From d588b0f10c1b0d90a7edc5393862ea0cf659182e Mon Sep 17 00:00:00 2001
From: "Timothy P. Ellsworth Bowers" <tbowers@lowell.edu>
Date: Mon, 10 Nov 2025 13:04:01 -0700
Subject: [PATCH 1/9] Update vendordeps

	modified:   vendordeps/maple-sim.json
---
 vendordeps/maple-sim.json | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/vendordeps/maple-sim.json b/vendordeps/maple-sim.json
index 0dcb2a0..65f4413 100644
--- a/vendordeps/maple-sim.json
+++ b/vendordeps/maple-sim.json
@@ -1,7 +1,7 @@
 {
   "fileName": "maple-sim.json",
   "name": "maplesim",
-  "version": "0.3.13",
+  "version": "0.3.14",
   "frcYear": "2025",
   "uuid": "c39481e8-4a63-4a4c-9df6-48d91e4da37b",
   "mavenUrls": [
@@ -13,7 +13,7 @@
     {
       "groupId": "org.ironmaple",
       "artifactId": "maplesim-java",
-      "version": "0.3.13"
+      "version": "0.3.14"
     },
     {
       "groupId": "org.dyn4j",

From eb86b3ffc2ea422f71f8878c5c363e189e5910b9 Mon Sep 17 00:00:00 2001
From: "Timothy P. Ellsworth Bowers" <tbowers@lowell.edu>
Date: Mon, 10 Nov 2025 16:51:52 -0700
Subject: [PATCH 2/9] New template-syncing Action Add the time to the
 TEMPLATE_ORIGIN.txt file

	new file:   .github/workflows/create-dependabot-labels.yaml
	renamed:    .github/workflows/record_template_origin.yaml -> .github/workflows/record-template-origin.yaml
	modified:   .github/workflows/sync-template-updates.yaml
	deleted:    .github/workflows/template-sync.yml
	modified:   src/main/java/frc/robot/generated/TunerConstants.java
---
 .../workflows/create-dependabot-labels.yaml   |  47 ++++
 ...rigin.yaml => record-template-origin.yaml} |  11 +-
 .github/workflows/sync-template-updates.yaml  | 220 ++++++++++++++----
 .github/workflows/template-sync.yml           |  32 ---
 .../frc/robot/generated/TunerConstants.java   |   4 +-
 5 files changed, 231 insertions(+), 83 deletions(-)
 create mode 100644 .github/workflows/create-dependabot-labels.yaml
 rename .github/workflows/{record_template_origin.yaml => record-template-origin.yaml} (87%)
 delete mode 100644 .github/workflows/template-sync.yml

diff --git a/.github/workflows/create-dependabot-labels.yaml b/.github/workflows/create-dependabot-labels.yaml
new file mode 100644
index 0000000..b8825fb
--- /dev/null
+++ b/.github/workflows/create-dependabot-labels.yaml
@@ -0,0 +1,47 @@
+name: "Ensure Dependabot Labels Exist"
+
+on:
+  push:
+    branches: [main]
+    paths:
+      - '.github/dependabot.yml'
+  workflow_dispatch:
+
+jobs:
+  create-labels:
+    runs-on: ubuntu-latest
+    permissions:
+      issues: write  # Needed to create labels via API
+    steps:
+      - name: Create labels for Dependabot PRs
+        uses: actions/github-script@v7
+        with:
+          script: |
+            const labels = [
+              { name: "github_actions", color: "BFFFD1", description: "Updates to GitHub Actions workflows" },
+              { name: "gradle dependencies", color: "02303A", description: "Gradle dependency updates" },
+            ];
+
+            for (const label of labels) {
+              try {
+                await github.rest.issues.getLabel({
+                  owner: context.repo.owner,
+                  repo: context.repo.repo,
+                  name: label.name,
+                });
+                core.info(`✅ Label '${label.name}' already exists.`);
+              } catch (error) {
+                if (error.status === 404) {
+                  await github.rest.issues.createLabel({
+                    owner: context.repo.owner,
+                    repo: context.repo.repo,
+                    name: label.name,
+                    color: label.color,
+                    description: label.description,
+                  });
+                  core.info(`🎨 Created label '${label.name}'.`);
+                } else {
+                  throw error;
+                }
+              }
+            }
diff --git a/.github/workflows/record_template_origin.yaml b/.github/workflows/record-template-origin.yaml
similarity index 87%
rename from .github/workflows/record_template_origin.yaml
rename to .github/workflows/record-template-origin.yaml
index 4fdbd01..dedb8e8 100644
--- a/.github/workflows/record_template_origin.yaml
+++ b/.github/workflows/record-template-origin.yaml
@@ -64,9 +64,14 @@ jobs:
 
       - name: Record template origin file
         run: |
-          echo "Template: ${{ steps.template.outputs.template_repo }}" > TEMPLATE_ORIGIN.txt
-          echo "Template Branch: ${{ steps.template.outputs.template_branch }}" >> TEMPLATE_ORIGIN.txt
-          echo "Template Commit: ${{ steps.template.outputs.template_commit }}" >> TEMPLATE_ORIGIN.txt
+          timestamp=$(date -u +"%Y-%m-%dT%H:%M:%SZ")
+          {
+            echo "Template: ${{ steps.template.outputs.template_repo }}"
+            echo "Template Branch: ${{ steps.template.outputs.template_branch }}"
+            echo "Template Commit: ${{ steps.template.outputs.template_commit }}"
+            echo "Recorded At (UTC): $timestamp"
+          } > TEMPLATE_ORIGIN.txt
+
           echo "Recorded template origin:"
           cat TEMPLATE_ORIGIN.txt
 
diff --git a/.github/workflows/sync-template-updates.yaml b/.github/workflows/sync-template-updates.yaml
index 93db06e..2edfb40 100644
--- a/.github/workflows/sync-template-updates.yaml
+++ b/.github/workflows/sync-template-updates.yaml
@@ -1,8 +1,11 @@
-name: Sync Template Updates
+name: "Sync with Az-RBSI Template"
 
 on:
+  # cronjob trigger
   schedule:
-    - cron: '0 0 * * *'  # Runs daily at midnight UTC
+    # Every Monday at 4:30AM
+    - cron: "30 04 * * 1"
+  # manual trigger
   workflow_dispatch:
 
 permissions:
@@ -12,13 +15,21 @@ permissions:
 jobs:
   sync-template:
     runs-on: ubuntu-latest
+    env:
+      GH_TOKEN: ${{ secrets.GITHUB_TOKEN }}
 
     steps:
+      # -------------------------------
+      # Step 1: Checkout repository
+      # -------------------------------
       - name: Checkout repository
         uses: actions/checkout@v5
         with:
-          fetch-depth: 0
+          fetch-depth: 0  # Full history needed for cherry-picking
 
+      # -------------------------------
+      # Step 2: Read template origin info
+      # -------------------------------
       - name: Read template origin
         id: template
         run: |
@@ -28,68 +39,185 @@ jobs:
             exit 0
           fi
 
-          template_repo=$(sed -n 's/^Template: //p' TEMPLATE_ORIGIN.txt)
-          template_branch=$(sed -n 's/^Template Branch: //p' TEMPLATE_ORIGIN.txt)
-          template_commit=$(sed -n 's/^Template Commit: //p' TEMPLATE_ORIGIN.txt)
+          template_repo=$(sed -n 's/^Template: //p' TEMPLATE_ORIGIN.txt | tr -d '[:space:]')
+          last_applied_commit=$(sed -n 's/^Template Commit: //p' TEMPLATE_ORIGIN.txt | tr -d '[:space:]')
 
-          echo "Template repo: $template_repo"
-          echo "Template branch: $template_branch"
-          echo "Template commit: $template_commit"
-
-          # Skip if placeholder values
-          if [ "$template_repo" = "none" ] || [ "$template_branch" = "none" ] || [ "$template_commit" = "none" ]; then
-            echo "Repository was not created from a template. Skipping sync."
+          if [ "$template_repo" = "none" ] || [ "$last_applied_commit" = "none" ]; then
+            echo "Repository is not from a template. Skipping sync."
             echo "skip_sync=true" >> $GITHUB_OUTPUT
             exit 0
           fi
 
+          # Get default branch of template repo dynamically
+          template_branch=$(gh repo view "$template_repo" --json defaultBranchRef --jq '.defaultBranchRef.name')
           echo "skip_sync=false" >> $GITHUB_OUTPUT
           echo "template_repo=$template_repo" >> $GITHUB_OUTPUT
           echo "template_branch=$template_branch" >> $GITHUB_OUTPUT
-          echo "template_commit=$template_commit" >> $GITHUB_OUTPUT
+          echo "last_applied_commit=$last_applied_commit" >> $GITHUB_OUTPUT
 
+      # -------------------------------
+      # Step 3: Install GitHub CLI and jq
+      # -------------------------------
       - name: Install GitHub CLI
         if: steps.template.outputs.skip_sync == 'false'
-        run: sudo apt-get install -y gh jq
+        run: sudo apt-get update && sudo apt-get install -y gh jq
 
-      - name: Fetch commits from template since last sync
+      # -------------------------------
+      # Step 4: Add template repo as remote and fetch commits
+      # -------------------------------
+      - name: Add template repo as remote and fetch
         if: steps.template.outputs.skip_sync == 'false'
-        id: commits
         run: |
-          # Get the list of commits from template repo that are not yet in this repo
-          commits=$(gh api repos/${{ steps.template.outputs.template_repo }}/commits --jq '.[] | .sha' | tac)
-          echo "$commits" > template_commits.txt
-          echo "Commits to consider:"
-          cat template_commits.txt
-          echo "commits=$(cat template_commits.txt)" >> $GITHUB_OUTPUT
-
-      - name: Cherry-pick commits and create PR
+          git remote add template_repo https://github.com/${{ steps.template.outputs.template_repo }}.git
+          git fetch template_repo ${{ steps.template.outputs.template_branch }}
+
+      # -------------------------------
+      # Step 5: Get new commits from template (only non-merge)
+      # -------------------------------
+      - name: Get new commits from template
         if: steps.template.outputs.skip_sync == 'false'
+        id: commits
+        run: |
+          last_commit=${{ steps.template.outputs.last_applied_commit }}
+          branch=${{ steps.template.outputs.template_branch }}
+
+          # List commits after last applied commit, oldest first
+          all_commits=$(git rev-list --reverse ${last_commit}..template_repo/${branch} || true)
+          all_commits=$(echo "$all_commits" | grep -v "^$last_commit$" || true)
+
+          # Filter out merge commits (those with >1 parent)
+          non_merge_commits=""
+          for sha in $all_commits; do
+            parent_count=$(git rev-list --parents -n 1 "$sha" | wc -w)
+            if [ "$parent_count" -le 2 ]; then
+              non_merge_commits+="$sha"$'\n'
+            fi
+          done
+
+          non_merge_commits=$(echo "$non_merge_commits" | grep -v '^$' || true)
+          commit_count=$(echo "$non_merge_commits" | grep -c . || true)
+
+          echo "commit_count=$commit_count" >> $GITHUB_OUTPUT
+
+          if [ -z "$non_merge_commits" ]; then
+            echo "No new template commits to cherry-pick."
+          else
+            echo "Non-merge commits to cherry-pick:"
+            echo "$non_merge_commits"
+          fi
+
+          echo "new_commits<<EOF" >> $GITHUB_OUTPUT
+          echo "$non_merge_commits" >> $GITHUB_OUTPUT
+          echo "EOF" >> $GITHUB_OUTPUT
+
+      # -------------------------------
+      # Step 6: Cherry-pick commits, squash, and create/update PR
+      # -------------------------------
+      - name: Cherry-pick commits, squash, and create/update PR
+        if: steps.template.outputs.skip_sync == 'false' && steps.commits.outputs.new_commits != ''
         env:
-          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+          GH_TOKEN: ${{ secrets.GITHUB_TOKEN }}
         run: |
+          set -e
           git config user.name "github-actions[bot]"
           git config user.email "github-actions[bot]@users.noreply.github.com"
-          
-          branch_name="template-sync-$(date +%Y%m%d%H%M%S)"
-          git checkout -b "$branch_name"
 
-          pr_message="Template Sync Commit Summary:\n\n"
+          branch_name="template-sync"
+          target_branch=$(gh repo view $GITHUB_REPOSITORY --json defaultBranchRef --jq '.defaultBranchRef.name')
+          sync_date=$(date -u +"%Y-%m-%d")
+          timestamp=$(date -u +"%Y-%m-%dT%H:%M:%SZ")
+
+          # Ensure branch exists or create new
+          if git ls-remote --exit-code --heads origin "$branch_name"; then
+            git fetch origin "$branch_name"
+            git checkout "$branch_name"
+            git pull origin "$branch_name"
+          else
+            git checkout -b "$branch_name" origin/"$target_branch" || git checkout -b "$branch_name"
+          fi
+
+          # Reset to target branch to avoid conflicts
+          git fetch origin "$target_branch"
+          git reset --hard origin/"$target_branch"
 
-          while read commit_sha; do
-            # Skip empty lines
+          # Initialize commit summary
+          commit_summary=""
+          newest_commit=""
+          commit_list=$(echo "${{ steps.commits.outputs.new_commits }}" | tr -d '\r')
+
+          # Cherry-pick each commit safely
+          while IFS= read -r commit_sha; do
             [ -z "$commit_sha" ] && continue
-            echo "Cherry-picking $commit_sha"
-            git cherry-pick "$commit_sha" || git cherry-pick --abort
-            pr_message="$pr_message- $commit_sha\n"
-          done < template_commits.txt
-
-          git push origin "$branch_name"
-
-          # Create PR
-          gh pr create \
-            --title "Sync Template Updates" \
-            --body "$pr_message" \
-            --base main \
-            --head "$branch_name" \
-            --label "template-sync"
+
+            short_sha=$(git rev-parse --short=7 "$commit_sha")
+            commit_msg=$(git log -1 --pretty=%B "$commit_sha")
+            first_line=${commit_msg%%$'\n'*}
+
+            # Add only once to the summary
+            commit_summary+="- $short_sha: $first_line"$'\n'
+
+            # Cherry-pick without committing yet
+            git cherry-pick --no-commit "$commit_sha"
+            newest_commit="$commit_sha"
+          done <<< "$commit_list"
+
+          # Squash all cherry-picked commits into a single commit
+          git commit -m "Template Sync Updates"$'\n\n'"$commit_summary"
+
+          # Update TEMPLATE_ORIGIN.txt (with new Recorded At)
+          if [ -n "$newest_commit" ]; then
+            {
+              echo "Template: ${{ steps.template.outputs.template_repo }}"
+              echo "Template Branch: ${{ steps.template.outputs.template_branch }}"
+              echo "Template Commit: $newest_commit"
+              echo "Recorded At (UTC): $timestamp"
+            } > TEMPLATE_ORIGIN.txt
+            git add TEMPLATE_ORIGIN.txt
+            git commit --amend --no-edit
+          fi
+
+          # Push changes
+          git push origin "$branch_name" -f
+
+          # Ensure template-sync label exists
+          if ! gh label list | grep -q "^template-sync"; then
+            gh label create template-sync --color BC8F8F --description "Updates synced from template repository"
+          fi
+
+          # Build PR title with date and non-merge commit count
+          pr_count="${{ steps.commits.outputs.commit_count }}"
+          [ -z "$pr_count" ] && pr_count=0
+          plural="s"
+          [ "$pr_count" -eq 1 ] && plural=""
+          pr_title="Sync Template Updates ($pr_count commit$plural, $sync_date)"
+
+          # Build PR body with summary + source info
+          pr_body=$(printf "Template Sync Commit Summary:\n\n%s\n_Synced from:_ [%s](https://github.com/%s/tree/%s) at commit \`%s\`\n\n_Last recorded at (UTC): %s_" \
+            "$commit_summary" \
+            "${{ steps.template.outputs.template_repo }}" \
+            "${{ steps.template.outputs.template_repo }}" \
+            "${{ steps.template.outputs.template_branch }}" \
+            "$newest_commit" \
+            "$timestamp")
+
+          existing_pr=$(gh pr list --head "$branch_name" --state open --json number --jq '.[0].number')
+
+          if [ -n "$existing_pr" ]; then
+            echo "Updating existing PR #$existing_pr"
+            printf "%s" "$pr_body" | gh pr edit "$existing_pr" --title "$pr_title" --body-file - --add-label "template-sync"
+          else
+            echo "Creating a new PR"
+            printf "%s" "$pr_body" | gh pr create \
+              --title "$pr_title" \
+              --body-file - \
+              --base "$target_branch" \
+              --head "$branch_name" \
+              --label "template-sync"
+          fi
+
+      # -------------------------------
+      # Step 7: No new commits
+      # -------------------------------
+      - name: No new commits
+        if: steps.template.outputs.skip_sync == 'false' && steps.commits.outputs.new_commits == ''
+        run: echo "No new template commits to sync. Exiting."
diff --git a/.github/workflows/template-sync.yml b/.github/workflows/template-sync.yml
deleted file mode 100644
index e07dae0..0000000
--- a/.github/workflows/template-sync.yml
+++ /dev/null
@@ -1,32 +0,0 @@
-# File: .github/workflows/template-sync.yml
-name: "Sync with Az-RBSI Template"
-
-on:
-  # cronjob trigger
-  # schedule:
-  # - cron: "30 04 * * 1"
-  # manual trigger
-  workflow_dispatch:
-jobs:
-  repo-sync:
-    runs-on: ubuntu-latest
-    # https://docs.github.com/en/actions/using-jobs/assigning-permissions-to-jobs
-    permissions:
-      contents: write
-      pull-requests: write
-
-    steps:
-      # To use this repository's private action, you must check out the repository
-      - name: Checkout
-        uses: actions/checkout@v5
-
-      - name: actions-template-sync
-        uses: AZ-First/actions-template-sync@v1
-        with:
-          # github_token: ${{ secrets.GITHUB_TOKEN }}
-          source_repo_path: AZ-First/Az-RBSI
-          pr_title: "[bot] Update Robot Code with latest version of Az-RBSI"
-          pr_body: "Automated PR to synchronize this repository's code with the latest version of [Az-RBSI](${SOURCE_REPO}).\nThe target commit in the template repository is [${TEMPLATE_GIT_HASH}](https://github.com/AZ-First/Az-RBSI/commit/${TEMPLATE_GIT_HASH}).\nSee the [Az-RBSI Releases page](https://github.com/AZ-First/Az-RBSI/releases) for more information."
-          pr_commit_msg: "Update to the latest version of Az-RBSI"
-          pr_branch_name_prefix: "Az-RBSI_template_sync"
-          is_pr_cleanup: true
diff --git a/src/main/java/frc/robot/generated/TunerConstants.java b/src/main/java/frc/robot/generated/TunerConstants.java
index 929773a..46c54d7 100755
--- a/src/main/java/frc/robot/generated/TunerConstants.java
+++ b/src/main/java/frc/robot/generated/TunerConstants.java
@@ -291,9 +291,9 @@ public TunerSwerveDrivetrain(
      * @param odometryUpdateFrequency The frequency to run the odometry loop. If unspecified or set
      *     to 0 Hz, this is 250 Hz on CAN FD, and 100 Hz on CAN 2.0.
      * @param odometryStandardDeviation The standard deviation for odometry calculation in the form
-     *     [x, y, theta]ᵀ, with units in meters and radians
+     *     [x, y, theta]T, with units in meters and radians
      * @param visionStandardDeviation The standard deviation for vision calculation in the form [x,
-     *     y, theta]ᵀ, with units in meters and radians
+     *     y, theta]T, with units in meters and radians
      * @param modules Constants for each specific module
      */
     public TunerSwerveDrivetrain(

From 37edde3f8ff32f6b21879056691da0f7ea6b190c Mon Sep 17 00:00:00 2001
From: "dependabot[bot]" <49699333+dependabot[bot]@users.noreply.github.com>
Date: Mon, 1 Dec 2025 04:27:49 +0000
Subject: [PATCH 3/9] Bump actions/checkout from 5 to 6

Bumps [actions/checkout](https://github.com/actions/checkout) from 5 to 6.
- [Release notes](https://github.com/actions/checkout/releases)
- [Changelog](https://github.com/actions/checkout/blob/main/CHANGELOG.md)
- [Commits](https://github.com/actions/checkout/compare/v5...v6)

---
updated-dependencies:
- dependency-name: actions/checkout
  dependency-version: '6'
  dependency-type: direct:production
  update-type: version-update:semver-major
...

Signed-off-by: dependabot[bot] <support@github.com>
---
 .github/workflows/build.yml                   | 2 +-
 .github/workflows/dependency-submission.yml   | 2 +-
 .github/workflows/main.yml                    | 4 ++--
 .github/workflows/record-template-origin.yaml | 2 +-
 .github/workflows/sync-template-updates.yaml  | 2 +-
 5 files changed, 6 insertions(+), 6 deletions(-)

diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
index 23362e2..8e92b75 100644
--- a/.github/workflows/build.yml
+++ b/.github/workflows/build.yml
@@ -11,7 +11,7 @@ jobs:
     container: wpilib/roborio-cross-ubuntu:2024-22.04
     steps:
       - name: Checkout repository
-        uses: actions/checkout@v5
+        uses: actions/checkout@v6
       - name: Grant execute permission
         run: chmod +x gradlew
       - name: Build robot code
diff --git a/.github/workflows/dependency-submission.yml b/.github/workflows/dependency-submission.yml
index 3513795..7a7c477 100644
--- a/.github/workflows/dependency-submission.yml
+++ b/.github/workflows/dependency-submission.yml
@@ -12,7 +12,7 @@ jobs:
     runs-on: ubuntu-latest
     steps:
     - name: Checkout sources
-      uses: actions/checkout@v5
+      uses: actions/checkout@v6
     - name: Setup Java
       uses: actions/setup-java@v5
       with:
diff --git a/.github/workflows/main.yml b/.github/workflows/main.yml
index e89a56f..45964cf 100644
--- a/.github/workflows/main.yml
+++ b/.github/workflows/main.yml
@@ -23,7 +23,7 @@ jobs:
     # Steps represent a sequence of tasks that will be executed as part of the job
     steps:
     # Checks-out your repository under $GITHUB_WORKSPACE, so your job can access it
-    - uses: actions/checkout@v5
+    - uses: actions/checkout@v6
 
     # Declares the repository safe and not under dubious ownership.
     - name: Add repository to git safe directories
@@ -44,7 +44,7 @@ jobs:
     # Steps represent a sequence of tasks that will be executed as part of the job
     steps:
       # Checks-out your repository under $GITHUB_WORKSPACE, so your job can access it
-      - uses: actions/checkout@v5
+      - uses: actions/checkout@v6
         with:
           fetch-depth: 0
       - uses: actions/setup-java@v5
diff --git a/.github/workflows/record-template-origin.yaml b/.github/workflows/record-template-origin.yaml
index dedb8e8..f4133b0 100644
--- a/.github/workflows/record-template-origin.yaml
+++ b/.github/workflows/record-template-origin.yaml
@@ -16,7 +16,7 @@ jobs:
 
     steps:
       - name: Checkout repository
-        uses: actions/checkout@v5
+        uses: actions/checkout@v6
         with:
           fetch-depth: 0
 
diff --git a/.github/workflows/sync-template-updates.yaml b/.github/workflows/sync-template-updates.yaml
index 2edfb40..c7df71f 100644
--- a/.github/workflows/sync-template-updates.yaml
+++ b/.github/workflows/sync-template-updates.yaml
@@ -23,7 +23,7 @@ jobs:
       # Step 1: Checkout repository
       # -------------------------------
       - name: Checkout repository
-        uses: actions/checkout@v5
+        uses: actions/checkout@v6
         with:
           fetch-depth: 0  # Full history needed for cherry-picking
 

From cc4cdb040dc98f7e3c25545d18295cbf7c5ca7c6 Mon Sep 17 00:00:00 2001
From: "dependabot[bot]" <49699333+dependabot[bot]@users.noreply.github.com>
Date: Mon, 1 Dec 2025 04:27:43 +0000
Subject: [PATCH 4/9] Bump actions/github-script from 7 to 8

Bumps [actions/github-script](https://github.com/actions/github-script) from 7 to 8.
- [Release notes](https://github.com/actions/github-script/releases)
- [Commits](https://github.com/actions/github-script/compare/v7...v8)

---
updated-dependencies:
- dependency-name: actions/github-script
  dependency-version: '8'
  dependency-type: direct:production
  update-type: version-update:semver-major
...

Signed-off-by: dependabot[bot] <support@github.com>
---
 .github/workflows/create-dependabot-labels.yaml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/create-dependabot-labels.yaml b/.github/workflows/create-dependabot-labels.yaml
index b8825fb..d2795e5 100644
--- a/.github/workflows/create-dependabot-labels.yaml
+++ b/.github/workflows/create-dependabot-labels.yaml
@@ -14,7 +14,7 @@ jobs:
       issues: write  # Needed to create labels via API
     steps:
       - name: Create labels for Dependabot PRs
-        uses: actions/github-script@v7
+        uses: actions/github-script@v8
         with:
           script: |
             const labels = [

From 6d2b0b1885ba5075b1936f686560974ac09852cb Mon Sep 17 00:00:00 2001
From: "Timothy P. Ellsworth Bowers" <tbowers@lowell.edu>
Date: Fri, 19 Dec 2025 09:32:02 -0700
Subject: [PATCH 5/9] Add "admin" branch for [bot] updates Add
 `admin-orchestrator` workflow

	modified:   .github/dependabot.yml
	new file:   .github/workflows/admin-orchestrator.yaml
---
 .github/dependabot.yml                    |  2 +
 .github/workflows/admin-orchestrator.yaml | 94 +++++++++++++++++++++++
 2 files changed, 96 insertions(+)
 create mode 100644 .github/workflows/admin-orchestrator.yaml

diff --git a/.github/dependabot.yml b/.github/dependabot.yml
index 436a2a8..944a7ee 100644
--- a/.github/dependabot.yml
+++ b/.github/dependabot.yml
@@ -10,6 +10,7 @@ updates:
   - package-ecosystem: "github-actions"
     # Workflow files stored in the default location of `.github/workflows`. (You don't need to specify `/.github/workflows` for `directory`. You can use `directory: "/"`.)
     directory: "/"
+    target-branch: "admin"
     labels:
       - "github_actions"
     schedule:
@@ -19,6 +20,7 @@ updates:
   - package-ecosystem: "gradle"
     directory: "/" # Location of package manifests
     registries: "*"
+    target-branch: "admin"
     labels:
       - "gradle dependencies"
     schedule:
diff --git a/.github/workflows/admin-orchestrator.yaml b/.github/workflows/admin-orchestrator.yaml
new file mode 100644
index 0000000..d42745e
--- /dev/null
+++ b/.github/workflows/admin-orchestrator.yaml
@@ -0,0 +1,94 @@
+name: Admin branch orchestration
+
+on:
+  create:
+  push:
+    branches:
+      - "**"
+  schedule:
+    - cron: "0 3 * * 1"   # Weekly, Monday 03:00 UTC
+  workflow_dispatch:
+
+  pull_request:
+    branches:
+      - admin
+  pull_request_review:
+    types:
+      - submitted
+  check_suite:
+    types:
+      - completed
+
+permissions:
+  contents: write
+  pull-requests: write
+
+jobs:
+  admin-orchestrator:
+    runs-on: ubuntu-latest
+
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@v4
+        with:
+          fetch-depth: 0
+
+      # ------------------------------------------------------------
+      # Detect default branch
+      # ------------------------------------------------------------
+      - name: Detect default branch
+        id: default
+        run: |
+          DEFAULT_BRANCH=$(git remote show origin | sed -n '/HEAD branch/s/.*: //p')
+          echo "branch=$DEFAULT_BRANCH" >> "$GITHUB_OUTPUT"
+
+      # ------------------------------------------------------------
+      # Ensure admin branch exists
+      # ------------------------------------------------------------
+      - name: Ensure admin branch exists
+        run: |
+          if git show-ref --verify --quiet refs/remotes/origin/admin; then
+            echo "admin branch already exists"
+          else
+            git checkout "${{ steps.default.outputs.branch }}"
+            git checkout -b admin
+            git push origin admin
+          fi
+
+      # ------------------------------------------------------------
+      # Periodically rebase admin onto default (true rebase)
+      # ------------------------------------------------------------
+      - name: Rebase admin onto default
+        if: github.event_name == 'schedule' || github.event_name == 'workflow_dispatch'
+        run: |
+          git fetch origin
+          git checkout admin
+
+          # Rebase admin commits on top of default branch
+          git rebase origin/${{ steps.default.outputs.branch }}
+
+          # Push updated admin branch
+          git push --force-with-lease origin admin
+
+      # ------------------------------------------------------------
+      # Guardrail: warn if non-Dependabot PR targets admin
+      # (no hard failure without branch protection)
+      # ------------------------------------------------------------
+      - name: Warn on non-Dependabot PRs
+        if: github.event_name == 'pull_request'
+        run: |
+          if [[ "${{ github.actor }}" != "dependabot[bot]" ]]; then
+            echo "::warning::PR to admin opened by non-Dependabot actor"
+          fi
+
+      # ------------------------------------------------------------
+      # Auto-merge Dependabot PRs
+      # ------------------------------------------------------------
+      - name: Auto-merge Dependabot PR
+        if: |
+          github.event_name == 'pull_request' &&
+          github.event.pull_request.user.login == 'dependabot[bot]'
+        uses: peter-evans/enable-pull-request-automerge@v3
+        with:
+          pull-request-number: ${{ github.event.pull_request.number }}
+          merge-method: squash

From 88c91a90484ff5c11acff747797e5863107c7d5b Mon Sep 17 00:00:00 2001
From: "Timothy P. Ellsworth Bowers" <tbowers@lowell.edu>
Date: Sun, 28 Dec 2025 17:39:20 -0700
Subject: [PATCH 6/9] Clean up CI with caching and directed jobs

	deleted:    .github/workflows/build.yml
	new file:   .github/workflows/ci.yaml
	deleted:    .github/workflows/main.yml
	new file:   gradle.properties
---
 .github/workflows/build.yml | 18 -------------
 .github/workflows/ci.yaml   | 40 +++++++++++++++++++++++++++
 .github/workflows/main.yml  | 54 -------------------------------------
 gradle.properties           | 18 +++++++++++++
 4 files changed, 58 insertions(+), 72 deletions(-)
 delete mode 100644 .github/workflows/build.yml
 create mode 100644 .github/workflows/ci.yaml
 delete mode 100644 .github/workflows/main.yml
 create mode 100644 gradle.properties

diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
deleted file mode 100644
index 8e92b75..0000000
--- a/.github/workflows/build.yml
+++ /dev/null
@@ -1,18 +0,0 @@
-name: Build
-
-on:
-  push:
-  pull_request:
-
-jobs:
-  build:
-    name: Build
-    runs-on: ubuntu-latest
-    container: wpilib/roborio-cross-ubuntu:2024-22.04
-    steps:
-      - name: Checkout repository
-        uses: actions/checkout@v6
-      - name: Grant execute permission
-        run: chmod +x gradlew
-      - name: Build robot code
-        run: ./gradlew build
diff --git a/.github/workflows/ci.yaml b/.github/workflows/ci.yaml
new file mode 100644
index 0000000..aca6f42
--- /dev/null
+++ b/.github/workflows/ci.yaml
@@ -0,0 +1,40 @@
+name: CI
+
+on:
+  push:
+  pull_request:
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    container: wpilib/roborio-cross-ubuntu:2024-22.04
+
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@v6
+
+      - name: Mark repo as safe for git
+        run: git config --global --add safe.directory $GITHUB_WORKSPACE
+
+      - name: Grant execute permission for gradlew
+        run: chmod +x gradlew
+
+      - name: Set up Gradle cache
+        uses: gradle/actions/setup-gradle@v4
+
+      # ------------------------------------------------------------
+      # Always build (all branches, all PRs)
+      # ------------------------------------------------------------
+      - name: Build robot code
+        run: ./gradlew build
+
+      # ------------------------------------------------------------
+      # Spotless only on main/develop
+      # ------------------------------------------------------------
+      - name: Run Spotless checks
+        if: |
+          github.ref == 'refs/heads/main' ||
+          github.ref == 'refs/heads/develop' ||
+          github.base_ref == 'main' ||
+          github.base_ref == 'develop'
+        run: ./gradlew spotlessCheck
diff --git a/.github/workflows/main.yml b/.github/workflows/main.yml
deleted file mode 100644
index 45964cf..0000000
--- a/.github/workflows/main.yml
+++ /dev/null
@@ -1,54 +0,0 @@
-# This is a basic workflow to build robot code.
-
-name: CI
-
-# Controls when the action will run. Triggers the workflow on push or pull request
-# events but only for the main branch.
-on:
-  push:
-    branches: [ main, develop ]
-  pull_request:
-    branches: [ main, develop ]
-
-# A workflow run is made up of one or more jobs that can run sequentially or in parallel
-jobs:
-  # This workflow contains a job called "build" which is the main build
-  build:
-    # The type of runner that the job will run on
-    runs-on: ubuntu-latest
-
-    # This grabs the WPILib docker container
-    container: wpilib/roborio-cross-ubuntu:2024-22.04
-
-    # Steps represent a sequence of tasks that will be executed as part of the job
-    steps:
-    # Checks-out your repository under $GITHUB_WORKSPACE, so your job can access it
-    - uses: actions/checkout@v6
-
-    # Declares the repository safe and not under dubious ownership.
-    - name: Add repository to git safe directories
-      run: git config --global --add safe.directory $GITHUB_WORKSPACE
-
-    # Grant execute permission for gradlew
-    - name: Grant execute permission for gradlew
-      run: chmod +x gradlew
-
-    # Runs a single command using the runners shell
-    - name: Compile and run tests on robot code
-      run: ./gradlew build
-  
-  # This workflow contains a job called "build" which is the main build
-  spotless:
-    # The type of runner that the job will run on
-    runs-on: ubuntu-latest
-    # Steps represent a sequence of tasks that will be executed as part of the job
-    steps:
-      # Checks-out your repository under $GITHUB_WORKSPACE, so your job can access it
-      - uses: actions/checkout@v6
-        with:
-          fetch-depth: 0
-      - uses: actions/setup-java@v5
-        with:
-          distribution: 'zulu'
-          java-version: 17
-      - run: ./gradlew spotlessCheck
\ No newline at end of file
diff --git a/gradle.properties b/gradle.properties
new file mode 100644
index 0000000..cd9de7c
--- /dev/null
+++ b/gradle.properties
@@ -0,0 +1,18 @@
+# ------------------------------------------------------------
+# Gradle performance & CI tuning
+# ------------------------------------------------------------
+
+# CI should not use the Gradle daemon
+org.gradle.daemon=false
+
+# Enable parallel task execution
+org.gradle.parallel=true
+
+# Enable build cache
+org.gradle.caching=true
+
+# Reduce configuration time for multi-project builds
+org.gradle.configureondemand=true
+
+# Keep console output readable in CI
+org.gradle.console=plain

From b035bb582709de47d27c4821964f20ece7c24e9f Mon Sep 17 00:00:00 2001
From: "Timothy P. Ellsworth Bowers" <tbowers@lowell.edu>
Date: Sun, 28 Dec 2025 18:04:52 -0700
Subject: [PATCH 7/9] Do not run admin-orchestrator on pushes to all branches

	modified:   .github/workflows/admin-orchestrator.yaml
---
 .github/workflows/admin-orchestrator.yaml | 3 ---
 1 file changed, 3 deletions(-)

diff --git a/.github/workflows/admin-orchestrator.yaml b/.github/workflows/admin-orchestrator.yaml
index d42745e..265ae23 100644
--- a/.github/workflows/admin-orchestrator.yaml
+++ b/.github/workflows/admin-orchestrator.yaml
@@ -2,9 +2,6 @@ name: Admin branch orchestration
 
 on:
   create:
-  push:
-    branches:
-      - "**"
   schedule:
     - cron: "0 3 * * 1"   # Weekly, Monday 03:00 UTC
   workflow_dispatch:

From 82459f414f9777391241807207142c2f8a180469 Mon Sep 17 00:00:00 2001
From: "Timothy P. Ellsworth Bowers" <tbowers@lowell.edu>
Date: Sun, 28 Dec 2025 18:14:55 -0700
Subject: [PATCH 8/9] Enforce CI gradle settings only for CI environment

	modified:   .github/workflows/ci.yaml
	modified:   .github/workflows/dependency-submission.yml
	deleted:    gradle.properties
	modified:   settings.gradle
---
 .github/workflows/ci.yaml                   | 41 +++++++++++++--------
 .github/workflows/dependency-submission.yml |  4 ++
 gradle.properties                           | 18 ---------
 settings.gradle                             |  2 +-
 4 files changed, 31 insertions(+), 34 deletions(-)
 delete mode 100644 gradle.properties

diff --git a/.github/workflows/ci.yaml b/.github/workflows/ci.yaml
index aca6f42..c83fbb6 100644
--- a/.github/workflows/ci.yaml
+++ b/.github/workflows/ci.yaml
@@ -5,9 +5,13 @@ on:
   pull_request:
 
 jobs:
+  # ------------------------------------------------------------
+  # Main build job
+  # ------------------------------------------------------------
   build:
     runs-on: ubuntu-latest
     container: wpilib/roborio-cross-ubuntu:2024-22.04
+    if: ${{ github.event_name != 'pull_request' || github.event.pull_request == null }}
 
     steps:
       - name: Checkout repository
@@ -22,19 +26,26 @@ jobs:
       - name: Set up Gradle cache
         uses: gradle/actions/setup-gradle@v4
 
-      # ------------------------------------------------------------
-      # Always build (all branches, all PRs)
-      # ------------------------------------------------------------
       - name: Build robot code
-        run: ./gradlew build
-
-      # ------------------------------------------------------------
-      # Spotless only on main/develop
-      # ------------------------------------------------------------
-      - name: Run Spotless checks
-        if: |
-          github.ref == 'refs/heads/main' ||
-          github.ref == 'refs/heads/develop' ||
-          github.base_ref == 'main' ||
-          github.base_ref == 'develop'
-        run: ./gradlew spotlessCheck
+        run: ./gradlew build --no-daemon --parallel --build-cache
+
+  # ------------------------------------------------------------
+  # Spotless job (separate for branch protection)
+  # ------------------------------------------------------------
+  spotless:
+    runs-on: ubuntu-latest
+    container: wpilib/roborio-cross-ubuntu:2024-22.04
+    # Only run for PRs or pushes targeting main/develop
+    if: github.base_ref == 'main' || github.base_ref == 'develop' || github.ref == 'refs/heads/main' || github.ref == 'refs/heads/develop'
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@v6
+
+      - name: Grant execute permission for gradlew
+        run: chmod +x gradlew
+
+      - name: Set up Gradle cache
+        uses: gradle/actions/setup-gradle@v4
+
+      - name: Run Spotless check
+        run: ./gradlew spotlessCheck --no-daemon --parallel --build-cache
diff --git a/.github/workflows/dependency-submission.yml b/.github/workflows/dependency-submission.yml
index 7a7c477..16d9455 100644
--- a/.github/workflows/dependency-submission.yml
+++ b/.github/workflows/dependency-submission.yml
@@ -1,5 +1,9 @@
 name: Dependency Submission
 
+# Purpose: Generate and submit Gradle dependency metadata (graph) to Gradle’s services.
+# Trigger: Push to main branch only.
+# Effect: Helps with dependency insight, conflict detection, and build analytics.
+
 on:
   push:
     branches: [ 'main' ]
diff --git a/gradle.properties b/gradle.properties
deleted file mode 100644
index cd9de7c..0000000
--- a/gradle.properties
+++ /dev/null
@@ -1,18 +0,0 @@
-# ------------------------------------------------------------
-# Gradle performance & CI tuning
-# ------------------------------------------------------------
-
-# CI should not use the Gradle daemon
-org.gradle.daemon=false
-
-# Enable parallel task execution
-org.gradle.parallel=true
-
-# Enable build cache
-org.gradle.caching=true
-
-# Reduce configuration time for multi-project builds
-org.gradle.configureondemand=true
-
-# Keep console output readable in CI
-org.gradle.console=plain
diff --git a/settings.gradle b/settings.gradle
index 969c7b0..0441686 100644
--- a/settings.gradle
+++ b/settings.gradle
@@ -4,7 +4,7 @@ pluginManagement {
     repositories {
         mavenLocal()
         gradlePluginPortal()
-        String frcYear = '2025'
+        String frcYear = '2026beta'
         File frcHome
         if (OperatingSystem.current().isWindows()) {
             String publicFolder = System.getenv('PUBLIC')

From 462f7f7d33e22fb8035b29bf2c298c7af2a7e2cd Mon Sep 17 00:00:00 2001
From: "Timothy P. Ellsworth Bowers" <tbowers@lowell.edu>
Date: Sun, 28 Dec 2025 19:11:54 -0700
Subject: [PATCH 9/9] Run admin-orchestrator on pushes to main

	modified:   .github/workflows/admin-orchestrator.yaml
	modified:   settings.gradle
---
 .github/workflows/admin-orchestrator.yaml | 12 +++++++++++-
 settings.gradle                           |  2 +-
 2 files changed, 12 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/admin-orchestrator.yaml b/.github/workflows/admin-orchestrator.yaml
index 265ae23..eb34da2 100644
--- a/.github/workflows/admin-orchestrator.yaml
+++ b/.github/workflows/admin-orchestrator.yaml
@@ -2,8 +2,14 @@ name: Admin branch orchestration
 
 on:
   create:
+
+  push:
+    branches:
+      - "main"
+
   schedule:
     - cron: "0 3 * * 1"   # Weekly, Monday 03:00 UTC
+
   workflow_dispatch:
 
   pull_request:
@@ -56,8 +62,12 @@ jobs:
       # Periodically rebase admin onto default (true rebase)
       # ------------------------------------------------------------
       - name: Rebase admin onto default
-        if: github.event_name == 'schedule' || github.event_name == 'workflow_dispatch'
+        if: github.event_name == 'schedule' || github.event_name == 'workflow_dispatch' || github.event_name == 'push'
         run: |
+          set -e
+          git config user.name "github-actions[bot]"
+          git config user.email "github-actions[bot]@users.noreply.github.com"
+
           git fetch origin
           git checkout admin
 
diff --git a/settings.gradle b/settings.gradle
index 0441686..969c7b0 100644
--- a/settings.gradle
+++ b/settings.gradle
@@ -4,7 +4,7 @@ pluginManagement {
     repositories {
         mavenLocal()
         gradlePluginPortal()
-        String frcYear = '2026beta'
+        String frcYear = '2025'
         File frcHome
         if (OperatingSystem.current().isWindows()) {
             String publicFolder = System.getenv('PUBLIC')