diff --git a/src/main/deploy/apriltags/2024-amps.json b/src/main/deploy/apriltags/2024-amps.json
deleted file mode 100644
index ddaf4be..0000000
--- a/src/main/deploy/apriltags/2024-amps.json
+++ /dev/null
@@ -1,44 +0,0 @@
-{
-  "tags": [
-    {
-      "ID": 5,
-      "pose": {
-        "translation": {
-          "x": 14.700757999999999,
-          "y": 8.2042,
-          "z": 1.355852
-        },
-        "rotation": {
-          "quaternion": {
-            "W": -0.7071067811865475,
-            "X": -0.0,
-            "Y": 0.0,
-            "Z": 0.7071067811865476
-          }
-        }
-      }
-    },
-    {
-      "ID": 6,
-      "pose": {
-        "translation": {
-          "x": 1.8415,
-          "y": 8.2042,
-          "z": 1.355852
-        },
-        "rotation": {
-          "quaternion": {
-            "W": -0.7071067811865475,
-            "X": -0.0,
-            "Y": 0.0,
-            "Z": 0.7071067811865476
-          }
-        }
-      }
-    }
-  ],
-  "field": {
-    "length": 16.541,
-    "width": 8.211
-  }
-}
diff --git a/src/main/deploy/apriltags/2024-speakers.json b/src/main/deploy/apriltags/2024-speakers.json
deleted file mode 100644
index 36ecc9d..0000000
--- a/src/main/deploy/apriltags/2024-speakers.json
+++ /dev/null
@@ -1,80 +0,0 @@
-{
-  "tags": [
-    {
-      "ID": 3,
-      "pose": {
-        "translation": {
-          "x": 16.579342,
-          "y": 4.982717999999999,
-          "z": 1.4511020000000001
-        },
-        "rotation": {
-          "quaternion": {
-            "W": 6.123233995736766e-17,
-            "X": 0.0,
-            "Y": 0.0,
-            "Z": 1.0
-          }
-        }
-      }
-    },
-    {
-      "ID": 4,
-      "pose": {
-        "translation": {
-          "x": 16.579342,
-          "y": 5.547867999999999,
-          "z": 1.4511020000000001
-        },
-        "rotation": {
-          "quaternion": {
-            "W": 6.123233995736766e-17,
-            "X": 0.0,
-            "Y": 0.0,
-            "Z": 1.0
-          }
-        }
-      }
-    },
-    {
-      "ID": 7,
-      "pose": {
-        "translation": {
-          "x": -0.038099999999999995,
-          "y": 5.547867999999999,
-          "z": 1.4511020000000001
-        },
-        "rotation": {
-          "quaternion": {
-            "W": 1.0,
-            "X": 0.0,
-            "Y": 0.0,
-            "Z": 0.0
-          }
-        }
-      }
-    },
-    {
-      "ID": 8,
-      "pose": {
-        "translation": {
-          "x": -0.038099999999999995,
-          "y": 4.982717999999999,
-          "z": 1.4511020000000001
-        },
-        "rotation": {
-          "quaternion": {
-            "W": 1.0,
-            "X": 0.0,
-            "Y": 0.0,
-            "Z": 0.0
-          }
-        }
-      }
-    }
-  ],
-  "field": {
-    "length": 16.541,
-    "width": 8.211
-  }
-}
diff --git a/src/main/deploy/apriltags/2024-wpi.json b/src/main/deploy/apriltags/2024-wpi.json
deleted file mode 100644
index bbf6862..0000000
--- a/src/main/deploy/apriltags/2024-wpi.json
+++ /dev/null
@@ -1,116 +0,0 @@
-{
-  "tags": [
-    {
-      "ID": 3,
-      "pose": {
-        "translation": {
-          "x": 16.579342,
-          "y": 4.982717999999999,
-          "z": 1.4511020000000001
-        },
-        "rotation": {
-          "quaternion": {
-            "W": 6.123233995736766e-17,
-            "X": 0.0,
-            "Y": 0.0,
-            "Z": 1.0
-          }
-        }
-      }
-    },
-    {
-      "ID": 4,
-      "pose": {
-        "translation": {
-          "x": 16.579342,
-          "y": 5.547867999999999,
-          "z": 1.4511020000000001
-        },
-        "rotation": {
-          "quaternion": {
-            "W": 6.123233995736766e-17,
-            "X": 0.0,
-            "Y": 0.0,
-            "Z": 1.0
-          }
-        }
-      }
-    },
-    {
-      "ID": 5,
-      "pose": {
-        "translation": {
-          "x": 14.700757999999999,
-          "y": 8.2042,
-          "z": 1.355852
-        },
-        "rotation": {
-          "quaternion": {
-            "W": -0.7071067811865475,
-            "X": -0.0,
-            "Y": 0.0,
-            "Z": 0.7071067811865476
-          }
-        }
-      }
-    },
-    {
-      "ID": 6,
-      "pose": {
-        "translation": {
-          "x": 1.8415,
-          "y": 8.2042,
-          "z": 1.355852
-        },
-        "rotation": {
-          "quaternion": {
-            "W": -0.7071067811865475,
-            "X": -0.0,
-            "Y": 0.0,
-            "Z": 0.7071067811865476
-          }
-        }
-      }
-    },
-    {
-      "ID": 7,
-      "pose": {
-        "translation": {
-          "x": -0.038099999999999995,
-          "y": 5.547867999999999,
-          "z": 1.4511020000000001
-        },
-        "rotation": {
-          "quaternion": {
-            "W": 1.0,
-            "X": 0.0,
-            "Y": 0.0,
-            "Z": 0.0
-          }
-        }
-      }
-    },
-    {
-      "ID": 8,
-      "pose": {
-        "translation": {
-          "x": -0.038099999999999995,
-          "y": 4.982717999999999,
-          "z": 1.4511020000000001
-        },
-        "rotation": {
-          "quaternion": {
-            "W": 1.0,
-            "X": 0.0,
-            "Y": 0.0,
-            "Z": 0.0
-          }
-        }
-      }
-    }
-  ],
-  "field": {
-    "length": 16.541,
-    "width": 8.211
-  }
-}
diff --git a/src/main/deploy/apriltags/2024-official.json b/src/main/deploy/apriltags/2025-official.json
similarity index 51%
rename from src/main/deploy/apriltags/2024-official.json
rename to src/main/deploy/apriltags/2025-official.json
index 8cb837a..eb395c0 100644
--- a/src/main/deploy/apriltags/2024-official.json
+++ b/src/main/deploy/apriltags/2025-official.json
@@ -4,16 +4,16 @@
       "ID": 1,
       "pose": {
         "translation": {
-          "x": 15.079471999999997,
-          "y": 0.24587199999999998,
-          "z": 1.355852
+          "x": 16.697198,
+          "y": 0.65532,
+          "z": 1.4859
         },
         "rotation": {
           "quaternion": {
-            "W": 0.5000000000000001,
+            "W": 0.4539904997395468,
             "X": 0.0,
             "Y": 0.0,
-            "Z": 0.8660254037844386
+            "Z": 0.8910065241883678
           }
         }
       }
@@ -22,16 +22,16 @@
       "ID": 2,
       "pose": {
         "translation": {
-          "x": 16.185134,
-          "y": 0.883666,
-          "z": 1.355852
+          "x": 16.697198,
+          "y": 7.3964799999999995,
+          "z": 1.4859
         },
         "rotation": {
           "quaternion": {
-            "W": 0.5000000000000001,
-            "X": 0.0,
+            "W": -0.45399049973954675,
+            "X": -0.0,
             "Y": 0.0,
-            "Z": 0.8660254037844386
+            "Z": 0.8910065241883679
           }
         }
       }
@@ -40,16 +40,16 @@
       "ID": 3,
       "pose": {
         "translation": {
-          "x": 16.579342,
-          "y": 4.982717999999999,
-          "z": 1.4511020000000001
+          "x": 11.560809999999998,
+          "y": 8.05561,
+          "z": 1.30175
         },
         "rotation": {
           "quaternion": {
-            "W": 6.123233995736766e-17,
-            "X": 0.0,
+            "W": -0.7071067811865475,
+            "X": -0.0,
             "Y": 0.0,
-            "Z": 1.0
+            "Z": 0.7071067811865476
           }
         }
       }
@@ -58,16 +58,16 @@
       "ID": 4,
       "pose": {
         "translation": {
-          "x": 16.579342,
-          "y": 5.547867999999999,
-          "z": 1.4511020000000001
+          "x": 9.276079999999999,
+          "y": 6.137656,
+          "z": 1.8679160000000001
         },
         "rotation": {
           "quaternion": {
-            "W": 6.123233995736766e-17,
+            "W": 0.9659258262890683,
             "X": 0.0,
-            "Y": 0.0,
-            "Z": 1.0
+            "Y": 0.25881904510252074,
+            "Z": 0.0
           }
         }
       }
@@ -76,16 +76,16 @@
       "ID": 5,
       "pose": {
         "translation": {
-          "x": 14.700757999999999,
-          "y": 8.2042,
-          "z": 1.355852
+          "x": 9.276079999999999,
+          "y": 1.914906,
+          "z": 1.8679160000000001
         },
         "rotation": {
           "quaternion": {
-            "W": -0.7071067811865475,
-            "X": -0.0,
-            "Y": 0.0,
-            "Z": 0.7071067811865476
+            "W": 0.9659258262890683,
+            "X": 0.0,
+            "Y": 0.25881904510252074,
+            "Z": 0.0
           }
         }
       }
@@ -94,16 +94,16 @@
       "ID": 6,
       "pose": {
         "translation": {
-          "x": 1.8415,
-          "y": 8.2042,
-          "z": 1.355852
+          "x": 13.474446,
+          "y": 3.3063179999999996,
+          "z": 0.308102
         },
         "rotation": {
           "quaternion": {
-            "W": -0.7071067811865475,
+            "W": -0.8660254037844387,
             "X": -0.0,
             "Y": 0.0,
-            "Z": 0.7071067811865476
+            "Z": 0.49999999999999994
           }
         }
       }
@@ -112,9 +112,9 @@
       "ID": 7,
       "pose": {
         "translation": {
-          "x": -0.038099999999999995,
-          "y": 5.547867999999999,
-          "z": 1.4511020000000001
+          "x": 13.890498,
+          "y": 4.0259,
+          "z": 0.308102
         },
         "rotation": {
           "quaternion": {
@@ -130,16 +130,16 @@
       "ID": 8,
       "pose": {
         "translation": {
-          "x": -0.038099999999999995,
-          "y": 4.982717999999999,
-          "z": 1.4511020000000001
+          "x": 13.474446,
+          "y": 4.745482,
+          "z": 0.308102
         },
         "rotation": {
           "quaternion": {
-            "W": 1.0,
+            "W": 0.8660254037844387,
             "X": 0.0,
             "Y": 0.0,
-            "Z": 0.0
+            "Z": 0.49999999999999994
           }
         }
       }
@@ -148,16 +148,16 @@
       "ID": 9,
       "pose": {
         "translation": {
-          "x": 0.356108,
-          "y": 0.883666,
-          "z": 1.355852
+          "x": 12.643358,
+          "y": 4.745482,
+          "z": 0.308102
         },
         "rotation": {
           "quaternion": {
-            "W": 0.8660254037844387,
+            "W": 0.5000000000000001,
             "X": 0.0,
             "Y": 0.0,
-            "Z": 0.49999999999999994
+            "Z": 0.8660254037844386
           }
         }
       }
@@ -166,16 +166,16 @@
       "ID": 10,
       "pose": {
         "translation": {
-          "x": 1.4615159999999998,
-          "y": 0.24587199999999998,
-          "z": 1.355852
+          "x": 12.227305999999999,
+          "y": 4.0259,
+          "z": 0.308102
         },
         "rotation": {
           "quaternion": {
-            "W": 0.8660254037844387,
+            "W": 6.123233995736766e-17,
             "X": 0.0,
             "Y": 0.0,
-            "Z": 0.49999999999999994
+            "Z": 1.0
           }
         }
       }
@@ -184,16 +184,16 @@
       "ID": 11,
       "pose": {
         "translation": {
-          "x": 11.904726,
-          "y": 3.7132259999999997,
-          "z": 1.3208
+          "x": 12.643358,
+          "y": 3.3063179999999996,
+          "z": 0.308102
         },
         "rotation": {
           "quaternion": {
-            "W": -0.8660254037844387,
+            "W": -0.4999999999999998,
             "X": -0.0,
             "Y": 0.0,
-            "Z": 0.49999999999999994
+            "Z": 0.8660254037844387
           }
         }
       }
@@ -202,16 +202,16 @@
       "ID": 12,
       "pose": {
         "translation": {
-          "x": 11.904726,
-          "y": 4.49834,
-          "z": 1.3208
+          "x": 0.851154,
+          "y": 0.65532,
+          "z": 1.4859
         },
         "rotation": {
           "quaternion": {
-            "W": 0.8660254037844387,
+            "W": 0.8910065241883679,
             "X": 0.0,
             "Y": 0.0,
-            "Z": 0.49999999999999994
+            "Z": 0.45399049973954675
           }
         }
       }
@@ -220,16 +220,16 @@
       "ID": 13,
       "pose": {
         "translation": {
-          "x": 11.220196,
-          "y": 4.105148,
-          "z": 1.3208
+          "x": 0.851154,
+          "y": 7.3964799999999995,
+          "z": 1.4859
         },
         "rotation": {
           "quaternion": {
-            "W": 6.123233995736766e-17,
-            "X": 0.0,
+            "W": -0.8910065241883678,
+            "X": -0.0,
             "Y": 0.0,
-            "Z": 1.0
+            "Z": 0.45399049973954686
           }
         }
       }
@@ -238,27 +238,99 @@
       "ID": 14,
       "pose": {
         "translation": {
-          "x": 5.320792,
-          "y": 4.105148,
-          "z": 1.3208
+          "x": 8.272272,
+          "y": 6.137656,
+          "z": 1.8679160000000001
         },
         "rotation": {
           "quaternion": {
-            "W": 1.0,
+            "W": 5.914589856893349e-17,
+            "X": -0.25881904510252074,
+            "Y": 1.5848095757158825e-17,
+            "Z": 0.9659258262890683
+          }
+        }
+      }
+    },
+    {
+      "ID": 15,
+      "pose": {
+        "translation": {
+          "x": 8.272272,
+          "y": 1.914906,
+          "z": 1.8679160000000001
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 5.914589856893349e-17,
+            "X": -0.25881904510252074,
+            "Y": 1.5848095757158825e-17,
+            "Z": 0.9659258262890683
+          }
+        }
+      }
+    },
+    {
+      "ID": 16,
+      "pose": {
+        "translation": {
+          "x": 5.9875419999999995,
+          "y": -0.0038099999999999996,
+          "z": 1.30175
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 0.7071067811865476,
             "X": 0.0,
             "Y": 0.0,
-            "Z": 0.0
+            "Z": 0.7071067811865476
           }
         }
       }
     },
     {
-      "ID": 15,
+      "ID": 17,
+      "pose": {
+        "translation": {
+          "x": 4.073905999999999,
+          "y": 3.3063179999999996,
+          "z": 0.308102
+        },
+        "rotation": {
+          "quaternion": {
+            "W": -0.4999999999999998,
+            "X": -0.0,
+            "Y": 0.0,
+            "Z": 0.8660254037844387
+          }
+        }
+      }
+    },
+    {
+      "ID": 18,
+      "pose": {
+        "translation": {
+          "x": 3.6576,
+          "y": 4.0259,
+          "z": 0.308102
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 6.123233995736766e-17,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 1.0
+          }
+        }
+      }
+    },
+    {
+      "ID": 19,
       "pose": {
         "translation": {
-          "x": 4.641342,
-          "y": 4.49834,
-          "z": 1.3208
+          "x": 4.073905999999999,
+          "y": 4.745482,
+          "z": 0.308102
         },
         "rotation": {
           "quaternion": {
@@ -271,26 +343,62 @@
       }
     },
     {
-      "ID": 16,
+      "ID": 20,
       "pose": {
         "translation": {
-          "x": 4.641342,
-          "y": 3.7132259999999997,
-          "z": 1.3208
+          "x": 4.904739999999999,
+          "y": 4.745482,
+          "z": 0.308102
         },
         "rotation": {
           "quaternion": {
-            "W": -0.4999999999999998,
+            "W": 0.8660254037844387,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 0.49999999999999994
+          }
+        }
+      }
+    },
+    {
+      "ID": 21,
+      "pose": {
+        "translation": {
+          "x": 5.321046,
+          "y": 4.0259,
+          "z": 0.308102
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 1.0,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 0.0
+          }
+        }
+      }
+    },
+    {
+      "ID": 22,
+      "pose": {
+        "translation": {
+          "x": 4.904739999999999,
+          "y": 3.3063179999999996,
+          "z": 0.308102
+        },
+        "rotation": {
+          "quaternion": {
+            "W": -0.8660254037844387,
             "X": -0.0,
             "Y": 0.0,
-            "Z": 0.8660254037844387
+            "Z": 0.49999999999999994
           }
         }
       }
     }
   ],
   "field": {
-    "length": 16.541,
-    "width": 8.211
+    "length": 17.548,
+    "width": 8.052
   }
 }
diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
index 08fb4a5..89b556f 100644
--- a/src/main/java/frc/robot/Constants.java
+++ b/src/main/java/frc/robot/Constants.java
@@ -41,7 +41,6 @@
 import frc.robot.util.RBSIEnum.CTREPro;
 import frc.robot.util.RBSIEnum.Mode;
 import frc.robot.util.RBSIEnum.MotorIdleMode;
-import frc.robot.util.RBSIEnum.RobotType;
 import frc.robot.util.RBSIEnum.SwerveType;
 import frc.robot.util.RBSIEnum.VisionType;
 import frc.robot.util.RobotDeviceId;
@@ -77,6 +76,13 @@ public final class Constants {
   private static AutoType autoType = AutoType.PATHPLANNER; // PATHPLANNER, CHOREO
   private static VisionType visionType = VisionType.NONE; // PHOTON, LIMELIGHT, NONE
 
+  /** Enumerate the robot types (name your robots here) */
+  public static enum RobotType {
+    DEVBOT, // Development / Alpha / Practice Bot
+    COMPBOT, // Competition robot
+    SIMBOT // Simulated robot
+  }
+
   /** Checks whether the correct robot is selected when deploying. */
   public static void main(String... args) {
     if (robotType == RobotType.SIMBOT) {
@@ -368,8 +374,7 @@ public static class CANandPowerPorts {
   }
 
   /** AprilTag Field Layout ************************************************ */
-  /* SEASON SPECIFIC! -- This section is for 2024 (Crescendo) */
-  // NOTE: This section will be updated to 2025 "Reefscape" following kickoff
+  /* SEASON SPECIFIC! -- This section is for 2025 (Reefscape) */
   public static class AprilTagConstants {
 
     public static final double aprilTagWidth = Units.inchesToMeters(6.50);
@@ -381,10 +386,11 @@ public static class AprilTagConstants {
 
     @Getter
     public enum AprilTagLayoutType {
-      OFFICIAL("2024-official"),
-      SPEAKERS_ONLY("2024-speakers"),
-      AMPS_ONLY("2024-amps"),
-      WPI("2024-wpi");
+      OFFICIAL("2025-official");
+
+      // SPEAKERS_ONLY("2024-speakers"),
+      // AMPS_ONLY("2024-amps"),
+      // WPI("2024-wpi");
 
       private AprilTagLayoutType(String name) {
         if (Constants.disableHAL) {
diff --git a/src/main/java/frc/robot/util/RBSIEnum.java b/src/main/java/frc/robot/util/RBSIEnum.java
index ddb31d8..00495da 100644
--- a/src/main/java/frc/robot/util/RBSIEnum.java
+++ b/src/main/java/frc/robot/util/RBSIEnum.java
@@ -19,13 +19,6 @@
  */
 public class RBSIEnum {
 
-  /** Enumerate the robot types (add additional bots here) */
-  public static enum RobotType {
-    DEVBOT, // Development / Alpha / Practice Bot
-    COMPBOT, // Competition robot
-    SIMBOT // Simulated robot
-  }
-
   /** Enumerate the robot operation modes */
   public static enum Mode {
     REAL, // REAL == Running on a real robot
diff --git a/vendordeps/PathplannerLib.json b/vendordeps/PathplannerLib.json
index 1371a40..c0f7c11 100644
--- a/vendordeps/PathplannerLib.json
+++ b/vendordeps/PathplannerLib.json
@@ -1,7 +1,7 @@
 {
   "fileName": "PathplannerLib.json",
   "name": "PathplannerLib",
-  "version": "2025.2.1",
+  "version": "2025.2.2",
   "uuid": "1b42324f-17c6-4875-8e77-1c312bc8c786",
   "frcYear": "2025",
   "mavenUrls": [
@@ -12,7 +12,7 @@
     {
       "groupId": "com.pathplanner.lib",
       "artifactId": "PathplannerLib-java",
-      "version": "2025.2.1"
+      "version": "2025.2.2"
     }
   ],
   "jniDependencies": [],
@@ -20,7 +20,7 @@
     {
       "groupId": "com.pathplanner.lib",
       "artifactId": "PathplannerLib-cpp",
-      "version": "2025.2.1",
+      "version": "2025.2.2",
       "libName": "PathplannerLib",
       "headerClassifier": "headers",
       "sharedLibrary": false,
diff --git a/vendordeps/URCL.json b/vendordeps/URCL.json
index c991b6a..6beb912 100644
--- a/vendordeps/URCL.json
+++ b/vendordeps/URCL.json
@@ -1,7 +1,7 @@
 {
   "fileName": "URCL.json",
   "name": "URCL",
-  "version": "2025.0.0",
+  "version": "2025.0.1",
   "frcYear": "2025",
   "uuid": "84246d17-a797-4d1e-bd9f-c59cd8d2477c",
   "mavenUrls": [
@@ -12,14 +12,14 @@
     {
       "groupId": "org.littletonrobotics.urcl",
       "artifactId": "URCL-java",
-      "version": "2025.0.0"
+      "version": "2025.0.1"
     }
   ],
   "jniDependencies": [
     {
       "groupId": "org.littletonrobotics.urcl",
       "artifactId": "URCL-driver",
-      "version": "2025.0.0",
+      "version": "2025.0.1",
       "skipInvalidPlatforms": true,
       "isJar": false,
       "validPlatforms": [
@@ -34,7 +34,7 @@
     {
       "groupId": "org.littletonrobotics.urcl",
       "artifactId": "URCL-cpp",
-      "version": "2025.0.0",
+      "version": "2025.0.1",
       "libName": "URCL",
       "headerClassifier": "headers",
       "sharedLibrary": false,
@@ -49,7 +49,7 @@
     {
       "groupId": "org.littletonrobotics.urcl",
       "artifactId": "URCL-driver",
-      "version": "2025.0.0",
+      "version": "2025.0.1",
       "libName": "URCLDriver",
       "headerClassifier": "headers",
       "sharedLibrary": false,
diff --git a/vendordeps/maple-sim.json b/vendordeps/maple-sim.json
index bff4177..59b3a20 100644
--- a/vendordeps/maple-sim.json
+++ b/vendordeps/maple-sim.json
@@ -1,7 +1,7 @@
 {
   "fileName": "maple-sim.json",
   "name": "maplesim",
-  "version": "0.3.4",
+  "version": "0.3.5",
   "frcYear": "2025",
   "uuid": "c39481e8-4a63-4a4c-9df6-48d91e4da37b",
   "mavenUrls": [
@@ -13,7 +13,7 @@
     {
       "groupId": "org.ironmaple",
       "artifactId": "maplesim-java",
-      "version": "0.3.4"
+      "version": "0.3.5"
     },
     {
       "groupId": "org.dyn4j",