diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java
index 9eb09008..a4cc709c 100644
--- a/src/main/java/frc/robot/Robot.java
+++ b/src/main/java/frc/robot/Robot.java
@@ -67,6 +67,7 @@
 import frc.robot.subsystems.swerve.SwerveSubsystem;
 import frc.robot.subsystems.swerve.odometry.PhoenixOdometryThread;
 import frc.robot.utils.CommandXboxControllerSubsystem;
+import frc.robot.utils.FieldUtils;
 import frc.robot.utils.FieldUtils.ClimbTargets;
 import frc.robot.utils.FieldUtils.FeedTargets;
 import frc.robot.utils.FieldUtils.TrenchPoses;
@@ -149,7 +150,7 @@ public enum RobotEdition {
    * This is for when we're testing shot and extension numbers and should be FALSE once bring up is
    * complete
    */
-  public static final boolean TUNING_MODE = false;
+  public static final boolean TUNING_MODE = true;
 
   public boolean hasZeroedSinceStartup = false;
 
@@ -762,6 +763,9 @@ private void addAutos() {
     autoChooser.addOption("Right Bump Outpost Climb", autos.getRightBumpOutpostClimbAuto());
     autoChooser.addOption("Right Bump Outpost Center", autos.getRightBumpOutpostCenterAuto());
 
+    autoChooser.addOption("Flywheel Sysid", shooter.runFlywheelSysid());
+    autoChooser.addOption("Hood Sysid", shooter.runHoodSysid());
+
     haveAutosGenerated = true;
     System.out.println("Done generating autos");
   }
@@ -849,6 +853,13 @@ public void robotPeriodic() {
     Logger.recordOutput("Turret/out of range", AutoAim.targetInTurretDeadzone());
 
     noLogStickAlert.set(!directory.exists());
+
+    Logger.recordOutput(
+        "Distance to hub",
+        shooter
+            .getTurretPose(swerve.getPose())
+            .getTranslation()
+            .getDistance(FieldUtils.getCurrentHubTranslation()));
   }
 
   public void updateAlerts() {
diff --git a/src/main/java/frc/robot/Superstructure.java b/src/main/java/frc/robot/Superstructure.java
index f9fdb6b4..0eb18005 100644
--- a/src/main/java/frc/robot/Superstructure.java
+++ b/src/main/java/frc/robot/Superstructure.java
@@ -531,6 +531,7 @@ private void addCommands() {
         intake.restExtended(),
         indexer.rest(),
         shooter.score(
+            // shooter.testShot(
             swerve::getPose,
             () ->
                 AutoAim.getCompensatedSOTMShotData(
@@ -558,6 +559,7 @@ private void addCommands() {
                             : AutoAim.COMP_HUB_SHOT_TREE)
                     .flywheelVelocityRotPerSec()),
         shooter.score(
+            // shooter.testShot(
             swerve::getPose,
             () ->
                 AutoAim.getCompensatedSOTMShotData(
diff --git a/src/main/java/frc/robot/subsystems/shooter/Shooter.java b/src/main/java/frc/robot/subsystems/shooter/Shooter.java
index 6b9f01a4..42bbcea8 100644
--- a/src/main/java/frc/robot/subsystems/shooter/Shooter.java
+++ b/src/main/java/frc/robot/subsystems/shooter/Shooter.java
@@ -96,4 +96,17 @@ public default Command currentZeroTurretAgainstForwardHardstop() {
   public default Command stopTurret() {
     return Commands.none();
   }
+
+  public default Command testShot(
+      Supplier<Pose2d> robotPoseSupplier, Supplier<ChassisSpeeds> chassisSpeedsSupplier) {
+    return Commands.none();
+  }
+
+  public default Command runFlywheelSysid() {
+    return Commands.none();
+  }
+
+  public default Command runHoodSysid() {
+    return Commands.none();
+  }
 }
diff --git a/src/main/java/frc/robot/subsystems/shooter/TurretSubsystem.java b/src/main/java/frc/robot/subsystems/shooter/TurretSubsystem.java
index b873e0e6..a5506166 100644
--- a/src/main/java/frc/robot/subsystems/shooter/TurretSubsystem.java
+++ b/src/main/java/frc/robot/subsystems/shooter/TurretSubsystem.java
@@ -4,6 +4,8 @@
 
 package frc.robot.subsystems.shooter;
 
+import static edu.wpi.first.units.Units.Volts;
+
 import com.ctre.phoenix6.configs.CANcoderConfiguration;
 import com.ctre.phoenix6.configs.TalonFXConfiguration;
 import com.ctre.phoenix6.signals.GravityTypeValue;
@@ -23,9 +25,14 @@
 import edu.wpi.first.wpilibj2.command.Commands;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import edu.wpi.first.wpilibj2.command.button.Trigger;
+import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine;
+import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine.Config;
+import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine.Direction;
+import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine.Mechanism;
 import frc.robot.components.cancoder.CANcoderIO;
 import frc.robot.components.cancoder.CANcoderIOInputsAutoLogged;
 import frc.robot.utils.FieldUtils;
+import frc.robot.utils.LoggedTunableNumber;
 import frc.robot.utils.autoaim.AutoAim;
 import frc.robot.utils.autoaim.InterpolatingShotTree.ShotData;
 import java.util.function.BooleanSupplier;
@@ -39,10 +46,10 @@ public class TurretSubsystem extends SubsystemBase implements Shooter {
   /** Creates a new TurretSubsystem. */
   public static final double HOOD_GEAR_RATIO = 33.8671875; // 58.96875;
 
-  public static final double FLYWHEEL_GEAR_RATIO = 0.84615384615;
+  public static final double FLYWHEEL_GEAR_RATIO = 20.0 / 18.0; // 0.84615384615;
 
-  public static final Rotation2d HOOD_MAX_ANGLE = Rotation2d.fromDegrees(73);
-  public static final Rotation2d HOOD_MIN_ANGLE = Rotation2d.fromDegrees(23.16);
+  public static final Rotation2d HOOD_MAX_ANGLE = Rotation2d.fromDegrees(56);
+  public static final Rotation2d HOOD_MIN_ANGLE = Rotation2d.fromDegrees(11.33);
   public static final double HOOD_CURRENT_ZERO_THRESHOLD = 30.0;
   public static final double TURRET_CURRENT_ZERO_THRESHOLD = 30.0; // TODO find
 
@@ -96,6 +103,24 @@ public class TurretSubsystem extends SubsystemBase implements Shooter {
 
   private LinearFilter currentFilter = LinearFilter.movingAverage(10);
 
+  private SysIdRoutine hoodSysid =
+      new SysIdRoutine(
+          new Config(
+              null,
+              Volts.of(5),
+              null,
+              (state) -> Logger.recordOutput("Shooter/Hood/SysID State", state.toString())),
+          new Mechanism((voltage) -> hoodIO.setHoodVoltage(voltage.in(Volts)), null, this));
+
+  private SysIdRoutine flywheelSysid =
+      new SysIdRoutine(
+          new Config(
+              null,
+              null,
+              null,
+              (state) -> Logger.recordOutput("Shooter/Flywheel/SysID State", state.toString())),
+          new Mechanism((voltage) -> flywheelIO.setFlywheelVoltage(voltage.in(Volts)), null, this));
+
   private static final Alert cancoder24tDisconnectedAlert =
       new Alert("24T Cancoder disconnected!", AlertType.kError);
   private static final Alert cancoder26tDisconnectedAlert =
@@ -113,6 +138,10 @@ public class TurretSubsystem extends SubsystemBase implements Shooter {
           "Turret may have gone past hardstop!! Reoffset cancoders + min/max position",
           AlertType.kError);
 
+  private LoggedTunableNumber testDegrees =
+      new LoggedTunableNumber("Shooter/Test Hood Degrees", 50.0);
+  private LoggedTunableNumber testVelocity = new LoggedTunableNumber("Shooter/Test Velocity", 50.0);
+
   public TurretSubsystem(
       FlywheelIO flywheelIO,
       HoodIO hoodIO,
@@ -198,6 +227,20 @@ public Command feed(
         });
   }
 
+  public Command testShot(
+      Supplier<Pose2d> robotPoseSupplier, Supplier<ChassisSpeeds> chassisSpeedsSupplier) {
+    return this.run(
+        () -> {
+          hoodIO.setHoodPosition(Rotation2d.fromDegrees(testDegrees.get()));
+          flywheelIO.setMotionProfiledFlywheelVelocity(testVelocity.get());
+          turretIO.setTurretPosition(
+              AutoAim.getTurretHubTargetRotation(
+                  FieldUtils.getCurrentHubTranslation(),
+                  robotPoseSupplier.get(),
+                  chassisSpeedsSupplier.get()));
+        });
+  }
+
   @Override
   public Command rest(
       Supplier<Pose2d> robotPoseSupplier,
@@ -446,10 +489,10 @@ public static TalonFXConfiguration getFlywheelConfig() {
     config.Feedback.SensorToMechanismRatio = TurretSubsystem.FLYWHEEL_GEAR_RATIO;
 
     // slot 0 is for motion profiled velocity
-    config.Slot0.kS = 0.79522; // 0.63933;
-    config.Slot0.kV = 0.11087; // 0.11582;
-    config.Slot0.kA = 0.026101; // 0.020809;
-    config.Slot0.kP = 0.6;
+    config.Slot0.kS = 0.33706; // 0.63933;
+    config.Slot0.kV = 0.13893; // 0.11582;
+    config.Slot0.kA = 0.030026; // 0.020809;
+    config.Slot0.kP = 0.4;
     config.Slot0.kD = 0;
 
     // slot 1 is for torque current
@@ -480,7 +523,7 @@ public static TalonFXConfiguration getHoodConfig() {
     config.Slot0.GravityType = GravityTypeValue.Arm_Cosine;
 
     config.Slot0.kS = 0.57613;
-    config.Slot0.kG = 0.35748;
+    config.Slot0.kG = 0.55748;
     config.Slot0.kV = 5.4081;
     config.Slot0.kA = 0.14829;
     config.Slot0.kP = 260.0;
@@ -538,4 +581,42 @@ public static CANcoderConfiguration getCancoder26tConfigs() {
 
     return config;
   }
+
+  @Override
+  public Command runHoodSysid() {
+    return Commands.sequence(
+        hoodSysid
+            .quasistatic(Direction.kForward)
+            .until(
+                () ->
+                    hoodInputs.hoodPositionRotations.getDegrees()
+                        > (HOOD_MAX_ANGLE.getDegrees() - 5)), // Stop before endstop
+        hoodSysid
+            .quasistatic(Direction.kReverse)
+            .until(
+                () ->
+                    hoodInputs.hoodPositionRotations.getDegrees()
+                        < (HOOD_MIN_ANGLE.getDegrees() + 5)),
+        hoodSysid
+            .dynamic(Direction.kForward)
+            .until(
+                () ->
+                    hoodInputs.hoodPositionRotations.getDegrees()
+                        > (HOOD_MAX_ANGLE.getDegrees() - 5)),
+        hoodSysid
+            .dynamic(Direction.kReverse)
+            .until(
+                () ->
+                    hoodInputs.hoodPositionRotations.getDegrees()
+                        < (HOOD_MIN_ANGLE.getDegrees() + 5)));
+  }
+
+  @Override
+  public Command runFlywheelSysid() {
+    return Commands.sequence(
+        flywheelSysid.quasistatic(Direction.kForward),
+        flywheelSysid.quasistatic(Direction.kReverse),
+        flywheelSysid.dynamic(Direction.kForward),
+        flywheelSysid.dynamic(Direction.kReverse));
+  }
 }
diff --git a/src/main/java/frc/robot/utils/autoaim/AutoAim.java b/src/main/java/frc/robot/utils/autoaim/AutoAim.java
index e461d583..299ba2b0 100644
--- a/src/main/java/frc/robot/utils/autoaim/AutoAim.java
+++ b/src/main/java/frc/robot/utils/autoaim/AutoAim.java
@@ -58,77 +58,97 @@ public class AutoAim {
 
   public static final InterpolatingShotTree COMP_HUB_SHOT_TREE = new InterpolatingShotTree();
 
-  // TODO update tof
-  static { // For hub shot tree
-    // TODO min shot
+  static {
     COMP_HUB_SHOT_TREE.put(
-        Units.inchesToMeters(24 + 17),
-        new ShotData(TurretSubsystem.HOOD_MIN_ANGLE, 40 - 6 + 3, 1.04));
-
+        1.716849,
+        new ShotData(
+            Rotation2d.fromDegrees(23 - 13.16),
+            30 * 0.84615384615 / TurretSubsystem.FLYWHEEL_GEAR_RATIO + 1,
+            0.8));
     COMP_HUB_SHOT_TREE.put(
-        Units.inchesToMeters(24 * Math.sqrt(2) + 6 + 12),
-        new ShotData(Rotation2d.fromDegrees(25), 35 - 6 + 3, 1.14));
-
+        2.017596,
+        new ShotData(
+            Rotation2d.fromDegrees(23 - 13.16),
+            33 * 0.84615384615 / TurretSubsystem.FLYWHEEL_GEAR_RATIO + 1,
+            0.9));
     COMP_HUB_SHOT_TREE.put(
-        Units.inchesToMeters(24 * Math.sqrt(2) + 6 + 3 * 12),
+        2.423868,
         new ShotData(
-            Rotation2d.fromDegrees(26),
-            37 - 6 + 3
-            // - 6
-            ,
-            1.10));
-
+            Rotation2d.fromDegrees(25 - 13.16),
+            35 * 0.84615384615 / TurretSubsystem.FLYWHEEL_GEAR_RATIO + 1,
+            1.1));
     COMP_HUB_SHOT_TREE.put(
-        Units.inchesToMeters(24 * Math.sqrt(2) + 6 + 5 * 12),
+        2.664198,
         new ShotData(
-            Rotation2d.fromDegrees(30),
-            37 - 6 + 3
-            // - 6
-            ,
-            1.09));
-
+            Rotation2d.fromDegrees(26 - 13.16),
+            36 * 0.84615384615 / TurretSubsystem.FLYWHEEL_GEAR_RATIO + 1,
+            1.2));
     COMP_HUB_SHOT_TREE.put(
-        Units.inchesToMeters(24 * Math.sqrt(2) + 6 + 7 * 12),
+        2.903207,
         new ShotData(
-            Rotation2d.fromDegrees(33),
-            37 - 6 + 3
-            // - 6
-            ,
-            1.15));
-
+            Rotation2d.fromDegrees(30 - 13.16),
+            35 * 0.84615384615 / TurretSubsystem.FLYWHEEL_GEAR_RATIO + 1,
+            1.2));
     COMP_HUB_SHOT_TREE.put(
-        Units.inchesToMeters(24 * Math.sqrt(2) + 6 + 9 * 12),
+        3.156802,
         new ShotData(
-            Rotation2d.fromDegrees(36),
-            38 - 6 + 3
-            // - 6
-            ,
+            Rotation2d.fromDegrees(32 - 13.16),
+            35 * 0.84615384615 / TurretSubsystem.FLYWHEEL_GEAR_RATIO + 1,
             1.23));
-
     COMP_HUB_SHOT_TREE.put(
-        Units.inchesToMeters(24 * Math.sqrt(2) + 6 + 11 * 12),
+        3.437033,
         new ShotData(
-            Rotation2d.fromDegrees(38),
-            39 - 6 + 3
-            // - 6
-            ,
-            1.33));
+            Rotation2d.fromDegrees(34 - 13.16),
+            35 * 0.84615384615 / TurretSubsystem.FLYWHEEL_GEAR_RATIO + 1,
+            1.25));
     COMP_HUB_SHOT_TREE.put(
-        Units.inchesToMeters(24 * Math.sqrt(2) + 6 + 13 * 12),
+        3.611052,
+        new ShotData(
+            Rotation2d.fromDegrees(38 - 13.16),
+            34 * 0.84615384615 / TurretSubsystem.FLYWHEEL_GEAR_RATIO + 1,
+            1.24));
+    COMP_HUB_SHOT_TREE.put(
+        3.773999,
+        new ShotData(
+            Rotation2d.fromDegrees(39 - 13.16),
+            34 * 0.84615384615 / TurretSubsystem.FLYWHEEL_GEAR_RATIO + 1,
+            1.21));
+    COMP_HUB_SHOT_TREE.put(
+        3.899275,
+        new ShotData(
+            Rotation2d.fromDegrees(40 - 13.16),
+            34 * 0.84615384615 / TurretSubsystem.FLYWHEEL_GEAR_RATIO + 1,
+            1.2));
+    COMP_HUB_SHOT_TREE.put(
+        4.138058,
+        new ShotData(
+            Rotation2d.fromDegrees(41 - 13.16),
+            34 * 0.84615384615 / TurretSubsystem.FLYWHEEL_GEAR_RATIO + 1,
+            1.13));
+    COMP_HUB_SHOT_TREE.put(
+        4.602258,
+        new ShotData(
+            Rotation2d.fromDegrees(43 - 13.16),
+            34.5 * 0.84615384615 / TurretSubsystem.FLYWHEEL_GEAR_RATIO + 1,
+            1.15));
+    COMP_HUB_SHOT_TREE.put(
+        4.893493,
+        new ShotData(
+            Rotation2d.fromDegrees(45 - 13.16),
+            35 * 0.84615384615 / TurretSubsystem.FLYWHEEL_GEAR_RATIO + 1,
+            1.2));
+    COMP_HUB_SHOT_TREE.put(
+        5.225402,
         new ShotData(
-            Rotation2d.fromDegrees(39),
-            40.5 - 6 + 3
-            // - 6
-            ,
-            1.35));
+            Rotation2d.fromDegrees(47 - 13.16),
+            35 * 0.84615384615 / TurretSubsystem.FLYWHEEL_GEAR_RATIO + 1,
+            1.2));
     COMP_HUB_SHOT_TREE.put(
-        Units.inchesToMeters(24 * Math.sqrt(2) + 6 + 13 * 12 + 6),
+        5.584793,
         new ShotData(
-            Rotation2d.fromDegrees(39),
-            40.5 - 6 + 3 + 2
-            // - 6
-            ,
-            1.35));
+            Rotation2d.fromDegrees(49 - 13.16),
+            35.5 * 0.84615384615 / TurretSubsystem.FLYWHEEL_GEAR_RATIO + 1,
+            1.17));
   }
 
   // Ig we'll see if we need more than 1 feed shot tree
diff --git a/vendordeps/AdvantageKit.json b/vendordeps/AdvantageKit.json
index 2faa4db8..469ae542 100644
--- a/vendordeps/AdvantageKit.json
+++ b/vendordeps/AdvantageKit.json
@@ -1,7 +1,7 @@
 {
   "fileName": "AdvantageKit.json",
   "name": "AdvantageKit",
-  "version": "26.0.0",
+  "version": "26.0.2",
   "uuid": "d820cc26-74e3-11ec-90d6-0242ac120003",
   "frcYear": "2026",
   "mavenUrls": [
@@ -12,14 +12,14 @@
     {
       "groupId": "org.littletonrobotics.akit",
       "artifactId": "akit-java",
-      "version": "26.0.0"
+      "version": "26.0.2"
     }
   ],
   "jniDependencies": [
     {
       "groupId": "org.littletonrobotics.akit",
       "artifactId": "akit-wpilibio",
-      "version": "26.0.0",
+      "version": "26.0.2",
       "skipInvalidPlatforms": false,
       "isJar": false,
       "validPlatforms": [
diff --git a/vendordeps/ChoreoLib2026.json b/vendordeps/ChoreoLib2026.json
index cf7e7cf3..493c4ad8 100644
--- a/vendordeps/ChoreoLib2026.json
+++ b/vendordeps/ChoreoLib2026.json
@@ -1,7 +1,7 @@
 {
   "fileName": "ChoreoLib2026.json",
   "name": "ChoreoLib",
-  "version": "2026.0.1",
+  "version": "2026.0.2",
   "uuid": "b5e23f0a-dac9-4ad2-8dd6-02767c520aca",
   "frcYear": "2026",
   "mavenUrls": [
@@ -13,7 +13,7 @@
     {
       "groupId": "choreo",
       "artifactId": "ChoreoLib-java",
-      "version": "2026.0.1"
+      "version": "2026.0.2"
     },
     {
       "groupId": "com.google.code.gson",
@@ -26,7 +26,7 @@
     {
       "groupId": "choreo",
       "artifactId": "ChoreoLib-cpp",
-      "version": "2026.0.1",
+      "version": "2026.0.2",
       "libName": "ChoreoLib",
       "headerClassifier": "headers",
       "sharedLibrary": false,
diff --git a/vendordeps/Phoenix6-frc2026-latest.json b/vendordeps/Phoenix6-frc2026-latest.json
index 328a963c..056f5fbc 100644
--- a/vendordeps/Phoenix6-frc2026-latest.json
+++ b/vendordeps/Phoenix6-frc2026-latest.json
@@ -1,7 +1,7 @@
 {
   "fileName": "Phoenix6-frc2026-latest.json",
   "name": "CTRE-Phoenix (v6)",
-  "version": "26.1.0",
+  "version": "26.1.2",
   "frcYear": "2026",
   "uuid": "e995de00-2c64-4df5-8831-c1441420ff19",
   "mavenUrls": [
@@ -19,14 +19,14 @@
     {
       "groupId": "com.ctre.phoenix6",
       "artifactId": "wpiapi-java",
-      "version": "26.1.0"
+      "version": "26.1.2"
     }
   ],
   "jniDependencies": [
     {
       "groupId": "com.ctre.phoenix6",
       "artifactId": "api-cpp",
-      "version": "26.1.0",
+      "version": "26.1.2",
       "isJar": false,
       "skipInvalidPlatforms": true,
       "validPlatforms": [
@@ -40,7 +40,7 @@
     {
       "groupId": "com.ctre.phoenix6",
       "artifactId": "tools",
-      "version": "26.1.0",
+      "version": "26.1.2",
       "isJar": false,
       "skipInvalidPlatforms": true,
       "validPlatforms": [
@@ -54,7 +54,7 @@
     {
       "groupId": "com.ctre.phoenix6.sim",
       "artifactId": "api-cpp-sim",
-      "version": "26.1.0",
+      "version": "26.1.2",
       "isJar": false,
       "skipInvalidPlatforms": true,
       "validPlatforms": [
@@ -68,7 +68,7 @@
     {
       "groupId": "com.ctre.phoenix6.sim",
       "artifactId": "tools-sim",
-      "version": "26.1.0",
+      "version": "26.1.2",
       "isJar": false,
       "skipInvalidPlatforms": true,
       "validPlatforms": [
@@ -82,7 +82,7 @@
     {
       "groupId": "com.ctre.phoenix6.sim",
       "artifactId": "simTalonSRX",
-      "version": "26.1.0",
+      "version": "26.1.2",
       "isJar": false,
       "skipInvalidPlatforms": true,
       "validPlatforms": [
@@ -96,7 +96,7 @@
     {
       "groupId": "com.ctre.phoenix6.sim",
       "artifactId": "simVictorSPX",
-      "version": "26.1.0",
+      "version": "26.1.2",
       "isJar": false,
       "skipInvalidPlatforms": true,
       "validPlatforms": [
@@ -110,7 +110,7 @@
     {
       "groupId": "com.ctre.phoenix6.sim",
       "artifactId": "simPigeonIMU",
-      "version": "26.1.0",
+      "version": "26.1.2",
       "isJar": false,
       "skipInvalidPlatforms": true,
       "validPlatforms": [
@@ -124,7 +124,7 @@
     {
       "groupId": "com.ctre.phoenix6.sim",
       "artifactId": "simProTalonFX",
-      "version": "26.1.0",
+      "version": "26.1.2",
       "isJar": false,
       "skipInvalidPlatforms": true,
       "validPlatforms": [
@@ -138,7 +138,7 @@
     {
       "groupId": "com.ctre.phoenix6.sim",
       "artifactId": "simProTalonFXS",
-      "version": "26.1.0",
+      "version": "26.1.2",
       "isJar": false,
       "skipInvalidPlatforms": true,
       "validPlatforms": [
@@ -152,7 +152,7 @@
     {
       "groupId": "com.ctre.phoenix6.sim",
       "artifactId": "simProCANcoder",
-      "version": "26.1.0",
+      "version": "26.1.2",
       "isJar": false,
       "skipInvalidPlatforms": true,
       "validPlatforms": [
@@ -166,7 +166,7 @@
     {
       "groupId": "com.ctre.phoenix6.sim",
       "artifactId": "simProPigeon2",
-      "version": "26.1.0",
+      "version": "26.1.2",
       "isJar": false,
       "skipInvalidPlatforms": true,
       "validPlatforms": [
@@ -180,7 +180,7 @@
     {
       "groupId": "com.ctre.phoenix6.sim",
       "artifactId": "simProCANrange",
-      "version": "26.1.0",
+      "version": "26.1.2",
       "isJar": false,
       "skipInvalidPlatforms": true,
       "validPlatforms": [
@@ -194,7 +194,7 @@
     {
       "groupId": "com.ctre.phoenix6.sim",
       "artifactId": "simProCANdi",
-      "version": "26.1.0",
+      "version": "26.1.2",
       "isJar": false,
       "skipInvalidPlatforms": true,
       "validPlatforms": [
@@ -208,7 +208,7 @@
     {
       "groupId": "com.ctre.phoenix6.sim",
       "artifactId": "simProCANdle",
-      "version": "26.1.0",
+      "version": "26.1.2",
       "isJar": false,
       "skipInvalidPlatforms": true,
       "validPlatforms": [
@@ -224,7 +224,7 @@
     {
       "groupId": "com.ctre.phoenix6",
       "artifactId": "wpiapi-cpp",
-      "version": "26.1.0",
+      "version": "26.1.2",
       "libName": "CTRE_Phoenix6_WPI",
       "headerClassifier": "headers",
       "sharedLibrary": true,
@@ -240,7 +240,7 @@
     {
       "groupId": "com.ctre.phoenix6",
       "artifactId": "tools",
-      "version": "26.1.0",
+      "version": "26.1.2",
       "libName": "CTRE_PhoenixTools",
       "headerClassifier": "headers",
       "sharedLibrary": true,
@@ -256,7 +256,7 @@
     {
       "groupId": "com.ctre.phoenix6.sim",
       "artifactId": "wpiapi-cpp-sim",
-      "version": "26.1.0",
+      "version": "26.1.2",
       "libName": "CTRE_Phoenix6_WPISim",
       "headerClassifier": "headers",
       "sharedLibrary": true,
@@ -272,7 +272,7 @@
     {
       "groupId": "com.ctre.phoenix6.sim",
       "artifactId": "tools-sim",
-      "version": "26.1.0",
+      "version": "26.1.2",
       "libName": "CTRE_PhoenixTools_Sim",
       "headerClassifier": "headers",
       "sharedLibrary": true,
@@ -288,7 +288,7 @@
     {
       "groupId": "com.ctre.phoenix6.sim",
       "artifactId": "simTalonSRX",
-      "version": "26.1.0",
+      "version": "26.1.2",
       "libName": "CTRE_SimTalonSRX",
       "headerClassifier": "headers",
       "sharedLibrary": true,
@@ -304,7 +304,7 @@
     {
       "groupId": "com.ctre.phoenix6.sim",
       "artifactId": "simVictorSPX",
-      "version": "26.1.0",
+      "version": "26.1.2",
       "libName": "CTRE_SimVictorSPX",
       "headerClassifier": "headers",
       "sharedLibrary": true,
@@ -320,7 +320,7 @@
     {
       "groupId": "com.ctre.phoenix6.sim",
       "artifactId": "simPigeonIMU",
-      "version": "26.1.0",
+      "version": "26.1.2",
       "libName": "CTRE_SimPigeonIMU",
       "headerClassifier": "headers",
       "sharedLibrary": true,
@@ -336,7 +336,7 @@
     {
       "groupId": "com.ctre.phoenix6.sim",
       "artifactId": "simProTalonFX",
-      "version": "26.1.0",
+      "version": "26.1.2",
       "libName": "CTRE_SimProTalonFX",
       "headerClassifier": "headers",
       "sharedLibrary": true,
@@ -352,7 +352,7 @@
     {
       "groupId": "com.ctre.phoenix6.sim",
       "artifactId": "simProTalonFXS",
-      "version": "26.1.0",
+      "version": "26.1.2",
       "libName": "CTRE_SimProTalonFXS",
       "headerClassifier": "headers",
       "sharedLibrary": true,
@@ -368,7 +368,7 @@
     {
       "groupId": "com.ctre.phoenix6.sim",
       "artifactId": "simProCANcoder",
-      "version": "26.1.0",
+      "version": "26.1.2",
       "libName": "CTRE_SimProCANcoder",
       "headerClassifier": "headers",
       "sharedLibrary": true,
@@ -384,7 +384,7 @@
     {
       "groupId": "com.ctre.phoenix6.sim",
       "artifactId": "simProPigeon2",
-      "version": "26.1.0",
+      "version": "26.1.2",
       "libName": "CTRE_SimProPigeon2",
       "headerClassifier": "headers",
       "sharedLibrary": true,
@@ -400,7 +400,7 @@
     {
       "groupId": "com.ctre.phoenix6.sim",
       "artifactId": "simProCANrange",
-      "version": "26.1.0",
+      "version": "26.1.2",
       "libName": "CTRE_SimProCANrange",
       "headerClassifier": "headers",
       "sharedLibrary": true,
@@ -416,7 +416,7 @@
     {
       "groupId": "com.ctre.phoenix6.sim",
       "artifactId": "simProCANdi",
-      "version": "26.1.0",
+      "version": "26.1.2",
       "libName": "CTRE_SimProCANdi",
       "headerClassifier": "headers",
       "sharedLibrary": true,
@@ -432,7 +432,7 @@
     {
       "groupId": "com.ctre.phoenix6.sim",
       "artifactId": "simProCANdle",
-      "version": "26.1.0",
+      "version": "26.1.2",
       "libName": "CTRE_SimProCANdle",
       "headerClassifier": "headers",
       "sharedLibrary": true,
diff --git a/vendordeps/photonlib.json b/vendordeps/photonlib.json
index 548bb667..529f17b5 100644
--- a/vendordeps/photonlib.json
+++ b/vendordeps/photonlib.json
@@ -1,7 +1,7 @@
 {
   "fileName": "photonlib.json",
   "name": "photonlib",
-  "version": "v2026.1.1",
+  "version": "v2026.3.2",
   "uuid": "515fe07e-bfc6-11fa-b3de-0242ac130004",
   "frcYear": "2026",
   "mavenUrls": [
@@ -13,7 +13,7 @@
     {
       "groupId": "org.photonvision",
       "artifactId": "photontargeting-cpp",
-      "version": "v2026.0.1-beta",
+      "version": "v2026.3.2",
       "skipInvalidPlatforms": true,
       "isJar": false,
       "validPlatforms": [
@@ -28,7 +28,7 @@
     {
       "groupId": "org.photonvision",
       "artifactId": "photonlib-cpp",
-      "version": "v2026.0.1-beta",
+      "version": "v2026.3.2",
       "libName": "photonlib",
       "headerClassifier": "headers",
       "sharedLibrary": true,
@@ -43,7 +43,7 @@
     {
       "groupId": "org.photonvision",
       "artifactId": "photontargeting-cpp",
-      "version": "v2026.0.1-beta",
+      "version": "v2026.3.2",
       "libName": "photontargeting",
       "headerClassifier": "headers",
       "sharedLibrary": true,
@@ -60,12 +60,12 @@
     {
       "groupId": "org.photonvision",
       "artifactId": "photonlib-java",
-      "version": "v2026.0.1-beta"
+      "version": "v2026.3.2"
     },
     {
       "groupId": "org.photonvision",
       "artifactId": "photontargeting-java",
-      "version": "v2026.0.1-beta"
+      "version": "v2026.3.2"
     }
   ]
 }