diff --git a/src/main/java/org/team2342/lib/leds/LedIO.java b/src/main/java/org/team2342/lib/leds/LedIO.java
index 3252197..af8f0ba 100644
--- a/src/main/java/org/team2342/lib/leds/LedIO.java
+++ b/src/main/java/org/team2342/lib/leds/LedIO.java
@@ -6,4 +6,58 @@
 
 package org.team2342.lib.leds;
 
-public interface LedIO {}
+public interface LedIO {
+
+  public enum Half {
+    FIRST,
+    SECOND,
+    ALL
+  }
+
+  
+  public enum LedEffect {
+    SOLID,     
+    FLASHING,  
+    RAINBOW,   
+    OFF
+  }
+
+  public static class LedColor {
+    public int red;
+    public int green;
+    public int blue;
+
+    public LedColor(int red, int green, int blue) {
+      this.red = red;
+      this.green = green;
+      this.blue = blue;
+    }
+
+    public static LedColor off() {
+      return new LedColor(0, 0, 0);
+    }
+  }
+
+  public static class LedIOInputs {
+    public LedColor firstHalfColor = LedColor.off();
+    public LedColor secondHalfColor = LedColor.off();
+    public LedEffect firstHalfEffect = LedEffect.OFF;
+    public LedEffect secondHalfEffect = LedEffect.OFF;
+  }
+
+  public default void updateInputs(LedIOInputs inputs) {}
+
+  public default void setColor(Half half, LedColor color) {}
+
+  public default void setEffect(Half half, LedEffect effect, LedColor color) {}
+
+  public default void setAllColor(LedColor color) {
+    setColor(Half.FIRST, color);
+    setColor(Half.SECOND, color);
+  }
+
+  public default void setAllEffect(LedEffect effect, LedColor color) {
+    setEffect(Half.FIRST, effect, color);
+    setEffect(Half.SECOND, effect, color);
+  }
+}
diff --git a/src/main/java/org/team2342/lib/leds/LedIOCANdle.java b/src/main/java/org/team2342/lib/leds/LedIOCANdle.java
index e3e27c8..41169fc 100644
--- a/src/main/java/org/team2342/lib/leds/LedIOCANdle.java
+++ b/src/main/java/org/team2342/lib/leds/LedIOCANdle.java
@@ -6,4 +6,127 @@
 
 package org.team2342.lib.leds;
 
-public class LedIOCANdle implements LedIO {}
+import com.ctre.phoenix6.hardware.CANdle;
+import com.ctre.phoenix6.configs.CANdleConfiguration;
+import com.ctre.phoenix6.controls.SolidColor;
+import com.ctre.phoenix6.controls.RainbowAnimation;
+import com.ctre.phoenix6.signals.RGBWColor;
+import com.ctre.phoenix6.signals.StripTypeValue;
+
+
+public class LedIOCANdle implements LedIO {
+  private CANdle candle; 
+  private int totalLeds;
+  private int firstHalfLength;
+  private int secondHalfLength; 
+  
+  private LedColor lastFirstColor = LedColor.off();
+  private LedColor lastSecondColor = LedColor.off();
+  private LedEffect lastFirstEffect = LedEffect.OFF;
+  private LedEffect lastSecondEffect = LedEffect.OFF;
+
+  public LedIOCANdle(int canID, int ledCount){
+    this.candle = new CANdle(canID);
+    this.totalLeds = ledCount;
+    this.firstHalfLength = totalLeds / 2;
+    this.secondHalfLength = totalLeds - firstHalfLength;
+
+    CANdleConfiguration config = new CANdleConfiguration();
+    config.LED.StripType = StripTypeValue.RGB;
+    candle.getConfigurator().apply(config);
+  }
+
+  @Override
+  public void updateInputs(LedIOInputs inputs){
+    inputs.firstHalfColor = lastFirstColor;
+    inputs.secondHalfColor = lastSecondColor;
+    inputs.firstHalfEffect = lastFirstEffect;
+    inputs.secondHalfEffect = lastSecondEffect;
+  }
+  
+  @Override
+  public void setColor(Half half, LedColor color) {
+    switch (half) {
+      case FIRST:
+        sendSolidColor(0, firstHalfLength, color);
+        lastFirstColor = color;
+        lastFirstEffect = LedEffect.SOLID;
+        break;
+      case SECOND:
+        sendSolidColor(firstHalfLength, secondHalfLength, color);
+        lastSecondColor = color;
+        lastSecondEffect = LedEffect.SOLID;
+        break;
+      case ALL:
+        sendSolidColor(0, totalLeds, color);
+        lastFirstColor = color;
+        lastSecondColor = color;
+        lastFirstEffect = LedEffect.SOLID;
+        lastSecondEffect = LedEffect.SOLID;
+        break;
+      }
+
+  }
+
+  @Override
+  public void setEffect(Half half, LedEffect effect, LedColor color) {
+    if (color == null){
+      color = LedColor.off();
+    }
+
+    int start = 0;
+    int length = 0;
+
+    switch (half) {
+      case FIRST:
+        start = 0;
+        length = firstHalfLength;
+        lastFirstColor = color;
+        lastFirstEffect = effect;
+        break;
+      case SECOND:
+        start = firstHalfLength;
+        length = secondHalfLength;
+        lastSecondColor = color;
+        lastSecondEffect = effect;
+        break;
+      case ALL:
+        start = 0;
+        length = totalLeds;
+        lastFirstEffect = effect;
+        lastSecondEffect = effect;
+        lastFirstColor = color;
+        lastSecondColor = color;
+        break;
+    }
+
+    switch (effect) {
+      case SOLID:
+        sendSolidColor(start, length, color);
+        break;
+      case RAINBOW:
+        RainbowAnimation rainbow = new RainbowAnimation(start, length);
+        candle.setControl(rainbow);
+        break;
+      case FLASHING:
+        sendSolidColor(start, length, color);
+        break;
+      case OFF:
+        sendSolidColor(start, length, LedColor.off());
+        break;
+    }
+  }
+
+  private RGBWColor toCTRE(LedColor c) {
+    if (c == null){
+      return new RGBWColor(0,0,0,0);
+    }
+    return new RGBWColor(c.red, c.green, c.blue,0);
+  }
+
+  private void sendSolidColor(int start, int length, LedColor color) {
+    SolidColor request = new SolidColor(start, length);
+    request.withColor(toCTRE(color));
+    candle.setControl(request);
+  }
+}
\ No newline at end of file
diff --git a/src/main/java/org/team2342/lib/leds/LedIOSim.java b/src/main/java/org/team2342/lib/leds/LedIOSim.java
new file mode 100644
index 0000000..137d6b4
--- /dev/null
+++ b/src/main/java/org/team2342/lib/leds/LedIOSim.java
@@ -0,0 +1,82 @@
+// Copyright (c) 2025 Team 2342
+// https://github.com/FRCTeamPhoenix
+//
+// This source code is licensed under the MIT License.
+// See the LICENSE file in the root directory of this project.
+
+package org.team2342.lib.leds;
+
+import org.littletonrobotics.junction.Logger;
+
+public class LedIOSim implements LedIO {
+  private LedColor firstColor = LedColor.off();
+  private LedColor secondColor = LedColor.off();
+  private LedEffect firstEffect = LedEffect.OFF;
+  private LedEffect secondEffect = LedEffect.OFF;
+
+  @Override
+  public void setColor(Half half, LedColor color) {
+    if (color == null) {
+      color = LedColor.off();
+    }
+
+    switch (half) {
+      case FIRST:
+        firstColor = color;
+        firstEffect = LedEffect.SOLID;
+        break;
+      case SECOND:
+        secondColor = color;
+        secondEffect = LedEffect.SOLID;
+        break;
+      case ALL:
+        firstColor = color;
+        secondColor = color;
+        firstEffect = LedEffect.SOLID;
+        secondEffect = LedEffect.SOLID;
+        break;
+    }
+  }
+
+  @Override
+  public void setEffect(Half half, LedEffect effect, LedColor color){
+    if (color == null) {
+      color = LedColor.off();
+    }
+
+    switch (half) {
+      case FIRST:
+        firstColor = color;
+        firstEffect = effect;
+        break;
+      case SECOND:
+        secondColor = color;
+        secondEffect = effect;
+        break;
+      case ALL:
+        firstColor = color;
+        secondColor = color;
+        firstEffect = effect;
+        secondEffect = effect;
+        break;
+    }
+  }
+
+  @Override
+  public void updateInputs(LedIOInputs inputs){
+    inputs.firstHalfColor = firstColor;
+    inputs.secondHalfColor = secondColor;
+    inputs.firstHalfEffect = firstEffect;
+    inputs.secondHalfEffect = secondEffect;
+
+    Logger.recordOutput("LED/FirstHalf/Red", firstColor.red);
+    Logger.recordOutput("LED/FirstHalf/Green", firstColor.green);
+    Logger.recordOutput("LED/FirstHalf/Blue", firstColor.blue);
+    Logger.recordOutput("LED/FirstHalf/Effect", firstEffect.toString());
+
+    Logger.recordOutput("LED/SecondHalf/Red", secondColor.red);
+    Logger.recordOutput("LED/SecondHalf/Green", secondColor.green);
+    Logger.recordOutput("LED/SecondHalf/Blue", secondColor.blue);
+    Logger.recordOutput("LED/SecondHalf/Effect", secondEffect.toString());
+  }
+}
\ No newline at end of file
diff --git a/src/main/java/org/team2342/lib/leds/LedStrip.java b/src/main/java/org/team2342/lib/leds/LedStrip.java
new file mode 100644
index 0000000..df971f7
--- /dev/null
+++ b/src/main/java/org/team2342/lib/leds/LedStrip.java
@@ -0,0 +1,68 @@
+// Copyright (c) 2025 Team 2342
+// https://github.com/FRCTeamPhoenix
+//
+// This source code is licensed under the MIT License.
+// See the LICENSE file in the root directory of this project.
+
+package org.team2342.lib.leds;
+
+import edu.wpi.first.wpilibj.Timer;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+
+public class LedStrip extends SubsystemBase {
+  private final LedIO io;
+  private LedIO.LedColor firstColor = LedIO.LedColor.off();
+  private LedIO.LedEffect firstEffect = LedIO.LedEffect.OFF;
+  private LedIO.LedColor secondColor = LedIO.LedColor.off();
+  private LedIO.LedEffect secondEffect = LedIO.LedEffect.OFF;
+
+  private boolean flashing = false;
+  private double lastFlashTime = 0.0;
+  private static final double FLASH_PERIOD_SEC = 0.5;
+
+  public LedStrip(LedIO io){
+    this.io = io;
+  }
+
+  public void setFirst(LedIO.LedEffect effect, LedIO.LedColor color){
+    firstEffect = effect;
+    firstColor = color;
+  }
+
+  public void setSecond(LedIO.LedEffect effect, LedIO.LedColor color){
+    secondEffect = effect;
+    secondColor = color;
+  }
+
+  @Override
+  public void periodic() {
+    updateFlashing();
+    applyEffect(LedIO.Half.FIRST, firstEffect, firstColor);
+    applyEffect(LedIO.Half.SECOND, secondEffect, secondColor);
+  }
+
+  private void updateFlashing() {
+    double now = Timer.getFPGATimestamp();
+    if (now - lastFlashTime >= FLASH_PERIOD_SEC) {
+      flashing = !flashing;
+      lastFlashTime = now;
+    }
+  }
+
+  private void applyEffect(LedIO.Half half, LedIO.LedEffect effect, LedIO.LedColor color){
+    switch (effect) {
+      case SOLID:
+        io.setColor(half, color);
+        break;
+      case FLASHING:
+        io.setColor(half, (flashing ? color : LedIO.LedColor.off()));
+        break;
+      case RAINBOW:
+        io.setEffect(half, LedIO.LedEffect.RAINBOW, color);
+        break;
+      case OFF:
+        io.setColor(half, LedIO.LedColor.off());
+        break;
+    }
+  }
+}
\ No newline at end of file
diff --git a/src/main/java/org/team2342/lib/motors/dumb/DumbMotorIO.java b/src/main/java/org/team2342/lib/motors/dumb/DumbMotorIO.java
index d5e8531..6fac1e8 100644
--- a/src/main/java/org/team2342/lib/motors/dumb/DumbMotorIO.java
+++ b/src/main/java/org/team2342/lib/motors/dumb/DumbMotorIO.java
@@ -8,7 +8,16 @@
 
 import org.littletonrobotics.junction.AutoLog;
 
+/*
+ * Interface for dumb motor input/output
+ * Lets simulation, real hardware, and different motor types to use same structure
+ */
+
 public interface DumbMotorIO {
+  /**
+   * Container class for motor inputs - used for logging and data updates. The @AutoLog annotation
+   * automatically generates code for logging with the AdvantageKit framework.
+   */
   @AutoLog
   public static class DumbMotorIOInputs {
     public boolean connected = false;
@@ -16,7 +25,18 @@ public static class DumbMotorIOInputs {
     public double currentAmps = 0.0;
   }
 
+  /**
+   * Called periodically to update the motor input data.
+   *
+   * @param inputs The object that stores motor readings to be logged or used somewhere else.
+   */
   public default void updateInputs(DumbMotorIOInputs inputs) {}
 
+  /**
+   * Runs the motor at a specified voltage. This method is intended to be overridden by
+   * implementations to control the motor.
+   *
+   * @param voltage The voltage to apply to the motor.
+   */
   public default void runVoltage(double voltage) {}
 }
diff --git a/src/main/java/org/team2342/lib/motors/dumb/DumbMotorIOSim.java b/src/main/java/org/team2342/lib/motors/dumb/DumbMotorIOSim.java
index 574b99c..37191d5 100644
--- a/src/main/java/org/team2342/lib/motors/dumb/DumbMotorIOSim.java
+++ b/src/main/java/org/team2342/lib/motors/dumb/DumbMotorIOSim.java
@@ -11,15 +11,27 @@
 import edu.wpi.first.math.system.plant.DCMotor;
 import edu.wpi.first.wpilibj.simulation.LinearSystemSim;
 
+/** Simulation implementation of DumbMotorIO Uses a LinearSystemSim to simulate */
 public class DumbMotorIOSim implements DumbMotorIO {
   private final LinearSystemSim<N2, N1, N2> sim;
   private final DCMotor motor;
 
+  /**
+   * Constructs a new DumbMotorIOSim instance.
+   *
+   * @param motor The DC motor model to simulate
+   * @param sim The linear system simulation representing the motor's behavior
+   */
   public DumbMotorIOSim(DCMotor motor, LinearSystemSim<N2, N1, N2> sim) {
     this.motor = motor;
     this.sim = sim;
   }
 
+  /**
+   * Updates the inputs for the motor controller
+   *
+   * @param inputs The inputs object to update with current values
+   */
   @Override
   public void updateInputs(DumbMotorIOInputs inputs) {
     sim.update(0.02);
@@ -31,6 +43,11 @@ public void updateInputs(DumbMotorIOInputs inputs) {
     inputs.currentAmps = current;
   }
 
+  /**
+   * Sets the motor to run at the specified voltage
+   *
+   * @param voltage The desired voltage to apply to the motor
+   */
   @Override
   public void runVoltage(double voltage) {
     sim.setInput(voltage);
diff --git a/src/main/java/org/team2342/lib/motors/dumb/DumbMotorIOTalonFX.java b/src/main/java/org/team2342/lib/motors/dumb/DumbMotorIOTalonFX.java
index 7d31d25..a256757 100644
--- a/src/main/java/org/team2342/lib/motors/dumb/DumbMotorIOTalonFX.java
+++ b/src/main/java/org/team2342/lib/motors/dumb/DumbMotorIOTalonFX.java
@@ -20,6 +20,10 @@
 import org.team2342.frc.util.PhoenixUtils;
 import org.team2342.lib.motors.MotorConfig;
 
+/**
+ * Implementation of DumbMotorIO for a TalonFX motor controller Handles configuration, input
+ * updates, and voltage control for the motor
+ */
 public class DumbMotorIOTalonFX implements DumbMotorIO {
   private final TalonFX talon;
 
@@ -29,6 +33,12 @@ public class DumbMotorIOTalonFX implements DumbMotorIO {
   private final VoltageOut voltageRequest = new VoltageOut(0);
   private final Debouncer connectedDebouncer = new Debouncer(0.5);
 
+  /**
+   * Constructor to configure the TalonFX motor controller
+   *
+   * @param canID The CAN ID of the TalonFX motor controller
+   * @param config The configuration settings for the motor
+   */
   public DumbMotorIOTalonFX(int canID, MotorConfig config) {
     talon = new TalonFX(canID);
 
@@ -58,6 +68,11 @@ public DumbMotorIOTalonFX(int canID, MotorConfig config) {
     PhoenixUtils.tryUntilOk(5, () -> ParentDevice.optimizeBusUtilizationForAll(talon));
   }
 
+  /**
+   * Updates the inputs for the motor controller
+   *
+   * @param inputs The inputs object to update with current values
+   */
   @Override
   public void updateInputs(DumbMotorIOInputs inputs) {
     inputs.connected =
@@ -66,6 +81,11 @@ public void updateInputs(DumbMotorIOInputs inputs) {
     inputs.currentAmps = current.getValueAsDouble();
   }
 
+  /**
+   * Sets the motor to run at the specified voltage
+   *
+   * @param voltage The desired voltage to apply to the motor
+   */
   @Override
   public void runVoltage(double voltage) {
     talon.setControl(voltageRequest.withOutput(voltage));
diff --git a/vendordeps/Phoenix6-25.3.2.json b/vendordeps/Phoenix6-frc2025-latest.json
similarity index 86%
rename from vendordeps/Phoenix6-25.3.2.json
rename to vendordeps/Phoenix6-frc2025-latest.json
index 368e61c..ce44ce4 100644
--- a/vendordeps/Phoenix6-25.3.2.json
+++ b/vendordeps/Phoenix6-frc2025-latest.json
@@ -1,7 +1,7 @@
 {
-  "fileName": "Phoenix6-25.3.2.json",
+  "fileName": "Phoenix6-frc2025-latest.json",
   "name": "CTRE-Phoenix (v6)",
-  "version": "25.3.2",
+  "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": "25.3.2"
+      "version": "25.4.0"
     }
   ],
   "jniDependencies": [
     {
       "groupId": "com.ctre.phoenix6",
       "artifactId": "api-cpp",
-      "version": "25.3.2",
+      "version": "25.4.0",
       "isJar": false,
       "skipInvalidPlatforms": true,
       "validPlatforms": [
@@ -40,7 +40,7 @@
     {
       "groupId": "com.ctre.phoenix6",
       "artifactId": "tools",
-      "version": "25.3.2",
+      "version": "25.4.0",
       "isJar": false,
       "skipInvalidPlatforms": true,
       "validPlatforms": [
@@ -54,7 +54,7 @@
     {
       "groupId": "com.ctre.phoenix6.sim",
       "artifactId": "api-cpp-sim",
-      "version": "25.3.2",
+      "version": "25.4.0",
       "isJar": false,
       "skipInvalidPlatforms": true,
       "validPlatforms": [
@@ -68,7 +68,7 @@
     {
       "groupId": "com.ctre.phoenix6.sim",
       "artifactId": "tools-sim",
-      "version": "25.3.2",
+      "version": "25.4.0",
       "isJar": false,
       "skipInvalidPlatforms": true,
       "validPlatforms": [
@@ -82,7 +82,7 @@
     {
       "groupId": "com.ctre.phoenix6.sim",
       "artifactId": "simTalonSRX",
-      "version": "25.3.2",
+      "version": "25.4.0",
       "isJar": false,
       "skipInvalidPlatforms": true,
       "validPlatforms": [
@@ -96,7 +96,7 @@
     {
       "groupId": "com.ctre.phoenix6.sim",
       "artifactId": "simVictorSPX",
-      "version": "25.3.2",
+      "version": "25.4.0",
       "isJar": false,
       "skipInvalidPlatforms": true,
       "validPlatforms": [
@@ -110,7 +110,7 @@
     {
       "groupId": "com.ctre.phoenix6.sim",
       "artifactId": "simPigeonIMU",
-      "version": "25.3.2",
+      "version": "25.4.0",
       "isJar": false,
       "skipInvalidPlatforms": true,
       "validPlatforms": [
@@ -124,7 +124,7 @@
     {
       "groupId": "com.ctre.phoenix6.sim",
       "artifactId": "simCANCoder",
-      "version": "25.3.2",
+      "version": "25.4.0",
       "isJar": false,
       "skipInvalidPlatforms": true,
       "validPlatforms": [
@@ -138,7 +138,7 @@
     {
       "groupId": "com.ctre.phoenix6.sim",
       "artifactId": "simProTalonFX",
-      "version": "25.3.2",
+      "version": "25.4.0",
       "isJar": false,
       "skipInvalidPlatforms": true,
       "validPlatforms": [
@@ -152,7 +152,7 @@
     {
       "groupId": "com.ctre.phoenix6.sim",
       "artifactId": "simProTalonFXS",
-      "version": "25.3.2",
+      "version": "25.4.0",
       "isJar": false,
       "skipInvalidPlatforms": true,
       "validPlatforms": [
@@ -166,7 +166,7 @@
     {
       "groupId": "com.ctre.phoenix6.sim",
       "artifactId": "simProCANcoder",
-      "version": "25.3.2",
+      "version": "25.4.0",
       "isJar": false,
       "skipInvalidPlatforms": true,
       "validPlatforms": [
@@ -180,7 +180,7 @@
     {
       "groupId": "com.ctre.phoenix6.sim",
       "artifactId": "simProPigeon2",
-      "version": "25.3.2",
+      "version": "25.4.0",
       "isJar": false,
       "skipInvalidPlatforms": true,
       "validPlatforms": [
@@ -194,7 +194,7 @@
     {
       "groupId": "com.ctre.phoenix6.sim",
       "artifactId": "simProCANrange",
-      "version": "25.3.2",
+      "version": "25.4.0",
       "isJar": false,
       "skipInvalidPlatforms": true,
       "validPlatforms": [
@@ -208,7 +208,21 @@
     {
       "groupId": "com.ctre.phoenix6.sim",
       "artifactId": "simProCANdi",
-      "version": "25.3.2",
+      "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": [
@@ -224,7 +238,7 @@
     {
       "groupId": "com.ctre.phoenix6",
       "artifactId": "wpiapi-cpp",
-      "version": "25.3.2",
+      "version": "25.4.0",
       "libName": "CTRE_Phoenix6_WPI",
       "headerClassifier": "headers",
       "sharedLibrary": true,
@@ -240,7 +254,7 @@
     {
       "groupId": "com.ctre.phoenix6",
       "artifactId": "tools",
-      "version": "25.3.2",
+      "version": "25.4.0",
       "libName": "CTRE_PhoenixTools",
       "headerClassifier": "headers",
       "sharedLibrary": true,
@@ -256,7 +270,7 @@
     {
       "groupId": "com.ctre.phoenix6.sim",
       "artifactId": "wpiapi-cpp-sim",
-      "version": "25.3.2",
+      "version": "25.4.0",
       "libName": "CTRE_Phoenix6_WPISim",
       "headerClassifier": "headers",
       "sharedLibrary": true,
@@ -272,7 +286,7 @@
     {
       "groupId": "com.ctre.phoenix6.sim",
       "artifactId": "tools-sim",
-      "version": "25.3.2",
+      "version": "25.4.0",
       "libName": "CTRE_PhoenixTools_Sim",
       "headerClassifier": "headers",
       "sharedLibrary": true,
@@ -288,7 +302,7 @@
     {
       "groupId": "com.ctre.phoenix6.sim",
       "artifactId": "simTalonSRX",
-      "version": "25.3.2",
+      "version": "25.4.0",
       "libName": "CTRE_SimTalonSRX",
       "headerClassifier": "headers",
       "sharedLibrary": true,
@@ -304,7 +318,7 @@
     {
       "groupId": "com.ctre.phoenix6.sim",
       "artifactId": "simVictorSPX",
-      "version": "25.3.2",
+      "version": "25.4.0",
       "libName": "CTRE_SimVictorSPX",
       "headerClassifier": "headers",
       "sharedLibrary": true,
@@ -320,7 +334,7 @@
     {
       "groupId": "com.ctre.phoenix6.sim",
       "artifactId": "simPigeonIMU",
-      "version": "25.3.2",
+      "version": "25.4.0",
       "libName": "CTRE_SimPigeonIMU",
       "headerClassifier": "headers",
       "sharedLibrary": true,
@@ -336,7 +350,7 @@
     {
       "groupId": "com.ctre.phoenix6.sim",
       "artifactId": "simCANCoder",
-      "version": "25.3.2",
+      "version": "25.4.0",
       "libName": "CTRE_SimCANCoder",
       "headerClassifier": "headers",
       "sharedLibrary": true,
@@ -352,7 +366,7 @@
     {
       "groupId": "com.ctre.phoenix6.sim",
       "artifactId": "simProTalonFX",
-      "version": "25.3.2",
+      "version": "25.4.0",
       "libName": "CTRE_SimProTalonFX",
       "headerClassifier": "headers",
       "sharedLibrary": true,
@@ -368,7 +382,7 @@
     {
       "groupId": "com.ctre.phoenix6.sim",
       "artifactId": "simProTalonFXS",
-      "version": "25.3.2",
+      "version": "25.4.0",
       "libName": "CTRE_SimProTalonFXS",
       "headerClassifier": "headers",
       "sharedLibrary": true,
@@ -384,7 +398,7 @@
     {
       "groupId": "com.ctre.phoenix6.sim",
       "artifactId": "simProCANcoder",
-      "version": "25.3.2",
+      "version": "25.4.0",
       "libName": "CTRE_SimProCANcoder",
       "headerClassifier": "headers",
       "sharedLibrary": true,
@@ -400,7 +414,7 @@
     {
       "groupId": "com.ctre.phoenix6.sim",
       "artifactId": "simProPigeon2",
-      "version": "25.3.2",
+      "version": "25.4.0",
       "libName": "CTRE_SimProPigeon2",
       "headerClassifier": "headers",
       "sharedLibrary": true,
@@ -416,7 +430,7 @@
     {
       "groupId": "com.ctre.phoenix6.sim",
       "artifactId": "simProCANrange",
-      "version": "25.3.2",
+      "version": "25.4.0",
       "libName": "CTRE_SimProCANrange",
       "headerClassifier": "headers",
       "sharedLibrary": true,
@@ -432,7 +446,7 @@
     {
       "groupId": "com.ctre.phoenix6.sim",
       "artifactId": "simProCANdi",
-      "version": "25.3.2",
+      "version": "25.4.0",
       "libName": "CTRE_SimProCANdi",
       "headerClassifier": "headers",
       "sharedLibrary": true,
@@ -444,6 +458,22 @@
         "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"
     }
   ]
 }