diff --git a/photon-targeting/src/main/java/org/photonvision/common/dataflow/structures/Packet.java b/photon-targeting/src/main/java/org/photonvision/common/dataflow/structures/Packet.java
index 590fd04b24..c4b55047e2 100644
--- a/photon-targeting/src/main/java/org/photonvision/common/dataflow/structures/Packet.java
+++ b/photon-targeting/src/main/java/org/photonvision/common/dataflow/structures/Packet.java
@@ -291,7 +291,7 @@ public <T extends PhotonStructSerializable<T>> void encodeOptional(Optional<T> d
      * @return A decoded byte from the packet.
      */
     public byte decodeByte() {
-        if (packetData.length < readPos) {
+        if (packetData.length < readPos + 1) {
             return '\0';
         }
         return packetData[readPos++];
@@ -303,7 +303,7 @@ public byte decodeByte() {
      * @return A decoded int from the packet.
      */
     public int decodeInt() {
-        if (packetData.length < readPos + 3) {
+        if (packetData.length < readPos + 4) {
             return 0;
         }
         return (0xff & packetData[readPos++])
@@ -313,7 +313,7 @@ public int decodeInt() {
     }
 
     public long decodeLong() {
-        if (packetData.length < (readPos + 7)) {
+        if (packetData.length < (readPos + 8)) {
             return 0;
         }
         long data =
@@ -335,7 +335,7 @@ public long decodeLong() {
      * @return A decoded double from the packet.
      */
     public double decodeDouble() {
-        if (packetData.length < (readPos + 7)) {
+        if (packetData.length < (readPos + 8)) {
             return 0;
         }
         long data =
@@ -357,7 +357,7 @@ public double decodeDouble() {
      * @return A decoded float from the packet.
      */
     public float decodeFloat() {
-        if (packetData.length < (readPos + 3)) {
+        if (packetData.length < (readPos + 4)) {
             return 0;
         }
 
@@ -375,7 +375,7 @@ public float decodeFloat() {
      * @return A decoded boolean from the packet.
      */
     public boolean decodeBoolean() {
-        if (packetData.length < readPos) {
+        if (packetData.length < readPos + 1) {
             return false;
         }
         return packetData[readPos++] == 1;
@@ -396,7 +396,7 @@ public double[] decodeDoubleArray(int len) {
     }
 
     public short decodeShort() {
-        if (packetData.length < readPos + 1) {
+        if (packetData.length < readPos + 2) {
             return 0;
         }
         return (short) ((0xff & packetData[readPos++]) | (0xff & packetData[readPos++]) << 8);
diff --git a/photon-targeting/src/test/java/org/photonvision/PacketTest.java b/photon-targeting/src/test/java/org/photonvision/PacketTest.java
index b531f54816..03abe3eb59 100644
--- a/photon-targeting/src/test/java/org/photonvision/PacketTest.java
+++ b/photon-targeting/src/test/java/org/photonvision/PacketTest.java
@@ -31,6 +31,94 @@
 import org.wpilib.math.geometry.*;
 
 class PacketTest {
+    @Test
+    public void testDecodeByteAtBoundary() {
+        // Exactly enough data must decode
+        var packet = new Packet(new byte[] {0x12});
+        assertEquals((byte) 0x12, packet.decodeByte());
+
+        // One byte short must return the default instead of reading out of bounds
+        var shortPacket = new Packet(new byte[] {});
+        assertEquals((byte) 0, shortPacket.decodeByte());
+    }
+
+    @Test
+    public void testDecodeBooleanAtBoundary() {
+        var packet = new Packet(new byte[] {1});
+        assertEquals(true, packet.decodeBoolean());
+
+        var shortPacket = new Packet(new byte[] {});
+        assertEquals(false, shortPacket.decodeBoolean());
+    }
+
+    @Test
+    public void testDecodeShortAtBoundary() {
+        var packet = new Packet(new byte[] {0x34, 0x12});
+        assertEquals((short) 0x1234, packet.decodeShort());
+
+        var shortPacket = new Packet(new byte[] {0x34});
+        assertEquals((short) 0, shortPacket.decodeShort());
+    }
+
+    @Test
+    public void testDecodeIntAtBoundary() {
+        var packet = new Packet(new byte[] {0x78, 0x56, 0x34, 0x12});
+        assertEquals(0x12345678, packet.decodeInt());
+
+        var shortPacket = new Packet(new byte[] {0x78, 0x56, 0x34});
+        assertEquals(0, shortPacket.decodeInt());
+    }
+
+    @Test
+    public void testDecodeLongAtBoundary() {
+        var packet = new Packet(new byte[] {0x21, 0, 0, 0, 0, 0, 0, 0});
+        assertEquals(0x21L, packet.decodeLong());
+
+        var shortPacket = new Packet(new byte[] {0x21, 0, 0, 0, 0, 0, 0});
+        assertEquals(0L, shortPacket.decodeLong());
+    }
+
+    @Test
+    public void testDecodeDoubleAtBoundary() {
+        long bits = Double.doubleToLongBits(42.5);
+        var data = new byte[8];
+        for (int i = 0; i < 8; i++) {
+            data[i] = (byte) (bits >> (8 * i));
+        }
+        var packet = new Packet(data);
+        assertEquals(42.5, packet.decodeDouble());
+
+        var shortPacket = new Packet(java.util.Arrays.copyOfRange(data, 0, 7));
+        assertEquals(0.0, shortPacket.decodeDouble());
+    }
+
+    @Test
+    public void testDecodeFloatAtBoundary() {
+        int bits = Float.floatToIntBits(3.25f);
+        var data = new byte[4];
+        for (int i = 0; i < 4; i++) {
+            data[i] = (byte) (bits >> (8 * i));
+        }
+        var packet = new Packet(data);
+        assertEquals(3.25f, packet.decodeFloat());
+
+        var shortPacket = new Packet(java.util.Arrays.copyOfRange(data, 0, 3));
+        assertEquals(0.0f, shortPacket.decodeFloat());
+    }
+
+    @Test
+    public void testDecodeAtBoundaryWithNonzeroReadPos() {
+        // 8 bytes: two ints back to back; the second decode starts at readPos 4
+        var packet = new Packet(new byte[] {1, 0, 0, 0, 2, 0, 0, 0});
+        assertEquals(1, packet.decodeInt());
+        assertEquals(2, packet.decodeInt());
+
+        // 7 bytes: the second int decode must underflow and return the default
+        var shortPacket = new Packet(new byte[] {1, 0, 0, 0, 2, 0, 0});
+        assertEquals(1, shortPacket.decodeInt());
+        assertEquals(0, shortPacket.decodeInt());
+    }
+
     @Test
     public void testTargetCorner() {
         TargetCorner corner = new TargetCorner(1, 2);