deg;
     /* Keep track if we've ever applied the operator perspective before or not */
     private boolean m_hasAppliedOperatorPerspective = false;
-    private SwerveDriveOdometry odometry;
-    private SwerveDrivePoseEstimator poseEstimator;
     private final SwerveRequest.ApplyRobotSpeeds m_pathApplyRobotSpeeds = new SwerveRequest.ApplyRobotSpeeds();
-
+// Position des modules par rapport au centre du robot
+Translation2d frontLeftLocation  = new Translation2d(+0.3, +0.3);
+Translation2d frontRightLocation = new Translation2d(+0.3, -0.3);
+Translation2d backLeftLocation   = new Translation2d(-0.3, +0.3);
+Translation2d backRightLocation  = new Translation2d(-0.3, -0.3);
     /* SysId routine for characterizing translation. This is used to find PID gains for the drive motors. */
-    private final SwerveRequest.SysIdSwerveTranslation m_translationCharacterization = new SwerveRequest.SysIdSwerveTranslation();
-    private final SwerveRequest.SysIdSwerveSteerGains m_steerCharacterization = new SwerveRequest.SysIdSwerveSteerGains();
-    private final SwerveRequest.SysIdSwerveRotation m_rotationCharacterization = new SwerveRequest.SysIdSwerveRotation();
-    public void resetPose(Pose2d newPose) {
-        getState().Pose = newPose; // ou appelle setPose(newPose) selon ton code
-    }//ca marche pas
     private void configureAutoBuilder() {
-        try {
+        RobotConfig config;
-            var config = RobotConfig.fromGUISettings();
+        System.out.println("avant le mode auto est genere");
-            AutoBuilder.configure(  
+        try{
-                () -> getState().Pose,   // Supplier of current robot pose
+        config = RobotConfig.fromGUISettings();
-                this::resetOdometry,         // Consumer for seeding pose against auto
+        // Configure AutoBuilder last
-                () -> getState().Speeds, // Supplier of current robot speeds
+        AutoBuilder.configure(
-                
+                () -> getState().Pose, // Robot pose supplier
-                // Consumer of ChassisSpeeds and feedforwards to drive the robot
+                (pose) -> {
+                  System.out.println("reset Pose " + pose.getX() + " " + pose.getY());
+                  this.resetPose(pose);
+                  this.resetPose(pose);
+                }, // Method to reset odometry (will be called if your auto has a starting pose)
+                () -> getState().Speeds,
                 (speeds, feedforwards) -> setControl(
-                    m_pathApplyRobotSpeeds.withSpeeds(speeds)
+                    m_pathApplyRobotSpeeds.withSpeeds(ChassisSpeeds.discretize(speeds, 0.020))
-                        .withWheelForceFeedforwardsY(feedforwards.robotRelativeForcesXNewtons())
+                        .withWheelForceFeedforwardsX(feedforwards.robotRelativeForcesXNewtons())
-                        .withWheelForceFeedforwardsX(feedforwards.robotRelativeForcesYNewtons())
+                        .withWheelForceFeedforwardsY(feedforwards.robotRelativeForcesYNewtons())
+                ), // ChassisSpeeds supplier. MUST BE ROBOT RELATIVE
+                //(speeds, feedforwards) -> this.applyRequest(()-> driveAuto.withSpeeds(speeds)), // Method that will drive the robot given ROBOT RELATIVE ChassisSpeeds. Also optionally outputs individual module feedforwards
+                new PPHolonomicDriveController( // PPHolonomicController is the built in path following controller for holonomic drive trains
+                        new PIDConstants(5.0, 0.0, 0.0), // Translation PID constants
+                        new PIDConstants(5.0, 0.0, 0.0) // Rotation PID constants
                 ),
-                new PPHolonomicDriveController(
+                config, // The robot configuration
-                    // PID constants for translation
+                () -> {
-                    new PIDConstants(5, 0, 0),
+                  // Boolean supplier that controls when the path will be mirrored for the red alliance
-                    // // PID constants for rotation
+                  // This will flip the path being followed to the red side of the field.
-                    // new PIDConstants(7.9735, 0, 0.038499)
+                  // THE ORIGIN WILL REMAIN ON THE BLUE SIDE
-                    // PID constants for rotation
+    
-                    new PIDConstants(5,0,0)
+                  var alliance = DriverStation.getAlliance();
-                ),
+                  if (alliance.isPresent()) {
-                config,
+                    return alliance.get() == DriverStation.Alliance.Red;
-                // Assume the path needs to be flipped for Red vs Blue, this is normally the case
+                  }
-                () -> DriverStation.getAlliance().orElse(Alliance.Blue) == Alliance.Red,
+                  return false;
-                this // Subsystem for requirements
+                },
+                this // Reference to this subsystem to set requirements
+        );
+                System.out.println("le mode auto est genere");
+            }
+        catch (Exception e) {
+            // Handle exception as needed
+            e.printStackTrace();
+            System.out.println("le mode auto ne marche pas");
+          }
+    //     try {
+    //         var config = RobotConfig.fromGUISettings();
+    //         AutoBuilder.configure(  
+    //             () -> getState().Pose,   // Supplier of current robot pose
+    //             this::resetPose,         // Consumer for seeding pose against auto
+    //             () -> getState().Speeds, // Supplier of current robot speeds
                 
-            );
+    //             // Consumer of ChassisSpeeds and feedforwards to drive the robot
-        } catch (Exception ex) {
+    //             (speeds, feedforwards) -> setControl(
-            DriverStation.reportError("Failed to load PathPlanner config and configure AutoBuilder", ex.getStackTrace());
+    //                 m_pathApplyRobotSpeeds.withSpeeds(speeds)
-        }
+    //                     .withWheelForceFeedforwardsY(feedforwards.robotRelativeForcesXNewtons())
-          PPHolonomicDriveController.overrideRotationFeedback(()->{
+    //                     .withWheelForceFeedforwardsX(feedforwards.robotRelativeForcesYNewtons())
-             return 0;
+    //             ),
-          });  
+    //             new PPHolonomicDriveController(
-        }
+    //                 // PID constants for translation
-        
+    //                 new PIDConstants(5, 0, 0),
+    //                 // // PID constants for rotation
+    //                 // new PIDConstants(7.9735, 0, 0.038499)
+    //                 // PID constants for rotation
+    //                 new PIDConstants(5,0,0)
+    //             ),
+    //             config,
+    //             // Assume the path needs to be flipped for Red vs Blue, this is normally the case
+    //             () -> DriverStation.getAlliance().orElse(Alliance.Blue) == Alliance.Red,
+    //             this // Subsystem for requirements
+                
+    //         );
+    //     } catch (Exception ex) {
+    //         DriverStation.reportError("Failed to load PathPlanner config and configure AutoBuilder", ex.getStackTrace());
+    //     }
+    //       PPHolonomicDriveController.overrideRotationFeedback(()->{
+    //          return 0;
+    //       });  
+         }
+//         public void driveRobotRelative(ChassisSpeeds speeds) {
 
+//     // Convertir robot-relative ChassisSpeeds → SwerveModuleStates
+//     SwerveModuleState[] states = kinematics.toSwerveModuleStates(speeds);
+
+//     // Limitations des roues
+//     SwerveDriveKinematics.desaturateWheelSpeeds(states, TunerConstants.kSpeedAt12Volts);
+
+//     // Envoi aux modules
+//     frontLeft.setDesiredState(states[0]);
+//     frontRight.setDesiredState(states[1]);
+//     backLeft.setDesiredState(states[2]);
+//     backRight.setDesiredState(states[3]);
+// }
     /**
      * Constructs a CTRE SwerveDrivetrain using the specified constants.
      * <p>
@@ -107,27 +157,7 @@ public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Su
         if (Utils.isSimulation()) {
             startSimThread();
         }
-        configureAutoBuilder();
+    configureAutoBuilder();
-    }
-    // public void resetPose(Pose2d pose) {
-    // // Reset gyro to match starting rotation
-    // pigeon2.setYaw(pose.getRotation().getDegrees());
-
-    // // Reset odometry
-    // m_odometry.resetPosition(
-    //     pose.getRotation(),
-    //     getState().ModulePositions,
-    //     pose
-    // );
-    //}
-    public void resetOdometry(Pose2d pose) {
-        odometry = new SwerveDriveOdometry(getKinematics(), kBlueAlliancePerspectiveRotation, getState().ModulePositions);
-        odometry.resetPosition(
-            getPigeon2().getRotation2d(),
-            getState().ModulePositions,
-            pose
-        );
-        this.getPigeon2().setYaw(pose.getRotation().getDegrees());
     }
     /**
      * Constructs a CTRE SwerveDrivetrain using the specified constants.
@@ -151,7 +181,7 @@ public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Su
         if (Utils.isSimulation()) {
             startSimThread();
         }
-     //   configureAutoBuilder();
+        configureAutoBuilder();
     }
 
     /**

vendordeps/PathplannerLib-2025.2.7.json

@@ -1,7 +1,7 @@
 {
-    "fileName": "PathplannerLib-2025.2.3.json",
+    "fileName": "PathplannerLib-2025.2.7.json",
     "name": "PathplannerLib",
-    "version": "2025.2.3",
+    "version": "2025.2.7",
     "uuid": "1b42324f-17c6-4875-8e77-1c312bc8c786",
     "frcYear": "2025",
     "mavenUrls": [
@@ -12,7 +12,7 @@
         {
             "groupId": "com.pathplanner.lib",
             "artifactId": "PathplannerLib-java",
-            "version": "2025.2.3"
+            "version": "2025.2.7"
         }
     ],
     "jniDependencies": [],
@@ -20,7 +20,7 @@
         {
             "groupId": "com.pathplanner.lib",
             "artifactId": "PathplannerLib-cpp",
-            "version": "2025.2.3",
+            "version": "2025.2.7",
             "libName": "PathplannerLib",
             "headerClassifier": "headers",
             "sharedLibrary": false,

vendordeps/Phoenix6-frc2025-latest.json

@@ -1,7 +1,7 @@
 {
-    "fileName": "Phoenix6-25.2.2.json",
+    "fileName": "Phoenix6-frc2025-latest.json",
     "name": "CTRE-Phoenix (v6)",
-    "version": "25.2.2",
+    "version": "25.4.0",
     "frcYear": "2025",
     "uuid": "e995de00-2c64-4df5-8831-c1441420ff19",
     "mavenUrls": [
@@ -19,14 +19,14 @@
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "wpiapi-java",
-            "version": "25.2.2"
+            "version": "25.4.0"
         }
     ],
     "jniDependencies": [
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "api-cpp",
-            "version": "25.2.2",
+            "version": "25.4.0",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -40,7 +40,7 @@
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "tools",
-            "version": "25.2.2",
+            "version": "25.4.0",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -54,7 +54,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "api-cpp-sim",
-            "version": "25.2.2",
+            "version": "25.4.0",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -68,7 +68,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "tools-sim",
-            "version": "25.2.2",
+            "version": "25.4.0",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -82,7 +82,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simTalonSRX",
-            "version": "25.2.2",
+            "version": "25.4.0",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -96,7 +96,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simVictorSPX",
-            "version": "25.2.2",
+            "version": "25.4.0",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -110,7 +110,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simPigeonIMU",
-            "version": "25.2.2",
+            "version": "25.4.0",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -124,7 +124,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simCANCoder",
-            "version": "25.2.2",
+            "version": "25.4.0",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -138,7 +138,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProTalonFX",
-            "version": "25.2.2",
+            "version": "25.4.0",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -152,7 +152,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProTalonFXS",
-            "version": "25.2.2",
+            "version": "25.4.0",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -166,7 +166,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANcoder",
-            "version": "25.2.2",
+            "version": "25.4.0",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -180,7 +180,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProPigeon2",
-            "version": "25.2.2",
+            "version": "25.4.0",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -194,7 +194,35 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANrange",
-            "version": "25.2.2",
+            "version": "25.4.0",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simProCANdi",
+            "version": "25.4.0",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simProCANdle",
+            "version": "25.4.0",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -210,7 +238,7 @@
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "wpiapi-cpp",
-            "version": "25.2.2",
+            "version": "25.4.0",
             "libName": "CTRE_Phoenix6_WPI",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -226,7 +254,7 @@
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "tools",
-            "version": "25.2.2",
+            "version": "25.4.0",
             "libName": "CTRE_PhoenixTools",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -242,7 +270,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "wpiapi-cpp-sim",
-            "version": "25.2.2",
+            "version": "25.4.0",
             "libName": "CTRE_Phoenix6_WPISim",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -258,7 +286,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "tools-sim",
-            "version": "25.2.2",
+            "version": "25.4.0",
             "libName": "CTRE_PhoenixTools_Sim",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -274,7 +302,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simTalonSRX",
-            "version": "25.2.2",
+            "version": "25.4.0",
             "libName": "CTRE_SimTalonSRX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -290,7 +318,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simVictorSPX",
-            "version": "25.2.2",
+            "version": "25.4.0",
             "libName": "CTRE_SimVictorSPX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -306,7 +334,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simPigeonIMU",
-            "version": "25.2.2",
+            "version": "25.4.0",
             "libName": "CTRE_SimPigeonIMU",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -322,7 +350,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simCANCoder",
-            "version": "25.2.2",
+            "version": "25.4.0",
             "libName": "CTRE_SimCANCoder",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -338,7 +366,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProTalonFX",
-            "version": "25.2.2",
+            "version": "25.4.0",
             "libName": "CTRE_SimProTalonFX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -354,7 +382,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProTalonFXS",
-            "version": "25.2.2",
+            "version": "25.4.0",
             "libName": "CTRE_SimProTalonFXS",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -370,7 +398,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANcoder",
-            "version": "25.2.2",
+            "version": "25.4.0",
             "libName": "CTRE_SimProCANcoder",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -386,7 +414,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProPigeon2",
-            "version": "25.2.2",
+            "version": "25.4.0",
             "libName": "CTRE_SimProPigeon2",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -402,7 +430,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANrange",
-            "version": "25.2.2",
+            "version": "25.4.0",
             "libName": "CTRE_SimProCANrange",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -414,6 +442,38 @@
                 "osxuniversal"
             ],
             "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simProCANdi",
+            "version": "25.4.0",
+            "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": "25.4.0",
+            "libName": "CTRE_SimProCANdle",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
         }
     ]
 }