diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
index 50914e9c46..87862a3414 100644
--- a/.github/workflows/build.yml
+++ b/.github/workflows/build.yml
@@ -27,7 +27,7 @@ jobs:
   #       fail-fast: false
   #       matrix:
   #         include:
-  #           - os: windows-2022
+  #           - os: windows-latest
   #             artifact-name: Win64
   #           - os: macos-14
   #             artifact-name: macOS
@@ -39,12 +39,10 @@ jobs:
   #     needs: [build-photonlib-host, build-photonlib-docker]
 
   #     steps:
-  #       - name: Checkout code
-  #         uses: actions/checkout@v6
+  #       - uses: actions/checkout@v6
   #         with:
   #           fetch-depth: 0
-  #       - name: Fetch tags
-  #         run: git fetch --tags --force
+  #       - run: git fetch --tags --force
   #       - uses: actions/setup-java@v5
   #         with:
   #           java-version: 25
@@ -93,11 +91,11 @@ jobs:
 
   playwright-tests:
     name: "Playwright E2E tests"
-    runs-on: ubuntu-24.04
+    runs-on: ubuntu-26.04
     needs: [validation]
+    # container: wpilib/systemcore-cross-debian:trixie
     steps:
-      - name: Checkout code
-        uses: actions/checkout@v6
+      - uses: actions/checkout@v6
       - uses: actions/setup-java@v5
         with:
           java-version: 25
@@ -129,15 +127,15 @@ jobs:
           retention-days: 30
   build-gradle:
     name: "Gradle Build"
-    runs-on: ubuntu-24.04
+    runs-on: ubuntu-26.04
+    container: wpilib/systemcore-cross-debian:trixie
     needs: [validation]
     steps:
-      - name: Checkout code
-        uses: actions/checkout@v6
+      - uses: actions/checkout@v6
         with:
           fetch-depth: 0
-      - name: Fetch tags
-        run: git fetch --tags --force
+      - run: git config --global --add safe.directory /__w/photonvision/photonvision
+      - run: git fetch --tags --force
       - uses: actions/setup-java@v5
         with:
           java-version: 25
@@ -153,9 +151,8 @@ jobs:
       - name: Generate Java/cpp Serde Tests
         working-directory: photon-serde
         run: |
-          python -m pip install --upgrade pip
-          pip install -r requirements.txt
-          python generate_messages.py --tests
+          pip install -r requirements.txt --break-system-packages
+          python3 generate_messages.py --tests
       - name: Upload Java/cpp Serde Tests
         uses: actions/upload-artifact@v7
         with:
@@ -228,12 +225,10 @@ jobs:
       fail-fast: false
       matrix:
         include:
-         - os: windows-2022
-           artifact-name: Win64
-         - os: macos-26
-           artifact-name: macOS
-         - os: ubuntu-24.04
-           artifact-name: Linux
+          - os: windows-latest
+            artifact-name: Win64
+          - os: macos-26
+            artifact-name: macOS
 
     name: "Photonlib - Build Host - ${{ matrix.artifact-name }}"
     runs-on: ${{ matrix.os }}
@@ -266,15 +261,15 @@ jobs:
       fail-fast: false
       matrix:
         include:
-          - container: wpilib/systemcore-cross-ubuntu:2027-24.04
+          - container: wpilib/systemcore-cross-debian:trixie
             artifact-name: SystemCore
             build-options: "-Ponlylinuxsystemcore"
-          - container: wpilib/raspbian-cross-ubuntu:2027-bookworm-24.04
-            artifact-name: Raspbian
-            build-options: "-Ponlylinuxarm32"
-          - container: wpilib/aarch64-cross-ubuntu:2027-bookworm-24.04
+          - container: wpilib/aarch64-cross-debian:trixie
             artifact-name: Aarch64
             build-options: "-Ponlylinuxarm64"
+          - container: wpilib/systemcore-cross-debian:trixie
+            artifact-name: Linux
+            build-options: "-Ponlylinuxx86-64"
 
     runs-on: ubuntu-24.04
     container: ${{ matrix.container }}
@@ -363,6 +358,11 @@ jobs:
       - name: Install Arm64 Toolchain
         run: ./gradlew installArm64Toolchain
         if: ${{ (matrix.artifact-name) == 'LinuxArm64' }}
+      - name: Make GCC 14 the default toolchain (Linux)
+        if: runner.os == 'Linux'
+        run: |
+          sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-14 200
+          sudo update-alternatives --install /usr/bin/g++ g++ /usr/bin/g++-14 200
       - uses: actions/download-artifact@v8
         with:
           name: built-docs
@@ -403,7 +403,7 @@ jobs:
       fail-fast: false
       matrix:
         include:
-          - os: windows-2022
+          - os: windows-latest
             artifact-name: Win
             arch-override: winx86-64
 
@@ -419,14 +419,14 @@ jobs:
       fail-fast: false
       matrix:
         include:
-          - os: ubuntu-24.04
+          - os: ubuntu-26.04
             artifact-name: photonvision-*-linuxx86-64.jar
             extraOpts: -Djdk.lang.Process.launchMechanism=vfork
-          - os: windows-2022
+          - os: windows-latest
             artifact-name: photonvision-*-winx86-64.jar
           - os: macos-latest
             artifact-name: photonvision-*-macarm64.jar
-          - os: ubuntu-24.04-arm
+          - os: ubuntu-26.04-arm
             artifact-name: photonvision-*-linuxarm64.jar
 
 
@@ -462,11 +462,11 @@ jobs:
           fi
           echo "=== Second run ==="
           java -jar ${{ matrix.extraOpts }} *.jar --smoketest
-        if: ${{ (matrix.os) != 'windows-2022' }}
+        if: ${{ (matrix.os) != 'windows-latest' }}
       - run: |
           ls *.jar | %{ Write-Host "Running $($_.Name)"; Start-Process "java" -ArgumentList "-jar `"$($_.FullName)`" --smoketest" -NoNewWindow -Wait; break }
           ls *.jar | %{ Write-Host "Running $($_.Name)"; Start-Process "java" -ArgumentList "-jar `"$($_.FullName)`" --smoketest" -NoNewWindow -Wait; break }
-        if: ${{ (matrix.os) == 'windows-2022' }}
+        if: ${{ (matrix.os) == 'windows-latest' }}
 
   build-image:
     needs: [build-package-linux]
@@ -560,8 +560,7 @@ jobs:
     name: "Build image - ${{ matrix.image_suffix }}"
 
     steps:
-      - name: Checkout code
-        uses: actions/checkout@v6
+      - uses: actions/checkout@v6
         with:
           fetch-depth: 0
       - uses: actions/download-artifact@v8
diff --git a/.github/workflows/photon-api-docs.yml b/.github/workflows/photon-api-docs.yml
index e4c72e64a7..5007a0217f 100644
--- a/.github/workflows/photon-api-docs.yml
+++ b/.github/workflows/photon-api-docs.yml
@@ -52,12 +52,10 @@ jobs:
     needs: [validation]
     runs-on: "ubuntu-24.04"
     steps:
-    - name: Checkout code
-      uses: actions/checkout@v6
+    - uses: actions/checkout@v6
       with:
         fetch-depth: 0
-    - name: Fetch tags
-      run: git fetch --tags --force
+    - run: git fetch --tags --force
     - uses: actions/setup-java@v5
       with:
         java-version: 25
diff --git a/.github/workflows/python.yml b/.github/workflows/python.yml
index 9e5f81fa6e..2d5469f188 100644
--- a/.github/workflows/python.yml
+++ b/.github/workflows/python.yml
@@ -16,8 +16,7 @@ jobs:
     runs-on: ubuntu-24.04
 
     steps:
-      - name: Checkout code
-        uses: actions/checkout@v6
+      - uses: actions/checkout@v6
         with:
           fetch-depth: 0
 
@@ -46,8 +45,7 @@ jobs:
     runs-on: ubuntu-24.04
 
     steps:
-      - name: Checkout code
-        uses: actions/checkout@v6
+      - uses: actions/checkout@v6
         with:
           fetch-depth: 0
 
@@ -83,8 +81,7 @@ jobs:
     runs-on: ubuntu-24.04
 
     steps:
-      - name: Checkout code
-        uses: actions/checkout@v6
+      - uses: actions/checkout@v6
         with:
           fetch-depth: 0
 
@@ -137,8 +134,7 @@ jobs:
 
     steps:
 
-      - name: Checkout code
-        uses: actions/checkout@v6
+      - uses: actions/checkout@v6
         with:
           fetch-depth: 0
 
diff --git a/build.gradle b/build.gradle
index 4c5a30115a..c0774a79ae 100644
--- a/build.gradle
+++ b/build.gradle
@@ -4,8 +4,8 @@ plugins {
     id "cpp"
     id "com.diffplug.spotless" version "8.1.0"
     id "org.wpilib.WPILibRepositoriesPlugin" version "2027.0.0"
-    id 'org.wpilib.NativeUtils' version '2027.7.1' apply false
-    id 'org.wpilib.DeployUtils' version '2027.1.0' apply false
+    id 'org.wpilib.NativeUtils' version '2027.14.0' apply false
+    id 'org.wpilib.DeployUtils' version '2027.2.0' apply false
     id 'org.photonvision.tools.WpilibTools' version 'v5.0.1'
     id 'com.google.protobuf' version '0.9.5' apply false
     id 'org.wpilib.GradleJni' version '2027.0.0'
@@ -31,12 +31,13 @@ ext.localMavenURL = file("$project.buildDir/outputs/maven")
 ext.allOutputsFolder = file("$project.buildDir/outputs")
 
 ext {
-    wpilibVersion = "2027.0.0-alpha-6"
+    wpilibVersion = "2027.0.0-alpha-6-354-g12b72bcc9"
+    mrclibVersion = "2027.1.0-alpha-1-91-gb154ee9"
     openCVversion = "2027-4.13.0-3"
-    ejmlVersion = "0.43.1";
+    ejmlVersion = "0.46.0";
     avajeJsonbVersion = "3.14";
     msgpackVersion = "0.9.0";
-    quickbufVersion = "1.3.3";
+    quickbufVersion = "1.4";
     jacocoVersion = "0.8.14";
 
     javalinVersion = "6.7.0"
@@ -97,7 +98,7 @@ spotless {
 }
 
 wrapper {
-    gradleVersion = '9.4.0'
+    gradleVersion = '9.4.1'
 }
 
 ext.getCurrentArch = {
diff --git a/docs/source/docs/programming/photonlib/robot-pose-estimator.md b/docs/source/docs/programming/photonlib/robot-pose-estimator.md
index 3bb551bb93..025efa9941 100644
--- a/docs/source/docs/programming/photonlib/robot-pose-estimator.md
+++ b/docs/source/docs/programming/photonlib/robot-pose-estimator.md
@@ -6,11 +6,11 @@ For more information on how to methods to get AprilTag data, look {ref}`here <do
 
 PhotonLib includes a `PhotonPoseEstimator` class, which allows you to combine the pose data from all tags in view in order to get a field relative pose. For each camera, a separate instance of the `PhotonPoseEstimator` class should be created.
 
-## Creating an `AprilTagFieldLayout`
+## Creating a `Field`
 
-`AprilTagFieldLayout` is used to represent a layout of AprilTags within a space (field, shop at home, classroom, etc.). WPILib provides a JSON that describes the layout of AprilTags on the field which you can then use in the AprilTagFieldLayout constructor. You can also specify a custom layout.
+A WPILib `Field` is used to represent a field containing a set of AprilTags (field, shop at home, classroom, etc.). WPILib provides a JSON that describes the layout of AprilTags on the field which you can then use in the `Field` constructor. You can also specify a custom layout.
 
-The API documentation can be found in here: [Java](https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/apriltag/AprilTagFieldLayout.html), [C++](https://github.wpilib.org/allwpilib/docs/release/cpp/classfrc_1_1_april_tag_field_layout.html), and [Python](https://robotpy.readthedocs.io/projects/apriltag/en/stable/robotpy_apriltag/AprilTagFieldLayout.html#robotpy_apriltag.AprilTagFieldLayout).
+The API documentation can be found in here: [Java](https://github.wpilib.org/allwpilib/docs/release/java/org/wpilib/fields/Field.html), [C++](https://github.wpilib.org/allwpilib/docs/release/cpp/classwpi_1_1fields_1_1_field.html), and [Python](https://robotpy.readthedocs.io/projects/fields/en/stable/robotpy_fields/Field.html#robotpy_fields.Field).
 
 ```{eval-rst}
 .. tab-set-code::
@@ -48,7 +48,7 @@ Another necessary argument for creating a `PhotonPoseEstimator` is the `Transfor
 
 ## Creating a `PhotonPoseEstimator`
 
-The PhotonPoseEstimator has a constructor that takes an `AprilTagFieldLayout` (see above) and `Transform3d`.
+The PhotonPoseEstimator has a constructor that takes a `Field` (see above) and `Transform3d`.
 
 ```{eval-rst}
 .. tab-set-code::
@@ -88,7 +88,7 @@ When taking in a result from a `PhotonCamera`, PhotonPoseEstimator offers nine p
 
 - Coprocessor MultiTag (`estimateCoprocMultiTagPose`)
   - Calculates a new robot position estimate by combining all visible tag corners. Recommended for all teams as it will be the most accurate.
-  - Must configure the AprilTagFieldLayout properly in the UI, please see {ref}`here <docs/apriltag-pipelines/multitag:multitag localization>` for more information.
+  - Must configure the field properly in the UI, please see {ref}`here <docs/apriltag-pipelines/multitag:multitag localization>` for more information.
 - Lowest Ambiguity (`estimateLowestAmbiguityPose`)
   - Choose the Pose with the lowest ambiguity.
 - Closest to Camera Height (`estimateClosestToCameraHeightPose`)
diff --git a/docs/source/docs/simulation/simulation-java.md b/docs/source/docs/simulation/simulation-java.md
index 96a191e69e..e759312deb 100644
--- a/docs/source/docs/simulation/simulation-java.md
+++ b/docs/source/docs/simulation/simulation-java.md
@@ -116,7 +116,7 @@ To use simulated object detection, you must provide an objDetClassId (zero-index
       visionSim.addVisionTargets(visionTarget);
 ```
 
-For convenience, an `AprilTagFieldLayout` can also be added to automatically create a target for each of its AprilTags.
+For convenience, a `Field` can also be added to automatically create a target for each of its AprilTags.
 
 ```{eval-rst}
 .. tab-set-code::
@@ -124,7 +124,7 @@ For convenience, an `AprilTagFieldLayout` can also be added to automatically cre
    .. code-block:: java
 
       // The layout of AprilTags which we want to add to the vision system
-      AprilTagFieldLayout tagLayout = AprilTagFieldLayout.loadFromResource(AprilTagFields.kDefaultField.m_resourceFile);
+      Field tagLayout = Field.loadField(Fields.DEFAULT_FIELD);
 
       visionSim.addAprilTags(tagLayout);
 ```
diff --git a/gradle/wrapper/gradle-wrapper.properties b/gradle/wrapper/gradle-wrapper.properties
index 547cae7cac..42bb5ac978 100644
--- a/gradle/wrapper/gradle-wrapper.properties
+++ b/gradle/wrapper/gradle-wrapper.properties
@@ -1,6 +1,6 @@
 distributionBase=GRADLE_USER_HOME
 distributionPath=permwrapper/dists
-distributionUrl=https\://services.gradle.org/distributions/gradle-9.4.0-bin.zip
+distributionUrl=https\://services.gradle.org/distributions/gradle-9.4.1-bin.zip
 networkTimeout=10000
 validateDistributionUrl=true
 zipStoreBase=GRADLE_USER_HOME
diff --git a/photon-client/src/components/settings/ApriltagControlCard.vue b/photon-client/src/components/settings/ApriltagControlCard.vue
index 414136983f..600f2a1be9 100644
--- a/photon-client/src/components/settings/ApriltagControlCard.vue
+++ b/photon-client/src/components/settings/ApriltagControlCard.vue
@@ -1,9 +1,15 @@
 <script setup lang="ts">
 import { useSettingsStore } from "@/stores/settings/GeneralSettingsStore";
-import type { Quaternion } from "@/types/PhotonTrackingTypes";
+import type { FieldTag, Quaternion } from "@/types/PhotonTrackingTypes";
 import { toDeg } from "@/lib/MathUtils";
+import { computed } from "vue";
 const { Euler, Quaternion: ThreeQuat } = await import("three");
 
+const currentFieldLayout = computed(() => useSettingsStore().currentFieldLayout);
+const fieldWidth = computed(() => currentFieldLayout.value["field-dimensions"].width);
+const fieldLength = computed(() => currentFieldLayout.value["field-dimensions"].length);
+const fieldTags = computed<FieldTag[]>(() => currentFieldLayout.value["field-tags"] ?? []);
+
 const quaternionToEuler = (rot_quat: Quaternion): { x: number; y: number; z: number } => {
   const quat = new ThreeQuat(rot_quat.X, rot_quat.Y, rot_quat.Z, rot_quat.W);
   const euler = new Euler().setFromQuaternion(quat, "ZYX");
@@ -16,8 +22,8 @@ const quaternionToEuler = (rot_quat: Quaternion): { x: number; y: number; z: num
   <v-card color="surface" class="rounded-12">
     <v-card-title>AprilTag Field Layout</v-card-title>
     <v-card-text class="pt-0">
-      <p>Field width: {{ useSettingsStore().currentFieldLayout.field.width.toFixed(2) }} meters</p>
-      <p>Field length: {{ useSettingsStore().currentFieldLayout.field.length.toFixed(2) }} meters</p>
+      <p>Field width: {{ fieldWidth.toFixed(2) }} meters</p>
+      <p>Field length: {{ fieldLength.toFixed(2) }} meters</p>
 
       <!-- Simple table height must be set here and in the CSS for the fixed-header to work -->
       <v-table fixed-header height="100%" density="compact">
@@ -34,7 +40,7 @@ const quaternionToEuler = (rot_quat: Quaternion): { x: number; y: number; z: num
             </tr>
           </thead>
           <tbody>
-            <tr v-for="(tag, index) in useSettingsStore().currentFieldLayout.tags" :key="index">
+            <tr v-for="(tag, index) in fieldTags" :key="index">
               <td>{{ tag.ID }}</td>
               <td v-for="(val, idx) in Object.values(tag.pose.translation)" :key="idx">{{ val.toFixed(2) }}&nbsp;m</td>
               <td v-for="(val, idx) in Object.values(quaternionToEuler(tag.pose.rotation.quaternion))" :key="idx + 4">
diff --git a/photon-client/src/stores/settings/GeneralSettingsStore.ts b/photon-client/src/stores/settings/GeneralSettingsStore.ts
index c7ddcd4e74..f8ac6b7766 100644
--- a/photon-client/src/stores/settings/GeneralSettingsStore.ts
+++ b/photon-client/src/stores/settings/GeneralSettingsStore.ts
@@ -10,7 +10,7 @@ import { NetworkConnectionType } from "@/types/SettingTypes";
 import { useStateStore } from "@/stores/StateStore";
 import axios from "axios";
 import type { WebsocketSettingsUpdate } from "@/types/WebsocketDataTypes";
-import type { AprilTagFieldLayout } from "@/types/PhotonTrackingTypes";
+import type { Field } from "@/types/PhotonTrackingTypes";
 import { ref } from "vue";
 
 interface GeneralSettingsStore {
@@ -18,7 +18,7 @@ interface GeneralSettingsStore {
   network: NetworkSettings;
   lighting: LightingSettings;
   metrics: MetricData;
-  currentFieldLayout: AprilTagFieldLayout;
+  currentFieldLayout: Field;
 }
 
 interface MetricsEntry {
@@ -118,11 +118,11 @@ export const useSettingsStore = defineStore("settings", {
       recvBitRate: undefined
     },
     currentFieldLayout: {
-      field: {
+      "field-dimensions": {
         length: 16.4592,
         width: 8.2296
       },
-      tags: []
+      "field-tags": []
     }
   }),
   getters: {
@@ -171,7 +171,10 @@ export const useSettingsStore = defineStore("settings", {
       };
       this.lighting = data.lighting;
       this.network = data.networkSettings;
-      this.currentFieldLayout = data.atfl;
+      this.currentFieldLayout = {
+        "field-dimensions": data.atfl["field-dimensions"],
+        "field-tags": data.atfl["field-tags"]
+      };
     },
     updateGeneralSettings(payload: Required<ConfigurableNetworkSettings>) {
       return axios.post("/settings/general", payload);
diff --git a/photon-client/src/types/PhotonTrackingTypes.ts b/photon-client/src/types/PhotonTrackingTypes.ts
index bb4b87d75b..1921240790 100644
--- a/photon-client/src/types/PhotonTrackingTypes.ts
+++ b/photon-client/src/types/PhotonTrackingTypes.ts
@@ -34,15 +34,19 @@ export interface Transform3d {
   angle_z: number;
 }
 
-export interface AprilTagFieldLayout {
-  field: {
-    length: number;
-    width: number;
-  };
-  tags: {
-    ID: number;
-    pose: Pose3d;
-  }[];
+export interface FieldDimensions {
+  length: number;
+  width: number;
+}
+
+export interface FieldTag {
+  ID: number;
+  pose: Pose3d;
+}
+
+export interface Field {
+  "field-dimensions": FieldDimensions;
+  "field-tags": FieldTag[] | null;
 }
 
 export interface PhotonTarget {
diff --git a/photon-client/src/types/WebsocketDataTypes.ts b/photon-client/src/types/WebsocketDataTypes.ts
index 3a3e179a2f..93640c5b0e 100644
--- a/photon-client/src/types/WebsocketDataTypes.ts
+++ b/photon-client/src/types/WebsocketDataTypes.ts
@@ -10,7 +10,7 @@ import type {
   VsmState
 } from "@/types/SettingTypes";
 import type { ActivePipelineSettings } from "@/types/PipelineTypes";
-import type { AprilTagFieldLayout, PipelineResult } from "@/types/PhotonTrackingTypes";
+import type { Field, PipelineResult } from "@/types/PhotonTrackingTypes";
 
 export interface WebsocketLogMessage {
   logMessage: {
@@ -22,7 +22,7 @@ export interface WebsocketSettingsUpdate {
   general: Required<GeneralSettings>;
   lighting: Required<LightingSettings>;
   networkSettings: NetworkSettings;
-  atfl: AprilTagFieldLayout;
+  atfl: Field;
 }
 
 export interface WebsocketNumberPair {
diff --git a/photon-client/tests/input.spec.ts b/photon-client/tests/input.spec.ts
index 73300e62b3..2f99457bd4 100644
--- a/photon-client/tests/input.spec.ts
+++ b/photon-client/tests/input.spec.ts
@@ -4,7 +4,9 @@ import { test } from "./fixtures.ts";
 test("Camera Gain Slider won't go past max or min", async ({ page }) => {
   await page.goto("http://localhost:5800/#/dashboard");
 
-  const cameraGainInput = page.locator("div.d-flex", { has: page.locator("span", { hasText: "Camera Gain" }) }).locator("input[type=\"number\"]");
+  const cameraGainInput = page
+    .locator("div.d-flex", { has: page.locator("span", { hasText: "Camera Gain" }) })
+    .locator("input[type=\"number\"]");
 
   // Fill in Camera Gain text field with 1000
   await cameraGainInput.fill("1000");
diff --git a/photon-client/tests/quirks.spec.ts b/photon-client/tests/quirks.spec.ts
index 07d9b0f2af..e1022096f8 100644
--- a/photon-client/tests/quirks.spec.ts
+++ b/photon-client/tests/quirks.spec.ts
@@ -4,7 +4,10 @@ import { test } from "./fixtures.ts";
 test("Quirks should be able to be changed", async ({ page }) => {
   await page.goto("http://localhost:5800/#/cameras");
 
-  await page.locator("div.d-flex", { has: page.locator("span", { hasText: "Arducam Model" }) }).locator("div.v-field").click();
+  await page
+    .locator("div.d-flex", { has: page.locator("span", { hasText: "Arducam Model" }) })
+    .locator("div.v-field")
+    .click();
 
   await page.locator(".v-overlay .v-list .v-list-item", { hasText: "OV9281" }).click();
 
@@ -12,7 +15,10 @@ test("Quirks should be able to be changed", async ({ page }) => {
 
   await expect(page.locator(".v-overlay p").last()).toHaveText("Camera settings updated successfully");
 
-  await page.locator("div.d-flex", { has: page.locator("span", { hasText: "Arducam Model" }) }).locator("div.v-field").click();
+  await page
+    .locator("div.d-flex", { has: page.locator("span", { hasText: "Arducam Model" }) })
+    .locator("div.v-field")
+    .click();
 
   await page.locator(".v-overlay .v-list .v-list-item", { hasText: "None" }).click();
 
diff --git a/photon-core/build.gradle b/photon-core/build.gradle
index 6ce60217d4..619c3f363d 100644
--- a/photon-core/build.gradle
+++ b/photon-core/build.gradle
@@ -27,6 +27,7 @@ dependencies {
     wpilibNatives wpilibTools.deps.wpilib("ntcore")
     wpilibNatives wpilibTools.deps.wpilib("cscore")
     wpilibNatives wpilibTools.deps.wpilib("apriltag")
+    wpilibNatives wpilibTools.deps.wpilib("fields")
     wpilibNatives wpilibTools.deps.wpilib("hal")
     wpilibNatives wpilibTools.deps.wpilibOpenCv(openCVversion)
 
diff --git a/photon-core/src/main/java/org/photonvision/common/configuration/FieldLayoutMigration.java b/photon-core/src/main/java/org/photonvision/common/configuration/FieldLayoutMigration.java
new file mode 100644
index 0000000000..4cd1e35f8c
--- /dev/null
+++ b/photon-core/src/main/java/org/photonvision/common/configuration/FieldLayoutMigration.java
@@ -0,0 +1,80 @@
+/*
+ * Copyright (C) Photon Vision.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ */
+
+package org.photonvision.common.configuration;
+
+import io.avaje.jsonb.JsonType;
+import io.avaje.jsonb.Jsonb;
+import io.avaje.jsonb.Types;
+import java.util.Map;
+import org.photonvision.common.logging.LogGroup;
+import org.photonvision.common.logging.Logger;
+
+/**
+ * MIGRATION: 2026
+ *
+ * <p>Migrates legacy {@code AprilTagFieldLayout} JSON into the newer {@code
+ * org.wpilib.fields.Field} format.
+ *
+ * <p>Older versions of PhotonVision stored the field layout with the top-level keys {@code field}
+ * (a {@code {length, width}} object) and {@code tags} (a list of {@code {ID, pose}} objects). The
+ * newer format instead uses {@code field-dimensions} and {@code field-tags}. The {@code pose}
+ * objects themselves are identical between the two formats.
+ */
+public final class FieldLayoutMigration {
+    private static final Logger logger = new Logger(FieldLayoutMigration.class, LogGroup.Config);
+
+    private FieldLayoutMigration() {}
+
+    /**
+     * Converts legacy {@code AprilTagFieldLayout} JSON to the new {@code Field} JSON format.
+     *
+     * <p>Returns the input unchanged if it is already in the new format, cannot be recognized as a
+     * field layout, or cannot be parsed. This way a {@code null} return is never used to signal
+     * failure; callers that detect a migration simply persist the result and parse it.
+     *
+     * @param json The stored field layout JSON.
+     * @return The migrated JSON, or the input unchanged if it did not need migrating.
+     */
+    public static String migrateFieldLayoutJson(String json) {
+        try {
+            final JsonType<Map<String, Object>> objMapJsonb =
+                    Jsonb.instance().type(Types.mapOf(Object.class));
+
+            Map<String, Object> layout = objMapJsonb.fromJson(json);
+            if (layout == null
+                    || layout.containsKey("field-dimensions")
+                    || !layout.containsKey("field")) {
+                // already the new format, or not a recognized field layout
+                return json;
+            }
+
+            logger.info("Legacy AprilTagFieldLayout detected, migrating to Field format");
+            layout.put("field-dimensions", layout.get("field"));
+            if (layout.containsKey("tags")) {
+                layout.put("field-tags", layout.get("tags"));
+            }
+            layout.remove("field");
+            layout.remove("tags");
+
+            return objMapJsonb.toJson(layout);
+        } catch (RuntimeException e) {
+            // unparseable JSON; leave it to the caller's own error handling
+            return json;
+        }
+    }
+}
diff --git a/photon-core/src/main/java/org/photonvision/common/configuration/LegacyConfigProvider.java b/photon-core/src/main/java/org/photonvision/common/configuration/LegacyConfigProvider.java
index 9b93ff8322..ea765d89ab 100644
--- a/photon-core/src/main/java/org/photonvision/common/configuration/LegacyConfigProvider.java
+++ b/photon-core/src/main/java/org/photonvision/common/configuration/LegacyConfigProvider.java
@@ -38,8 +38,8 @@
 import org.photonvision.common.logging.Logger;
 import org.photonvision.common.util.file.FileUtils;
 import org.photonvision.vision.processes.VisionSource;
-import org.wpilib.vision.apriltag.AprilTagFieldLayout;
-import org.wpilib.vision.apriltag.AprilTagFields;
+import org.wpilib.fields.Field;
+import org.wpilib.fields.Fields;
 import org.zeroturnaround.zip.ZipUtil;
 
 class LegacyConfigProvider extends ConfigProvider {
@@ -123,7 +123,7 @@ public void load() {
         HardwareConfig hardwareConfig;
         HardwareSettings hardwareSettings;
         NetworkConfig networkConfig;
-        AprilTagFieldLayout atfl = null;
+        Field atfl = null;
 
         if (hardwareConfigFile.exists()) {
             try (var stream = new FileInputStream(hardwareConfigFile)) {
@@ -183,7 +183,7 @@ public void load() {
 
         if (apriltagFieldLayoutFile.exists()) {
             try (var stream = new FileInputStream(apriltagFieldLayoutFile)) {
-                atfl = Jsonb.instance().type(AprilTagFieldLayout.class).fromJson(stream);
+                atfl = Jsonb.instance().type(Field.class).fromJson(stream);
                 if (atfl == null) {
                     logger.error("Could not deserialize apriltag field layout! (still null)");
                 }
@@ -195,7 +195,7 @@ public void load() {
         if (atfl == null) {
             logger.info("Loading default apriltags for 2024 field...");
             try {
-                atfl = AprilTagFieldLayout.loadField(AprilTagFields.kDefaultField);
+                atfl = Field.loadField(Fields.DEFAULT_FIELD);
             } catch (UncheckedIOException e) {
                 logger.error("Error loading WPILib field", e);
                 atfl = null;
@@ -203,7 +203,7 @@ public void load() {
             if (atfl == null) {
                 // what do we even do here lmao -- wpilib built-in should always work
                 logger.error("Field layout is *still* null??????");
-                atfl = new AprilTagFieldLayout(List.of(), 1, 1);
+                atfl = new Field("", "", "", null, 0, 0, "", null);
             }
         }
 
diff --git a/photon-core/src/main/java/org/photonvision/common/configuration/PhotonConfiguration.java b/photon-core/src/main/java/org/photonvision/common/configuration/PhotonConfiguration.java
index bf9c8f28f8..04357e64a6 100644
--- a/photon-core/src/main/java/org/photonvision/common/configuration/PhotonConfiguration.java
+++ b/photon-core/src/main/java/org/photonvision/common/configuration/PhotonConfiguration.java
@@ -20,10 +20,9 @@
 import io.avaje.jsonb.Json;
 import java.util.Collection;
 import java.util.HashMap;
-import java.util.List;
 import java.util.Map;
 import org.photonvision.vision.processes.VisionSource;
-import org.wpilib.vision.apriltag.AprilTagFieldLayout;
+import org.wpilib.fields.Field;
 
 @Json
 public class PhotonConfiguration {
@@ -32,7 +31,7 @@ public class PhotonConfiguration {
     private NetworkConfig networkConfig;
 
     @Json.Property("atfl")
-    private AprilTagFieldLayout aprilTagFieldLayout;
+    private Field aprilTagFieldLayout;
 
     private NeuralNetworkModelsSettings neuralNetworkProperties;
     private Map<String, CameraConfiguration> cameraConfigurations;
@@ -41,7 +40,7 @@ public PhotonConfiguration(
             HardwareConfig hardwareConfig,
             HardwareSettings hardwareSettings,
             NetworkConfig networkConfig,
-            AprilTagFieldLayout atfl,
+            Field atfl,
             NeuralNetworkModelsSettings neuralNetworkProperties) {
         this(
                 hardwareConfig,
@@ -57,7 +56,7 @@ public PhotonConfiguration(
             HardwareConfig hardwareConfig,
             HardwareSettings hardwareSettings,
             NetworkConfig networkConfig,
-            AprilTagFieldLayout atfl,
+            Field atfl,
             NeuralNetworkModelsSettings neuralNetworkProperties,
             Map<String, CameraConfiguration> cameraConfigurations) {
         this.hardwareConfig = hardwareConfig;
@@ -73,7 +72,7 @@ public PhotonConfiguration() {
                 new HardwareConfig(),
                 new HardwareSettings(),
                 new NetworkConfig(),
-                new AprilTagFieldLayout(List.of(), 0, 0),
+                new Field("", "", "", null, 0, 0, "", null),
                 new NeuralNetworkModelsSettings());
     }
 
@@ -89,7 +88,7 @@ public HardwareSettings getHardwareSettings() {
         return hardwareSettings;
     }
 
-    public AprilTagFieldLayout getApriltagFieldLayout() {
+    public Field getApriltagFieldLayout() {
         return aprilTagFieldLayout;
     }
 
@@ -97,7 +96,7 @@ public NeuralNetworkModelsSettings getNeuralNetworkProperties() {
         return neuralNetworkProperties;
     }
 
-    public void setApriltagFieldLayout(AprilTagFieldLayout atfl) {
+    public void setApriltagFieldLayout(Field atfl) {
         this.aprilTagFieldLayout = atfl;
     }
 
diff --git a/photon-core/src/main/java/org/photonvision/common/configuration/SqlConfigProvider.java b/photon-core/src/main/java/org/photonvision/common/configuration/SqlConfigProvider.java
index 170fec244c..24b28f4006 100644
--- a/photon-core/src/main/java/org/photonvision/common/configuration/SqlConfigProvider.java
+++ b/photon-core/src/main/java/org/photonvision/common/configuration/SqlConfigProvider.java
@@ -40,8 +40,8 @@
 import org.photonvision.vision.camera.PVCameraInfo;
 import org.photonvision.vision.pipeline.CVPipelineSettings;
 import org.photonvision.vision.pipeline.DriverModePipelineSettings;
-import org.wpilib.vision.apriltag.AprilTagFieldLayout;
-import org.wpilib.vision.apriltag.AprilTagFields;
+import org.wpilib.fields.Field;
+import org.wpilib.fields.Fields;
 import org.wpilib.vision.camera.UsbCameraInfo;
 
 /**
@@ -283,19 +283,50 @@ private <T> T loadConfigOrDefault(
         return null;
     }
 
-    private AprilTagFieldLayout atflDefault() {
-        AprilTagFieldLayout atfl;
+    private Field atflDefault() {
+        Field atfl;
         try {
-            atfl = AprilTagFieldLayout.loadField(AprilTagFields.kDefaultField);
-            logger.info("Loaded " + AprilTagFields.kDefaultField.toString() + " field");
+            atfl = Field.loadField(Fields.DEFAULT_FIELD);
+            logger.info("Loaded " + Fields.DEFAULT_FIELD.toString() + " field");
         } catch (UncheckedIOException e) {
             logger.error("Error loading WPILib field", e);
             logger.info("Creating an empty field");
-            atfl = new AprilTagFieldLayout(List.of(), 1, 1);
+            atfl = new Field("", "", "", null, 0, 0, "", null);
         }
         return atfl;
     }
 
+    /**
+     * MIGRATION: 2026
+     *
+     * <p>Loads the stored AprilTag field layout, migrating any legacy {@code AprilTagFieldLayout}
+     * JSON to the newer {@link Field} format before deserializing. If a migration happened the
+     * upgraded JSON is written back to the database so the stored data self-upgrades.
+     */
+    private Field loadAtfl(Connection conn) {
+        String configString = getOneConfigFile(conn, GlobalKeys.ATFL_CONFIG_FILE);
+        if (configString.isBlank()) {
+            logger.debug("No " + Field.class.getSimpleName() + " in database");
+            return atflDefault();
+        }
+
+        try {
+            String migrated = FieldLayoutMigration.migrateFieldLayoutJson(configString);
+            if (!migrated.equals(configString)) {
+                logger.info("Migrated legacy AprilTagFieldLayout to Field format, persisting to database");
+                if (!saveOneFile(GlobalKeys.ATFL_CONFIG_FILE, migrated)) {
+                    logger.error("Could not persist migrated field layout to database!");
+                }
+            }
+            return Jsonb.instance().type(Field.class).fromJson(migrated);
+        } catch (RuntimeException e) {
+            logger.error("Could not deserialize " + Field.class.getSimpleName() + " from database!", e);
+        }
+
+        // either the config entry was corrupt or Jsonb threw an exception
+        return atflDefault();
+    }
+
     @Override
     public void load() {
         logger.debug("Loading config...");
@@ -318,9 +349,7 @@ public void load() {
                             GlobalKeys.NEURAL_NETWORK_PROPERTIES,
                             NeuralNetworkModelsSettings.class,
                             NeuralNetworkModelsSettings::new);
-            var atfl =
-                    loadConfigOrDefault(
-                            conn, GlobalKeys.ATFL_CONFIG_FILE, AprilTagFieldLayout.class, this::atflDefault);
+            var atfl = loadAtfl(conn);
             var cams = loadCameraConfigs(conn);
 
             try {
@@ -512,7 +541,23 @@ private void saveGlobal(Connection conn) {
         }
     }
 
+    /**
+     * MIGRATION: 2026
+     *
+     * <p>When we migrate the atfl, we get the result as a string. Everything else has a path though,
+     * so we need this overload to maintain the prior behavior. To remove this migration, we'll want
+     * to delete this overload then make the other function accept a path again.
+     */
     private boolean saveOneFile(String fname, Path path) {
+        try {
+            return saveOneFile(fname, Files.readString(path));
+        } catch (IOException e) {
+            logger.error("Error while reading file to save to global: ", e);
+            return false;
+        }
+    }
+
+    private boolean saveOneFile(String fname, String contents) {
         Connection conn = null;
         PreparedStatement statement1 = null;
 
@@ -529,12 +574,12 @@ private boolean saveOneFile(String fname, Path path) {
                             Tables.GLOBAL, Columns.GLB_FILENAME, Columns.GLB_CONTENTS);
 
             statement1 = conn.prepareStatement(sqlString);
-            addFile(statement1, fname, Files.readString(path));
+            addFile(statement1, fname, contents);
             statement1.executeUpdate();
 
             conn.commit();
             return true;
-        } catch (SQLException | IOException e) {
+        } catch (SQLException e) {
             logger.error("Error while saving file to global: ", e);
             try {
                 conn.rollback();
diff --git a/photon-core/src/main/java/org/photonvision/common/dataflow/networktables/NetworkTablesManager.java b/photon-core/src/main/java/org/photonvision/common/dataflow/networktables/NetworkTablesManager.java
index d168081853..e5e79d60cc 100644
--- a/photon-core/src/main/java/org/photonvision/common/dataflow/networktables/NetworkTablesManager.java
+++ b/photon-core/src/main/java/org/photonvision/common/dataflow/networktables/NetworkTablesManager.java
@@ -36,8 +36,7 @@
 import org.photonvision.common.logging.Logger;
 import org.photonvision.common.networking.NetworkUtils;
 import org.photonvision.common.util.TimedTaskManager;
-import org.wpilib.driverstation.Alert;
-import org.wpilib.driverstation.Alert.Level;
+import org.wpilib.fields.Field;
 import org.wpilib.networktables.LogMessage;
 import org.wpilib.networktables.MultiSubscriber;
 import org.wpilib.networktables.NetworkTable;
@@ -46,7 +45,8 @@
 import org.wpilib.networktables.NetworkTableInstance;
 import org.wpilib.networktables.StringSubscriber;
 import org.wpilib.smartdashboard.SmartDashboard;
-import org.wpilib.vision.apriltag.AprilTagFieldLayout;
+import org.wpilib.util.Alert;
+import org.wpilib.util.Alert.Level;
 import org.wpilib.vision.camera.CameraServerJNI;
 
 public class NetworkTablesManager {
@@ -67,9 +67,9 @@ public class NetworkTablesManager {
             new MultiSubscriber(ntInstance, new String[] {kRootTableName + "/" + kCoprocTableName + "/"});
 
     // Creating the alert up here since it should be persistent
-    private final Alert conflictAlert = new Alert("PhotonAlerts", "", Level.MEDIUM);
+    private final Alert conflictAlert = new Alert("PhotonAlerts", "conflict", "", Level.MEDIUM);
 
-    private final Alert mismatchAlert = new Alert("PhotonAlerts", "", Level.MEDIUM);
+    private final Alert mismatchAlert = new Alert("PhotonAlerts", "mismatch", "", Level.MEDIUM);
 
     public boolean conflictingHostname = false;
     public String conflictingCameras = "";
@@ -196,7 +196,7 @@ private void onFieldLayoutChanged(NetworkTableEvent event) {
         var atfl_json = event.valueData.value.getString();
         try {
             System.out.println("Got new field layout!");
-            var atfl = Jsonb.instance().type(AprilTagFieldLayout.class).fromJson(atfl_json);
+            var atfl = Jsonb.instance().type(Field.class).fromJson(atfl_json);
             ConfigManager.getInstance().getConfig().setApriltagFieldLayout(atfl);
             ConfigManager.getInstance().requestSave();
             DataChangeService.getInstance()
@@ -357,9 +357,9 @@ private void setClientMode(NetworkConfig config) {
         logger.debug("Starting NT Client with hostname: " + hostname);
         ntInstance.startClient(hostname);
         try {
-            int t = Integer.parseInt(config.ntServerAddress);
-            if (!m_isRetryingConnection) logger.info("Starting NT Client, server team is " + t);
-            ntInstance.setServerTeam(t);
+            if (!m_isRetryingConnection)
+                logger.info("Starting NT Client, server team is " + config.ntServerAddress);
+            ntInstance.setServerTeam(config.ntServerAddress);
         } catch (NumberFormatException e) {
             if (!m_isRetryingConnection)
                 logger.info("Starting NT Client, server IP is \"" + config.ntServerAddress + "\"");
diff --git a/photon-core/src/main/java/org/photonvision/common/dataflow/websocket/UIProgramSettings.java b/photon-core/src/main/java/org/photonvision/common/dataflow/websocket/UIProgramSettings.java
index c824c58618..f04466375a 100644
--- a/photon-core/src/main/java/org/photonvision/common/dataflow/websocket/UIProgramSettings.java
+++ b/photon-core/src/main/java/org/photonvision/common/dataflow/websocket/UIProgramSettings.java
@@ -18,7 +18,7 @@
 package org.photonvision.common.dataflow.websocket;
 
 import io.avaje.jsonb.Json;
-import org.wpilib.vision.apriltag.AprilTagFieldLayout;
+import org.wpilib.fields.Field;
 
 @Json
 public class UIProgramSettings {
@@ -26,7 +26,7 @@ public UIProgramSettings(
             UINetConfig networkSettings,
             UILightingConfig lighting,
             UIGeneralSettings general,
-            AprilTagFieldLayout atfl) {
+            Field atfl) {
         this.networkSettings = networkSettings;
         this.lighting = lighting;
         this.general = general;
@@ -36,5 +36,5 @@ public UIProgramSettings(
     public UINetConfig networkSettings;
     public UILightingConfig lighting;
     public UIGeneralSettings general;
-    public AprilTagFieldLayout atfl;
+    public Field atfl;
 }
diff --git a/photon-core/src/main/java/org/photonvision/common/logging/Logger.java b/photon-core/src/main/java/org/photonvision/common/logging/Logger.java
index ac3c997d37..3c9110aa6d 100644
--- a/photon-core/src/main/java/org/photonvision/common/logging/Logger.java
+++ b/photon-core/src/main/java/org/photonvision/common/logging/Logger.java
@@ -27,7 +27,7 @@
 import org.photonvision.common.dataflow.DataChangeService;
 import org.photonvision.common.dataflow.events.OutgoingUIEvent;
 import org.photonvision.common.util.TimedTaskManager;
-import org.wpilib.math.util.Pair;
+import org.wpilib.util.Pair;
 
 /** TODO: get rid of static {} blocks and refactor to singleton pattern */
 public class Logger {
diff --git a/photon-core/src/main/java/org/photonvision/vision/camera/csi/LibcameraGpuSettables.java b/photon-core/src/main/java/org/photonvision/vision/camera/csi/LibcameraGpuSettables.java
index e910fb86f8..8c1f1fdc61 100644
--- a/photon-core/src/main/java/org/photonvision/vision/camera/csi/LibcameraGpuSettables.java
+++ b/photon-core/src/main/java/org/photonvision/vision/camera/csi/LibcameraGpuSettables.java
@@ -25,7 +25,7 @@
 import org.photonvision.vision.camera.csi.LibcameraGpuSource.FPSRatedVideoMode;
 import org.photonvision.vision.opencv.ImageRotationMode;
 import org.photonvision.vision.processes.VisionSourceSettables;
-import org.wpilib.math.util.Pair;
+import org.wpilib.util.Pair;
 import org.wpilib.util.PixelFormat;
 import org.wpilib.vision.camera.VideoMode;
 
diff --git a/photon-core/src/main/java/org/photonvision/vision/pipe/impl/Draw2dCrosshairPipe.java b/photon-core/src/main/java/org/photonvision/vision/pipe/impl/Draw2dCrosshairPipe.java
index bee6aed5cf..5f6511282c 100644
--- a/photon-core/src/main/java/org/photonvision/vision/pipe/impl/Draw2dCrosshairPipe.java
+++ b/photon-core/src/main/java/org/photonvision/vision/pipe/impl/Draw2dCrosshairPipe.java
@@ -31,7 +31,7 @@
 import org.photonvision.vision.target.RobotOffsetPointMode;
 import org.photonvision.vision.target.TargetCalculations;
 import org.photonvision.vision.target.TrackedTarget;
-import org.wpilib.math.util.Pair;
+import org.wpilib.util.Pair;
 
 public class Draw2dCrosshairPipe
         extends MutatingPipe<
diff --git a/photon-core/src/main/java/org/photonvision/vision/pipe/impl/Draw2dTargetsPipe.java b/photon-core/src/main/java/org/photonvision/vision/pipe/impl/Draw2dTargetsPipe.java
index 3f624105e2..d3e379b64a 100644
--- a/photon-core/src/main/java/org/photonvision/vision/pipe/impl/Draw2dTargetsPipe.java
+++ b/photon-core/src/main/java/org/photonvision/vision/pipe/impl/Draw2dTargetsPipe.java
@@ -30,7 +30,7 @@
 import org.photonvision.vision.opencv.ContourShape;
 import org.photonvision.vision.pipe.MutatingPipe;
 import org.photonvision.vision.target.TrackedTarget;
-import org.wpilib.math.util.Pair;
+import org.wpilib.util.Pair;
 
 public class Draw2dTargetsPipe
         extends MutatingPipe<Pair<Mat, List<TrackedTarget>>, Draw2dTargetsPipe.Draw2dTargetsParams> {
diff --git a/photon-core/src/main/java/org/photonvision/vision/pipe/impl/Draw3dTargetsPipe.java b/photon-core/src/main/java/org/photonvision/vision/pipe/impl/Draw3dTargetsPipe.java
index c3ead820c6..73bee527b3 100644
--- a/photon-core/src/main/java/org/photonvision/vision/pipe/impl/Draw3dTargetsPipe.java
+++ b/photon-core/src/main/java/org/photonvision/vision/pipe/impl/Draw3dTargetsPipe.java
@@ -32,7 +32,7 @@
 import org.photonvision.vision.pipe.MutatingPipe;
 import org.photonvision.vision.target.TargetModel;
 import org.photonvision.vision.target.TrackedTarget;
-import org.wpilib.math.util.Pair;
+import org.wpilib.util.Pair;
 
 public class Draw3dTargetsPipe
         extends MutatingPipe<Pair<Mat, List<TrackedTarget>>, Draw3dTargetsPipe.Draw3dContoursParams> {
diff --git a/photon-core/src/main/java/org/photonvision/vision/pipe/impl/DrawCalibrationPipe.java b/photon-core/src/main/java/org/photonvision/vision/pipe/impl/DrawCalibrationPipe.java
index 406c52013c..b259e5b548 100644
--- a/photon-core/src/main/java/org/photonvision/vision/pipe/impl/DrawCalibrationPipe.java
+++ b/photon-core/src/main/java/org/photonvision/vision/pipe/impl/DrawCalibrationPipe.java
@@ -27,7 +27,7 @@
 import org.photonvision.vision.frame.FrameDivisor;
 import org.photonvision.vision.pipe.MutatingPipe;
 import org.photonvision.vision.target.TrackedTarget;
-import org.wpilib.math.util.Pair;
+import org.wpilib.util.Pair;
 
 public class DrawCalibrationPipe
         extends MutatingPipe<
diff --git a/photon-core/src/main/java/org/photonvision/vision/pipe/impl/FindBoardCornersPipe.java b/photon-core/src/main/java/org/photonvision/vision/pipe/impl/FindBoardCornersPipe.java
index 647be633f4..4a4503a7f2 100644
--- a/photon-core/src/main/java/org/photonvision/vision/pipe/impl/FindBoardCornersPipe.java
+++ b/photon-core/src/main/java/org/photonvision/vision/pipe/impl/FindBoardCornersPipe.java
@@ -32,7 +32,7 @@
 import org.photonvision.vision.opencv.Releasable;
 import org.photonvision.vision.pipe.CVPipe;
 import org.photonvision.vision.pipeline.UICalibrationData;
-import org.wpilib.math.util.Pair;
+import org.wpilib.util.Pair;
 
 public class FindBoardCornersPipe
         extends CVPipe<
diff --git a/photon-core/src/main/java/org/photonvision/vision/pipe/impl/FindCirclesPipe.java b/photon-core/src/main/java/org/photonvision/vision/pipe/impl/FindCirclesPipe.java
index 8bd08a12a8..e515853dfc 100644
--- a/photon-core/src/main/java/org/photonvision/vision/pipe/impl/FindCirclesPipe.java
+++ b/photon-core/src/main/java/org/photonvision/vision/pipe/impl/FindCirclesPipe.java
@@ -26,7 +26,7 @@
 import org.photonvision.vision.opencv.CVShape;
 import org.photonvision.vision.opencv.Contour;
 import org.photonvision.vision.pipe.CVPipe;
-import org.wpilib.math.util.Pair;
+import org.wpilib.util.Pair;
 
 public class FindCirclesPipe
         extends CVPipe<Pair<Mat, List<Contour>>, List<CVShape>, FindCirclesPipe.FindCirclePipeParams> {
diff --git a/photon-core/src/main/java/org/photonvision/vision/pipe/impl/MultiTargetPNPPipe.java b/photon-core/src/main/java/org/photonvision/vision/pipe/impl/MultiTargetPNPPipe.java
index 87b9792add..04bdc3b1e6 100644
--- a/photon-core/src/main/java/org/photonvision/vision/pipe/impl/MultiTargetPNPPipe.java
+++ b/photon-core/src/main/java/org/photonvision/vision/pipe/impl/MultiTargetPNPPipe.java
@@ -28,7 +28,7 @@
 import org.photonvision.vision.calibration.CameraCalibrationCoefficients;
 import org.photonvision.vision.pipe.CVPipe;
 import org.photonvision.vision.target.TrackedTarget;
-import org.wpilib.vision.apriltag.AprilTagFieldLayout;
+import org.wpilib.fields.Field;
 
 /** Estimate the camera pose given multiple Apriltag observations */
 public class MultiTargetPNPPipe
@@ -89,7 +89,5 @@ private Optional<MultiTargetPNPResult> calculateCameraInField(List<TrackedTarget
     public void release() {}
 
     public static record MultiTargetPNPPipeParams(
-            CameraCalibrationCoefficients cameraCoefficients,
-            AprilTagFieldLayout atfl,
-            TargetModel targetModel) {}
+            CameraCalibrationCoefficients cameraCoefficients, Field atfl, TargetModel targetModel) {}
 }
diff --git a/photon-core/src/main/java/org/photonvision/vision/pipeline/Calibrate3dPipeline.java b/photon-core/src/main/java/org/photonvision/vision/pipeline/Calibrate3dPipeline.java
index 93ceaf6b4f..0ba6c2119b 100644
--- a/photon-core/src/main/java/org/photonvision/vision/pipeline/Calibrate3dPipeline.java
+++ b/photon-core/src/main/java/org/photonvision/vision/pipeline/Calibrate3dPipeline.java
@@ -42,8 +42,8 @@
 import org.photonvision.vision.pipe.impl.FindBoardCornersPipe.FindBoardCornersPipeResult;
 import org.photonvision.vision.pipeline.result.CVPipelineResult;
 import org.photonvision.vision.pipeline.result.CalibrationPipelineResult;
-import org.wpilib.math.util.Pair;
 import org.wpilib.math.util.Units;
+import org.wpilib.util.Pair;
 
 public class Calibrate3dPipeline
         extends CVPipeline<CVPipelineResult, Calibration3dPipelineSettings> {
diff --git a/photon-core/src/main/java/org/photonvision/vision/pipeline/ColoredShapePipeline.java b/photon-core/src/main/java/org/photonvision/vision/pipeline/ColoredShapePipeline.java
index 14cb6d174f..cbba9173cf 100644
--- a/photon-core/src/main/java/org/photonvision/vision/pipeline/ColoredShapePipeline.java
+++ b/photon-core/src/main/java/org/photonvision/vision/pipeline/ColoredShapePipeline.java
@@ -31,7 +31,7 @@
 import org.photonvision.vision.pipeline.result.CVPipelineResult;
 import org.photonvision.vision.target.PotentialTarget;
 import org.photonvision.vision.target.TrackedTarget;
-import org.wpilib.math.util.Pair;
+import org.wpilib.util.Pair;
 
 public class ColoredShapePipeline
         extends CVPipeline<CVPipelineResult, ColoredShapePipelineSettings> {
diff --git a/photon-core/src/main/java/org/photonvision/vision/pipeline/DriverModePipeline.java b/photon-core/src/main/java/org/photonvision/vision/pipeline/DriverModePipeline.java
index e5da3282af..fab3195523 100644
--- a/photon-core/src/main/java/org/photonvision/vision/pipeline/DriverModePipeline.java
+++ b/photon-core/src/main/java/org/photonvision/vision/pipeline/DriverModePipeline.java
@@ -25,7 +25,7 @@
 import org.photonvision.vision.pipe.impl.Draw2dCrosshairPipe;
 import org.photonvision.vision.pipe.impl.ResizeImagePipe;
 import org.photonvision.vision.pipeline.result.DriverModePipelineResult;
-import org.wpilib.math.util.Pair;
+import org.wpilib.util.Pair;
 
 public class DriverModePipeline
         extends CVPipeline<DriverModePipelineResult, DriverModePipelineSettings> {
diff --git a/photon-core/src/main/java/org/photonvision/vision/pipeline/OutputStreamPipeline.java b/photon-core/src/main/java/org/photonvision/vision/pipeline/OutputStreamPipeline.java
index 0b3436f264..04c9e46259 100644
--- a/photon-core/src/main/java/org/photonvision/vision/pipeline/OutputStreamPipeline.java
+++ b/photon-core/src/main/java/org/photonvision/vision/pipeline/OutputStreamPipeline.java
@@ -25,7 +25,7 @@
 import org.photonvision.vision.pipe.impl.*;
 import org.photonvision.vision.pipeline.result.CVPipelineResult;
 import org.photonvision.vision.target.TrackedTarget;
-import org.wpilib.math.util.Pair;
+import org.wpilib.util.Pair;
 
 /**
  * This is a "fake" pipeline that is just used to move identical pipe sets out of real pipelines. It
diff --git a/photon-core/src/main/java/org/photonvision/vision/processes/VisionModuleChangeSubscriber.java b/photon-core/src/main/java/org/photonvision/vision/processes/VisionModuleChangeSubscriber.java
index 18688f07ce..70c2a3a75e 100644
--- a/photon-core/src/main/java/org/photonvision/vision/processes/VisionModuleChangeSubscriber.java
+++ b/photon-core/src/main/java/org/photonvision/vision/processes/VisionModuleChangeSubscriber.java
@@ -37,7 +37,7 @@
 import org.photonvision.vision.pipeline.PipelineType;
 import org.photonvision.vision.pipeline.UICalibrationData;
 import org.photonvision.vision.target.RobotOffsetPointOperation;
-import org.wpilib.math.util.Pair;
+import org.wpilib.util.Pair;
 
 @SuppressWarnings("unchecked")
 public class VisionModuleChangeSubscriber extends DataChangeSubscriber {
diff --git a/photon-core/src/test/java/org/photonvision/common/configuration/ConfigTest.java b/photon-core/src/test/java/org/photonvision/common/configuration/ConfigTest.java
index e8c088d4bc..9e966260cd 100644
--- a/photon-core/src/test/java/org/photonvision/common/configuration/ConfigTest.java
+++ b/photon-core/src/test/java/org/photonvision/common/configuration/ConfigTest.java
@@ -38,6 +38,7 @@
 import org.photonvision.vision.pipeline.ColoredShapePipelineSettings;
 import org.photonvision.vision.pipeline.ReflectivePipelineSettings;
 import org.photonvision.vision.target.TargetModel;
+import org.wpilib.fields.Field;
 
 public class ConfigTest {
     private static ConfigManager configMgr;
@@ -161,4 +162,40 @@ public void testJsonbHandlesOldTargetEnum() throws IOException {
                 (AprilTagPipelineSettings) Jsonb.instance().type(CVPipelineSettings.class).fromJson(json);
         assertEquals(TargetModel.kAprilTag6in_16h5, settings.targetModel);
     }
+
+    @Test
+    public void testMigrateOldFieldLayout() {
+        // exact serialization format produced by the old AprilTagFieldLayout
+        var json =
+                "{\"field\":{\"length\":16.541,\"width\":8.211},\"tags\":[{\"ID\":1,\"pose\":{\"translation\":{\"x\":15.079471999999997,\"y\":0.24587199999999998,\"z\":1.355852},\"rotation\":{\"quaternion\":{\"W\":0.5000000000000001,\"X\":0.0,\"Y\":0.0,\"Z\":0.8660254037844386}}}},{\"ID\":2,\"pose\":{\"translation\":{\"x\":16.185134,\"y\":0.883666,\"z\":1.355852},\"rotation\":{\"quaternion\":{\"W\":0.5000000000000001,\"X\":0.0,\"Y\":0.0,\"Z\":0.8660254037844386}}}}]}";
+
+        var migrated = FieldLayoutMigration.migrateFieldLayoutJson(json);
+        assertTrue(!migrated.equals(json), "Legacy JSON should have been migrated");
+
+        Field field = Jsonb.instance().type(Field.class).fromJson(migrated);
+        assertEquals(16.541, field.getFieldLength(), 1e-6);
+        assertEquals(8.211, field.getFieldWidth(), 1e-6);
+        assertEquals(2, field.getTags().size());
+        assertTrue(field.getTagPose(1).isPresent());
+        assertEquals(15.079471999999997, field.getTagPose(1).get().getX(), 1e-6);
+        assertEquals(0.24587199999999998, field.getTagPose(1).get().getY(), 1e-6);
+        assertEquals(1.355852, field.getTagPose(1).get().getZ(), 1e-6);
+        assertTrue(field.getTagPose(2).isPresent());
+        assertEquals(16.185134, field.getTagPose(2).get().getX(), 1e-6);
+    }
+
+    @Test
+    public void testMigrateNewFieldLayoutUnchanged() {
+        var json =
+                "{\"name\":\"2024 FRC Crescendo\",\"season\":\"2024\",\"game\":\"Crescendo\",\"field-dimensions\":{\"length\":16.541,\"width\":8.211},\"program\":\"frc\",\"field-tags\":[]}";
+
+        assertEquals(json, FieldLayoutMigration.migrateFieldLayoutJson(json));
+    }
+
+    @Test
+    public void testMigrateGarbageUnchanged() {
+        var json = "this is not json";
+
+        assertEquals(json, FieldLayoutMigration.migrateFieldLayoutJson(json));
+    }
 }
diff --git a/photon-core/src/test/java/org/photonvision/vision/frame/consumer/FileSaveFrameConsumerTest.java b/photon-core/src/test/java/org/photonvision/vision/frame/consumer/FileSaveFrameConsumerTest.java
index 40680fe810..e21273e575 100644
--- a/photon-core/src/test/java/org/photonvision/vision/frame/consumer/FileSaveFrameConsumerTest.java
+++ b/photon-core/src/test/java/org/photonvision/vision/frame/consumer/FileSaveFrameConsumerTest.java
@@ -39,6 +39,7 @@
 import org.wpilib.driverstation.MatchType;
 import org.wpilib.driverstation.internal.DriverStationBackend;
 import org.wpilib.hardware.hal.HAL;
+import org.wpilib.networktables.NetworkTable;
 import org.wpilib.networktables.NetworkTableInstance;
 import org.wpilib.simulation.DriverStationSim;
 import org.wpilib.simulation.SimHooks;
@@ -62,7 +63,7 @@ public static void init() throws IOException {
     public void setup() {
         assertNull(inst);
 
-        HAL.initialize(500, 0);
+        HAL.initialize();
 
         inst = NetworkTablesManager.getInstance().getNTInst();
         inst.stopClient();
@@ -106,6 +107,14 @@ public void testNoMatch(
             DriverStationSim.setEventName(eventName);
             DriverStationBackend.refreshData();
 
+            // ALSO publish to NetworkTables FMSInfo table (what FileSaveFrameConsumer reads)
+            NetworkTable fmsTable = inst.getTable("FMSInfo");
+            fmsTable.getStringTopic("EventName").publish().accept(eventName);
+            fmsTable.getIntegerTopic("MatchNumber").publish().accept(matchNumber);
+            fmsTable.getIntegerTopic("MatchType").publish().accept(matchType.ordinal());
+            // Also publish FMSControlData to indicate FMS is attached (bit 4 = 1<<4 = 16)
+            fmsTable.getIntegerTopic("FMSControlData").publish().accept(16);
+
             // WHEN we save the image
             currentTime = new Date();
             var counterPublisher = consumer.saveFrameEntry.getTopic().publish();
diff --git a/photon-lib/build.gradle b/photon-lib/build.gradle
index 2e4a4e93e4..0b869e760a 100644
--- a/photon-lib/build.gradle
+++ b/photon-lib/build.gradle
@@ -53,9 +53,11 @@ model {
 
             nativeUtils.useRequiredLibrary(it, "wpilib_shared")
             nativeUtils.useRequiredLibrary(it, "apriltag_shared")
+            nativeUtils.useRequiredLibrary(it, "fields_shared")
             nativeUtils.useRequiredLibrary(it, "opencv_shared")
             nativeUtils.useRequiredLibrary(it, "cscore_shared")
             nativeUtils.useRequiredLibrary(it, "cameraserver_shared")
+            nativeUtils.useRequiredLibrary(it, "mrclib_shared")
         }
     }
     testSuites {
@@ -92,8 +94,9 @@ model {
             nativeUtils.useRequiredLibrary(it, "cscore_shared")
             nativeUtils.useRequiredLibrary(it, "cameraserver_shared")
             nativeUtils.useRequiredLibrary(it, "wpilib_shared")
-            nativeUtils.useRequiredLibrary(it, "googletest_static")
+            nativeUtils.useRequiredLibrary(it, "catch2_static")
             nativeUtils.useRequiredLibrary(it, "apriltag_shared")
+            nativeUtils.useRequiredLibrary(it, "fields_shared")
             nativeUtils.useRequiredLibrary(it, "opencv_shared")
         }
     }
@@ -372,5 +375,7 @@ nativeConfig.dependencies.add wpilibTools.deps.wpilib("datalog")
 nativeConfig.dependencies.add wpilibTools.deps.wpilib("ntcore")
 nativeConfig.dependencies.add wpilibTools.deps.wpilib("cscore")
 nativeConfig.dependencies.add wpilibTools.deps.wpilib("apriltag")
+nativeConfig.dependencies.add wpilibTools.deps.wpilib("fields")
 nativeConfig.dependencies.add wpilibTools.deps.wpilib("hal")
+nativeConfig.dependencies.add wpilibTools.deps.wpilib("mrclib", mrclibVersion)
 nativeConfig.dependencies.add wpilibTools.deps.wpilibOpenCv(openCVversion)
diff --git a/photon-lib/py/photonlibpy/estimation/cameraTargetRelation.py b/photon-lib/py/photonlibpy/estimation/cameraTargetRelation.py
index a2c40dbf7a..c45e6fad02 100644
--- a/photon-lib/py/photonlibpy/estimation/cameraTargetRelation.py
+++ b/photon-lib/py/photonlibpy/estimation/cameraTargetRelation.py
@@ -10,16 +10,16 @@ def __init__(self, cameraPose: Pose3d, targetPose: Pose3d):
         self.camToTarg = Transform3d(cameraPose, targetPose)
         self.camToTargDist = self.camToTarg.translation().norm()
         self.camToTargDistXY: meters = math.hypot(
-            self.camToTarg.translation().X(), self.camToTarg.translation().Y()
+            self.camToTarg.translation().x, self.camToTarg.translation().y
         )
-        self.camToTargYaw = Rotation2d(self.camToTarg.X(), self.camToTarg.Y())
-        self.camToTargPitch = Rotation2d(self.camToTargDistXY, -self.camToTarg.Z())
+        self.camToTargYaw = Rotation2d(self.camToTarg.x, self.camToTarg.y)
+        self.camToTargPitch = Rotation2d(self.camToTargDistXY, -self.camToTarg.z)
         self.camToTargAngle = Rotation2d(
             math.hypot(self.camToTargYaw.radians(), self.camToTargPitch.radians())
         )
         self.targToCam = Transform3d(targetPose, cameraPose)
-        self.targToCamYaw = Rotation2d(self.targToCam.X(), self.targToCam.Y())
-        self.targToCamPitch = Rotation2d(self.camToTargDistXY, -self.targToCam.Z())
+        self.targToCamYaw = Rotation2d(self.targToCam.x, self.targToCam.y)
+        self.targToCamPitch = Rotation2d(self.camToTargDistXY, -self.targToCam.z)
         self.targtoCamAngle = Rotation2d(
             math.hypot(self.targToCamYaw.radians(), self.targToCamPitch.radians())
         )
diff --git a/photon-lib/py/photonlibpy/estimation/openCVHelp.py b/photon-lib/py/photonlibpy/estimation/openCVHelp.py
index a5a56b2510..88db47b3b9 100644
--- a/photon-lib/py/photonlibpy/estimation/openCVHelp.py
+++ b/photon-lib/py/photonlibpy/estimation/openCVHelp.py
@@ -22,11 +22,11 @@ def getMinAreaRect(points: np.ndarray) -> cv.RotatedRect:
 
     @staticmethod
     def translationNWUtoEDN(trl: Translation3d) -> Translation3d:
-        return trl.rotateBy(NWU_TO_EDN)
+        return trl.rotate_by(NWU_TO_EDN)
 
     @staticmethod
     def rotationNWUtoEDN(rot: Rotation3d) -> Rotation3d:
-        return NWU_TO_EDN.inverse().rotateBy(rot.rotateBy(NWU_TO_EDN))
+        return NWU_TO_EDN.inverse().rotate_by(rot.rotate_by(NWU_TO_EDN))
 
     @staticmethod
     def translationToTVec(translations: list[Translation3d]) -> np.ndarray:
@@ -39,7 +39,7 @@ def translationToTVec(translations: list[Translation3d]) -> np.ndarray:
         retVal: list[list] = []
         for translation in translations:
             trl = OpenCVHelp.translationNWUtoEDN(translation)
-            retVal.append([trl.X(), trl.Y(), trl.Z()])
+            retVal.append([trl.x, trl.y, trl.z])
         return np.array(
             retVal,
             dtype=np.float32,
@@ -56,7 +56,7 @@ def rotationToRVec(rotation: Rotation3d) -> np.ndarray:
 
         retVal: list[np.ndarray] = []
         rot = OpenCVHelp.rotationNWUtoEDN(rotation)
-        rotVec = rot.getQuaternion().toRotationVector()
+        rotVec = rot.get_quaternion().to_rotation_vector()
         retVal.append(rotVec)
         return np.array(
             retVal,
@@ -139,7 +139,7 @@ def translationEDNToNWU(trl: Translation3d) -> Translation3d:
         in EDN, this would be {0, -1, 0} in NWU.
         """
 
-        return trl.rotateBy(EDN_TO_NWU)
+        return trl.rotate_by(EDN_TO_NWU)
 
     @staticmethod
     def rotationEDNToNWU(rot: Rotation3d) -> Rotation3d:
@@ -147,7 +147,7 @@ def rotationEDNToNWU(rot: Rotation3d) -> Rotation3d:
         in NWU, this would be {0, 0, 1} in EDN.
         """
 
-        return EDN_TO_NWU.inverse().rotateBy(rot.rotateBy(EDN_TO_NWU))
+        return EDN_TO_NWU.inverse().rotate_by(rot.rotate_by(EDN_TO_NWU))
 
     @staticmethod
     def tVecToTranslation(tvecInput: np.ndarray) -> Translation3d:
diff --git a/photon-lib/py/photonlibpy/estimation/rotTrlTransform3d.py b/photon-lib/py/photonlibpy/estimation/rotTrlTransform3d.py
index d602ee8bf3..938da00bb1 100644
--- a/photon-lib/py/photonlibpy/estimation/rotTrlTransform3d.py
+++ b/photon-lib/py/photonlibpy/estimation/rotTrlTransform3d.py
@@ -23,7 +23,7 @@ def __init__(
     def inverse(self) -> Self:
         """The inverse of this transformation. Applying the inverse will "undo" this transformation."""
         invRot = self.rot.inverse()
-        invTrl = -(self.trl.rotateBy(invRot))
+        invTrl = -(self.trl.rotate_by(invRot))
         return type(self)(invRot, invTrl)
 
     def getTransform(self) -> Transform3d:
@@ -39,10 +39,10 @@ def getRotation(self) -> Rotation3d:
         return self.rot
 
     def applyTranslation(self, trlToApply: Translation3d) -> Translation3d:
-        return trlToApply.rotateBy(self.rot) + self.trl
+        return trlToApply.rotate_by(self.rot) + self.trl
 
     def applyRotation(self, rotToApply: Rotation3d) -> Rotation3d:
-        return rotToApply.rotateBy(self.rot)
+        return rotToApply.rotate_by(self.rot)
 
     def applyPose(self, poseToApply: Pose3d) -> Pose3d:
         return Pose3d(
@@ -68,9 +68,9 @@ def makeRelativeTo(cls, pose: Pose3d) -> Self:
     @classmethod
     def makeBetweenPoses(cls, initial: Pose3d, last: Pose3d) -> Self:
         return cls(
-            last.rotation().relativeTo(initial.rotation()),
+            last.rotation().relative_to(initial.rotation()),
             last.translation()
-            - initial.translation().rotateBy(
-                last.rotation().relativeTo(initial.rotation())
+            - initial.translation().rotate_by(
+                last.rotation().relative_to(initial.rotation())
             ),
         )
diff --git a/photon-lib/py/photonlibpy/estimation/targetModel.py b/photon-lib/py/photonlibpy/estimation/targetModel.py
index 3836b817f3..22edcad7bf 100644
--- a/photon-lib/py/photonlibpy/estimation/targetModel.py
+++ b/photon-lib/py/photonlibpy/estimation/targetModel.py
@@ -123,7 +123,7 @@ def _common_construction(self, verts: List[Translation3d]) -> None:
         else:
             cornersPlaner = True
             for corner in verts:
-                if abs(corner.X() < 1e-4):
+                if abs(corner.x < 1e-4):
                     cornersPlaner = False
             self.isPlanar = cornersPlaner
 
@@ -160,8 +160,8 @@ def getOrientedPose(cls, tgtTrl: Translation3d, cameraTrl: Translation3d):
         relCam = cameraTrl - tgtTrl
         orientToCam = Rotation3d(
             0.0,
-            Rotation2d(math.hypot(relCam.X(), relCam.Y()), relCam.Z()).radians(),
-            Rotation2d(relCam.X(), relCam.Y()).radians(),
+            Rotation2d(math.hypot(relCam.x, relCam.y), relCam.z).radians(),
+            Rotation2d(relCam.x, relCam.y).radians(),
         )
         return Pose3d(tgtTrl, orientToCam)
 
diff --git a/photon-lib/py/photonlibpy/estimation/visionEstimation.py b/photon-lib/py/photonlibpy/estimation/visionEstimation.py
index 6882fc0df5..1e02b244db 100644
--- a/photon-lib/py/photonlibpy/estimation/visionEstimation.py
+++ b/photon-lib/py/photonlibpy/estimation/visionEstimation.py
@@ -1,5 +1,5 @@
 import numpy as np
-from robotpy_apriltag import AprilTag, AprilTagFieldLayout
+from robotpy_fields import Field, FieldTag
 from wpimath import Pose3d, Transform3d, Translation3d
 
 from ..targeting import PhotonTrackedTarget, PnpResult, TargetCorner
@@ -9,18 +9,15 @@
 class VisionEstimation:
     @staticmethod
     def getVisibleLayoutTags(
-        visTags: list[PhotonTrackedTarget], layout: AprilTagFieldLayout
-    ) -> list[AprilTag]:
-        """Get the visible :class:`.AprilTag`s which are in the tag layout using the visible tag IDs."""
-        retVal: list[AprilTag] = []
+        visTags: list[PhotonTrackedTarget], layout: Field
+    ) -> list[FieldTag]:
+        """Get the visible :class:`.FieldTag`s which are in the field layout using the visible tag IDs."""
+        retVal: list[FieldTag] = []
         for tag in visTags:
             id = tag.getFiducialId()
-            maybePose = layout.getTagPose(id)
+            maybePose = layout.get_tag_pose(id)
             if maybePose:
-                aprilTag = AprilTag()
-                aprilTag.ID = id
-                aprilTag.pose = maybePose
-                retVal.append(aprilTag)
+                retVal.append(FieldTag(id, maybePose))
         return retVal
 
     @staticmethod
@@ -28,7 +25,7 @@ def estimateCamPosePNP(
         cameraMatrix: np.ndarray,
         distCoeffs: np.ndarray,
         visTags: list[PhotonTrackedTarget],
-        layout: AprilTagFieldLayout,
+        layout: Field,
         tagModel: TargetModel,
     ) -> PnpResult | None:
         """Performs solvePNP using 3d-2d point correspondences of visible AprilTags to estimate the
@@ -53,17 +50,14 @@ def estimateCamPosePNP(
             return None
 
         corners: list[TargetCorner] = []
-        knownTags: list[AprilTag] = []
+        knownTags: list[FieldTag] = []
 
-        # ensure these are AprilTags in our layout
+        # ensure these are FieldTags in our layout
         for tgt in visTags:
             id = tgt.getFiducialId()
-            maybePose = layout.getTagPose(id)
+            maybePose = layout.get_tag_pose(id)
             if maybePose:
-                tag = AprilTag()
-                tag.ID = id
-                tag.pose = maybePose
-                knownTags.append(tag)
+                knownTags.append(FieldTag(id, maybePose))
                 currentCorners = tgt.getDetectedCorners()
                 if currentCorners:
                     corners += currentCorners
@@ -81,10 +75,10 @@ def estimateCamPosePNP(
             if not camToTag:
                 return None
 
-            bestPose = knownTags[0].pose.transformBy(camToTag.best.inverse())
+            bestPose = knownTags[0].pose.transform_by(camToTag.best.inverse())
             altPose = Pose3d()
             if camToTag.ambiguity != 0:
-                altPose = knownTags[0].pose.transformBy(camToTag.alt.inverse())
+                altPose = knownTags[0].pose.transform_by(camToTag.alt.inverse())
 
             o = Pose3d()
             result = PnpResult(
diff --git a/photon-lib/py/photonlibpy/networktables/NTTopicSet.py b/photon-lib/py/photonlibpy/networktables/NTTopicSet.py
index 4d45699784..42ea072ab1 100644
--- a/photon-lib/py/photonlibpy/networktables/NTTopicSet.py
+++ b/photon-lib/py/photonlibpy/networktables/NTTopicSet.py
@@ -26,63 +26,65 @@ def __init__(
     def updateEntries(self) -> None:
         options = nt.PubSubOptions()
         options.periodic = 0.01
-        options.sendAll = True
-        self.rawBytesEntry = self.subTable.getRawTopic("rawBytes").publish(
+        options.send_all = True
+        self.rawBytesEntry = self.subTable.get_raw_topic("rawBytes").publish(
             PhotonPipelineResult_TYPE_STRING, options
         )
-        self.rawBytesEntry.getTopic().setProperty(
+        self.rawBytesEntry.get_topic().set_property(
             "message_uuid", PhotonPipelineResultSerde.MESSAGE_VERSION
         )
-        self.pipelineIndexPublisher = self.subTable.getIntegerTopic(
+        self.pipelineIndexPublisher = self.subTable.get_integer_topic(
             "pipelineIndexState"
         ).publish()
-        self.pipelineIndexRequestSub = self.subTable.getIntegerTopic(
+        self.pipelineIndexRequestSub = self.subTable.get_integer_topic(
             "pipelineIndexRequest"
         ).subscribe(0)
 
-        self.driverModePublisher = self.subTable.getBooleanTopic("driverMode").publish()
-        self.driverModeSubscriber = self.subTable.getBooleanTopic(
+        self.driverModePublisher = self.subTable.get_boolean_topic(
+            "driverMode"
+        ).publish()
+        self.driverModeSubscriber = self.subTable.get_boolean_topic(
             "driverModeRequest"
         ).subscribe(False)
 
-        self.driverModeSubscriber.getTopic().publish().setDefault(False)
+        self.driverModeSubscriber.get_topic().publish().set_default(False)
 
-        self.fpsLimitPublisher = self.subTable.getIntegerTopic("fpsLimit").publish()
-        self.fpsLimitSubscriber = self.subTable.getIntegerTopic(
+        self.fpsLimitPublisher = self.subTable.get_integer_topic("fpsLimit").publish()
+        self.fpsLimitSubscriber = self.subTable.get_integer_topic(
             "fpsLimitRequest"
         ).subscribe(-1)
 
-        self.fpsLimitSubscriber.getTopic().publish().setDefault(-1)
+        self.fpsLimitSubscriber.get_topic().publish().set_default(-1)
 
-        self.enabledPublisher = self.subTable.getBooleanTopic("enabled").publish()
-        self.enabledSubscriber = self.subTable.getBooleanTopic(
+        self.enabledPublisher = self.subTable.get_boolean_topic("enabled").publish()
+        self.enabledSubscriber = self.subTable.get_boolean_topic(
             "enabledRequest"
         ).subscribe(True)
 
-        self.enabledSubscriber.getTopic().publish().setDefault(True)
+        self.enabledSubscriber.get_topic().publish().set_default(True)
 
-        self.latencyMillisEntry = self.subTable.getDoubleTopic(
+        self.latencyMillisEntry = self.subTable.get_double_topic(
             "latencyMillis"
         ).publish()
-        self.hasTargetEntry = self.subTable.getBooleanTopic("hasTargets").publish()
+        self.hasTargetEntry = self.subTable.get_boolean_topic("hasTargets").publish()
 
-        self.targetPitchEntry = self.subTable.getDoubleTopic("targetPitch").publish()
-        self.targetAreaEntry = self.subTable.getDoubleTopic("targetArea").publish()
-        self.targetYawEntry = self.subTable.getDoubleTopic("targetYaw").publish()
-        self.targetPoseEntry = self.subTable.getStructTopic(
+        self.targetPitchEntry = self.subTable.get_double_topic("targetPitch").publish()
+        self.targetAreaEntry = self.subTable.get_double_topic("targetArea").publish()
+        self.targetYawEntry = self.subTable.get_double_topic("targetYaw").publish()
+        self.targetPoseEntry = self.subTable.get_struct_topic(
             "targetPose", Transform3d
         ).publish()
-        self.targetSkewEntry = self.subTable.getDoubleTopic("targetSkew").publish()
+        self.targetSkewEntry = self.subTable.get_double_topic("targetSkew").publish()
 
-        self.bestTargetPosX = self.subTable.getDoubleTopic("targetPixelsX").publish()
-        self.bestTargetPosY = self.subTable.getDoubleTopic("targetPixelsY").publish()
+        self.bestTargetPosX = self.subTable.get_double_topic("targetPixelsX").publish()
+        self.bestTargetPosY = self.subTable.get_double_topic("targetPixelsY").publish()
 
-        self.heartbeatTopic = self.subTable.getIntegerTopic("heartbeat")
+        self.heartbeatTopic = self.subTable.get_integer_topic("heartbeat")
         self.heartbeatPublisher = self.heartbeatTopic.publish()
 
-        self.cameraIntrinsicsPublisher = self.subTable.getDoubleArrayTopic(
+        self.cameraIntrinsicsPublisher = self.subTable.get_double_array_topic(
             "cameraIntrinsics"
         ).publish()
-        self.cameraDistortionPublisher = self.subTable.getDoubleArrayTopic(
+        self.cameraDistortionPublisher = self.subTable.get_double_array_topic(
             "cameraDistortion"
         ).publish()
diff --git a/photon-lib/py/photonlibpy/packet.py b/photon-lib/py/photonlibpy/packet.py
index 06ca8198f0..f04fb58a13 100644
--- a/photon-lib/py/photonlibpy/packet.py
+++ b/photon-lib/py/photonlibpy/packet.py
@@ -63,7 +63,7 @@ def _getNextByteAsInt(self) -> int:
                 self.readPos += 1
                 return retVal
             except IndexError:
-                wpilib.reportError(Packet._NO_MORE_BYTES_MESSAGE, True)
+                wpilib.report_error(Packet._NO_MORE_BYTES_MESSAGE, True)
                 self.outOfBytes = True
 
         return 0x00
@@ -278,11 +278,11 @@ def encodeTransform(self, transform: Transform3d):
         self.encodeDouble(transform.translation().z)
 
         # Encode Rotation3d as Quaternion (w, x, y, z)
-        quaternion = transform.rotation().getQuaternion()
-        self.encodeDouble(quaternion.W())
-        self.encodeDouble(quaternion.X())
-        self.encodeDouble(quaternion.Y())
-        self.encodeDouble(quaternion.Z())
+        quaternion = transform.rotation().get_quaternion()
+        self.encodeDouble(quaternion.w)
+        self.encodeDouble(quaternion.x)
+        self.encodeDouble(quaternion.y)
+        self.encodeDouble(quaternion.z)
 
     def encodeList(self, values: list[T], serde: Serde[T]):
         """
diff --git a/photon-lib/py/photonlibpy/photonCamera.py b/photon-lib/py/photonlibpy/photonCamera.py
index 721a05de09..5d6ab45018 100644
--- a/photon-lib/py/photonlibpy/photonCamera.py
+++ b/photon-lib/py/photonlibpy/photonCamera.py
@@ -56,75 +56,75 @@ def __init__(self, cameraName: str):
 
         :param cameraName: The nickname of the camera (found in the PhotonVision UI).
         """
-        instance = ntcore.NetworkTableInstance.getDefault()
+        instance = ntcore.NetworkTableInstance.get_default()
         self._name = cameraName
         self._tableName = "photonvision"
-        photonvision_root_table = instance.getTable(self._tableName)
-        self._cameraTable = photonvision_root_table.getSubTable(cameraName)
-        self._path = self._cameraTable.getPath()
-        self._rawBytesEntry = self._cameraTable.getRawTopic("rawBytes").subscribe(
+        photonvision_root_table = instance.get_table(self._tableName)
+        self._cameraTable = photonvision_root_table.get_sub_table(cameraName)
+        self._path = self._cameraTable.get_path()
+        self._rawBytesEntry = self._cameraTable.get_raw_topic("rawBytes").subscribe(
             f"photonstruct:PhotonPipelineResult:{PhotonPipelineResult.photonStruct.MESSAGE_VERSION}",
             bytes([]),
-            ntcore.PubSubOptions(periodic=0.01, sendAll=True),
+            ntcore.PubSubOptions(periodic=0.01, send_all=True),
         )
 
-        self._driverModePublisher = self._cameraTable.getBooleanTopic(
+        self._driverModePublisher = self._cameraTable.get_boolean_topic(
             "driverModeRequest"
         ).publish()
-        self._driverModeSubscriber = self._cameraTable.getBooleanTopic(
+        self._driverModeSubscriber = self._cameraTable.get_boolean_topic(
             "driverMode"
         ).subscribe(False)
-        self._fpsLimitPublisher = self._cameraTable.getIntegerTopic(
+        self._fpsLimitPublisher = self._cameraTable.get_integer_topic(
             "fpsLimitRequest"
         ).publish()
-        self._fpsLimitSubscriber = self._cameraTable.getIntegerTopic(
+        self._fpsLimitSubscriber = self._cameraTable.get_integer_topic(
             "fpsLimit"
         ).subscribe(-1)
-        self._enabledPublisher = self._cameraTable.getBooleanTopic(
+        self._enabledPublisher = self._cameraTable.get_boolean_topic(
             "enabledRequest"
         ).publish()
-        self._enabledSubscriber = self._cameraTable.getBooleanTopic(
+        self._enabledSubscriber = self._cameraTable.get_boolean_topic(
             "enabled"
         ).subscribe(True)
-        self._inputSaveImgEntry = self._cameraTable.getIntegerTopic(
+        self._inputSaveImgEntry = self._cameraTable.get_integer_topic(
             "inputSaveImgCmd"
-        ).getEntry(0)
-        self._outputSaveImgEntry = self._cameraTable.getIntegerTopic(
+        ).get_entry(0)
+        self._outputSaveImgEntry = self._cameraTable.get_integer_topic(
             "outputSaveImgCmd"
-        ).getEntry(0)
-        self._pipelineIndexRequest = self._cameraTable.getIntegerTopic(
+        ).get_entry(0)
+        self._pipelineIndexRequest = self._cameraTable.get_integer_topic(
             "pipelineIndexRequest"
         ).publish()
-        self._pipelineIndexState = self._cameraTable.getIntegerTopic(
+        self._pipelineIndexState = self._cameraTable.get_integer_topic(
             "pipelineIndexState"
         ).subscribe(0)
-        self._heartbeatEntry = self._cameraTable.getIntegerTopic("heartbeat").subscribe(
-            -1
-        )
+        self._heartbeatEntry = self._cameraTable.get_integer_topic(
+            "heartbeat"
+        ).subscribe(-1)
 
-        self._ledModeRequest = photonvision_root_table.getIntegerTopic(
+        self._ledModeRequest = photonvision_root_table.get_integer_topic(
             "ledModeRequest"
         ).publish()
-        self._ledModeState = photonvision_root_table.getIntegerTopic(
+        self._ledModeState = photonvision_root_table.get_integer_topic(
             "ledModeState"
         ).subscribe(-1)
-        self.versionEntry = photonvision_root_table.getStringTopic("version").subscribe(
-            ""
-        )
+        self.versionEntry = photonvision_root_table.get_string_topic(
+            "version"
+        ).subscribe("")
 
         # Existing is enough to make this multisubscriber do its thing
         self.topicNameSubscriber = ntcore.MultiSubscriber(
-            instance, ["/photonvision/"], ntcore.PubSubOptions(topicsOnly=True)
+            instance, ["/photonvision/"], ntcore.PubSubOptions(topics_only=True)
         )
 
         self._prevHeartbeat = 0
-        self._prevHeartbeatChangeTime = Timer.getMonotonicTimestamp()
+        self._prevHeartbeatChangeTime = Timer.get_monotonic_timestamp()
 
         # Start the time sync server
         inst.start()
 
         # Usage reporting
-        hal.reportUsage(
+        hal.report_usage(
             "PhotonVision/PhotonCamera",  # Not 100% sure if this is correct
             str(PhotonCamera.instance_count),
         )
@@ -172,8 +172,8 @@ def getLatestResult(self) -> PhotonPipelineResult:
 
         self._versionCheck()
 
-        now = RobotController.getMonotonicTime()
-        packetWithTimestamp = self._rawBytesEntry.getAtomic()
+        now = RobotController.get_monotonic_time()
+        packetWithTimestamp = self._rawBytesEntry.get_atomic()
         byteList = packetWithTimestamp.value
         packetWithTimestamp.time
 
@@ -300,7 +300,7 @@ def isConnected(self) -> bool:
         """
 
         curHeartbeat = self._heartbeatEntry.get()
-        now = Timer.getMonotonicTimestamp()
+        now = Timer.get_monotonic_timestamp()
 
         if curHeartbeat != self._prevHeartbeat:
             self._prevHeartbeat = curHeartbeat
@@ -314,53 +314,57 @@ def _versionCheck(self) -> None:
         if not _VERSION_CHECK_ENABLED:
             return
 
-        if (Timer.getMonotonicTimestamp() - _lastVersionTimeCheck) < 5.0:
+        if (Timer.get_monotonic_timestamp() - _lastVersionTimeCheck) < 5.0:
             return
 
-        _lastVersionTimeCheck = Timer.getMonotonicTimestamp()
+        _lastVersionTimeCheck = Timer.get_monotonic_timestamp()
 
         # Heartbeat entry is assumed to always be present. If it's not present, we
         # assume that a camera with that name was never connected in the first place.
         if not self._heartbeatEntry.exists():
             cameraNames = (
-                self._cameraTable.getInstance().getTable(self._tableName).getSubTables()
+                self._cameraTable.get_instance()
+                .get_table(self._tableName)
+                .get_sub_tables()
             )
             # Look for only cameras with rawBytes entry that exists
             cameraNames = list(
                 filter(
                     lambda it: (
-                        self._cameraTable.getSubTable(it).getEntry("rawBytes").exists()
+                        self._cameraTable.get_sub_table(it)
+                        .get_entry("rawBytes")
+                        .exists()
                     ),
                     cameraNames,
                 )
             )
 
             if len(cameraNames) == 0:
-                wpilib.reportError(
+                wpilib.report_error(
                     "Could not find any PhotonVision coprocessors on NetworkTables. Double check that PhotonVision is running, and that your camera is connected!",
                     False,
                 )
             else:
-                wpilib.reportError(
+                wpilib.report_error(
                     f"PhotonVision coprocessor at path {self._path} not found in Network Tables. Double check that your camera names match! Only the following camera names were found: {''.join(cameraNames)}",
                     True,
                 )
 
         # Check for connection status. Warn if disconnected.
         elif not self.isConnected():
-            wpilib.reportWarning(
+            wpilib.report_warning(
                 f"PhotonVision coprocessor at path {self._path} is not sending new data.",
                 True,
             )
 
-        versionString = self.versionEntry.get(defaultValue="")
+        versionString = self.versionEntry.get(default_value="")
 
         # Check mdef UUID
         localUUID = PhotonPipelineResult.photonStruct.MESSAGE_VERSION
-        remoteUUID = self._rawBytesEntry.getTopic().getProperty("message_uuid")
+        remoteUUID = self._rawBytesEntry.get_topic().get_property("message_uuid")
 
         if remoteUUID is None:
-            wpilib.reportWarning(
+            wpilib.report_warning(
                 f"PhotonVision coprocessor at path {self._path} has not reported a message interface UUID - is your coprocessor's camera started?",
                 True,
             )
@@ -391,8 +395,8 @@ def _versionCheck(self) -> None:
                 \n\n
                 """
 
-                wpilib.reportWarning(bfw)
+                wpilib.report_warning(bfw)
 
                 errText = f"Photonlibpy version {PHOTONLIB_VERSION} (With message UUID {localUUID}) does not match coprocessor version {versionString} (with message UUID {remoteUUID}). Please install photonlibpy version {versionString}, or update your coprocessor to {PHOTONLIB_VERSION}."
-                wpilib.reportError(errText, True)
+                wpilib.report_error(errText, True)
                 raise Exception(errText)
diff --git a/photon-lib/py/photonlibpy/photonPoseEstimator.py b/photon-lib/py/photonlibpy/photonPoseEstimator.py
index f51da40185..8df4ff1554 100644
--- a/photon-lib/py/photonlibpy/photonPoseEstimator.py
+++ b/photon-lib/py/photonlibpy/photonPoseEstimator.py
@@ -20,7 +20,7 @@
 import hal
 import wpilib
 import wpimath.units
-from robotpy_apriltag import AprilTagFieldLayout
+from robotpy_fields import Field
 from wpimath import (
     Pose2d,
     Pose3d,
@@ -47,12 +47,12 @@ class PhotonPoseEstimator:
 
     def __init__(
         self,
-        fieldTags: AprilTagFieldLayout,
+        fieldTags: Field,
         robotToCamera: Transform3d,
     ):
         """Create a new PhotonPoseEstimator.
 
-        :param fieldTags: A WPILib AprilTagFieldLayout linking AprilTag IDs to Pose3d objects
+        :param fieldTags: A WPILib Field linking AprilTag IDs to Pose3d objects
                            with respect to the FIRST field using the Field Coordinate System.
                            Note that setting the origin of this layout object will affect the
                            results from this class.
@@ -66,29 +66,29 @@ def __init__(
         self._headingBuffer = TimeInterpolatableRotation2dBuffer(1)
 
         # Usage reporting
-        hal.reportUsage(
+        hal.report_usage(
             "PhotonVision/PhotonPoseEstimator",
             str(PhotonPoseEstimator.instance_count),
         )
         PhotonPoseEstimator.instance_count += 1
 
     @property
-    def fieldTags(self) -> AprilTagFieldLayout:
-        """Get the AprilTagFieldLayout being used by the PositionEstimator.
+    def fieldTags(self) -> Field:
+        """Get the Field being used by the PositionEstimator.
 
         Note: Setting the origin of this layout will affect the results from this class.
 
-        :returns: the AprilTagFieldLayout
+        :returns: the Field
         """
         return self._fieldTags
 
     @fieldTags.setter
-    def fieldTags(self, fieldTags: AprilTagFieldLayout):
-        """Set the AprilTagFieldLayout being used by the PositionEstimator.
+    def fieldTags(self, fieldTags: Field):
+        """Set the Field being used by the PositionEstimator.
 
         Note: Setting the origin of this layout will affect the results from this class.
 
-        :param fieldTags: the AprilTagFieldLayout
+        :param fieldTags: the Field
         """
         self._fieldTags = fieldTags
 
@@ -102,8 +102,8 @@ def addHeadingData(
         :param heading: field-relative robot heading at given timestamp
         """
         if isinstance(heading, Rotation3d):
-            heading = heading.toRotation2d()
-        self._headingBuffer.addSample(timestampSeconds, heading)
+            heading = heading.to_rotation2d()
+        self._headingBuffer.add_sample(timestampSeconds, heading)
 
     def resetHeadingData(
         self, timestampSeconds: wpimath.units.seconds, heading: Rotation2d | Rotation3d
@@ -159,7 +159,7 @@ def estimatePnpDistanceTrigSolvePose(
         ) is None:
             return None
 
-        if (tagPose := self._fieldTags.getTagPose(bestTarget.fiducialId)) is None:
+        if (tagPose := self._fieldTags.get_tag_pose(bestTarget.fiducialId)) is None:
             return None
 
         camToTagTranslation = (
@@ -167,22 +167,22 @@ def estimatePnpDistanceTrigSolvePose(
                 bestTarget.getBestCameraToTarget().translation().norm(),
                 Rotation3d(
                     0,
-                    -wpimath.units.degreesToRadians(bestTarget.getPitch()),
-                    -wpimath.units.degreesToRadians(bestTarget.getYaw()),
+                    -wpimath.units.degrees_to_radians(bestTarget.getPitch()),
+                    -wpimath.units.degrees_to_radians(bestTarget.getYaw()),
                 ),
             )
-            .rotateBy(self.robotToCamera.rotation())
-            .toTranslation2d()
-            .rotateBy(headingSample)
+            .rotate_by(self.robotToCamera.rotation())
+            .to_translation2d()
+            .rotate_by(headingSample)
         )
 
         fieldToCameraTranslation = (
-            tagPose.toPose2d().translation() - camToTagTranslation
+            tagPose.to_pose2d().translation() - camToTagTranslation
         )
         camToRobotTranslation: Translation2d = -(
-            self.robotToCamera.translation().toTranslation2d()
+            self.robotToCamera.translation().to_translation2d()
         )
-        camToRobotTranslation = camToRobotTranslation.rotateBy(headingSample)
+        camToRobotTranslation = camToRobotTranslation.rotate_by(headingSample)
         robotPose = Pose2d(
             fieldToCameraTranslation + camToRobotTranslation, headingSample
         )
@@ -207,9 +207,9 @@ def estimateCoprocMultiTagPose(
             best_tf = result.multitagResult.estimatedPose.best
             best = (
                 Pose3d()
-                .transformBy(best_tf)  # field-to-camera
-                .relativeTo(self._fieldTags.getOrigin())
-                .transformBy(self.robotToCamera.inverse())  # field-to-robot
+                .transform_by(best_tf)  # field-to-camera
+                .relative_to(self._fieldTags.get_origin())
+                .transform_by(self.robotToCamera.inverse())  # field-to-robot
             )
             return EstimatedRobotPose(
                 best,
@@ -249,23 +249,23 @@ def estimateLowestAmbiguityPose(
 
         targetFiducialId = lowestAmbiguityTarget.fiducialId
 
-        targetPosition = self._fieldTags.getTagPose(targetFiducialId)
+        targetPosition = self._fieldTags.get_tag_pose(targetFiducialId)
 
         if not targetPosition:
             self._reportFiducialPoseError(targetFiducialId)
             return None
 
         return EstimatedRobotPose(
-            targetPosition.transformBy(
+            targetPosition.transform_by(
                 lowestAmbiguityTarget.getBestCameraToTarget().inverse()
-            ).transformBy(self.robotToCamera.inverse()),
+            ).transform_by(self.robotToCamera.inverse()),
             result.getTimestampSeconds(),
             [lowestAmbiguityTarget],
         )
 
     def _reportFiducialPoseError(self, fiducialId: int) -> None:
         if fiducialId not in self._reportedErrors:
-            wpilib.reportError(
+            wpilib.report_error(
                 f"[PhotonPoseEstimator] Tried to get pose of unknown AprilTag: {fiducialId}",
                 False,
             )
diff --git a/photon-lib/py/photonlibpy/simulation/photonCameraSim.py b/photon-lib/py/photonlibpy/simulation/photonCameraSim.py
index 6a8ad4819a..9c7cb7ce5b 100644
--- a/photon-lib/py/photonlibpy/simulation/photonCameraSim.py
+++ b/photon-lib/py/photonlibpy/simulation/photonCameraSim.py
@@ -5,7 +5,7 @@
 import cv2 as cv
 import numpy as np
 import wpilib
-from robotpy_apriltag import AprilTagField, AprilTagFieldLayout
+from robotpy_fields import Field, FieldId, get_field
 from wpimath import Pose3d, Transform3d
 from wpimath.units import meters, seconds
 from wpiutil import PixelFormat
@@ -37,9 +37,7 @@ def __init__(
         self,
         camera: PhotonCamera,
         props: SimCameraProperties = SimCameraProperties.PERFECT_90DEG(),
-        tagLayout: AprilTagFieldLayout = AprilTagFieldLayout.loadField(
-            AprilTagField.kDefaultField
-        ),
+        tagLayout: Field = get_field(FieldId.DEFAULT_FIELD),
         minTargetAreaPercent: float | None = None,
         maxSightRange: meters | None = None,
     ):
@@ -67,7 +65,7 @@ def __init__(
         # TODO switch this back to default True when the functionality is enabled
         self.videoSimProcEnabled: bool = False
         self.heartbeatCounter: int = 0
-        self.nextNtEntryTime = wpilib.Timer.getMonotonicTimestamp()
+        self.nextNtEntryTime = wpilib.Timer.get_monotonic_timestamp()
         self.tagLayout = tagLayout
 
         self.cam = camera
@@ -183,7 +181,7 @@ def consumeNextEntryTime(self) -> float | None:
                   ready
         """
         # check if this camera is ready for another frame update
-        now = wpilib.Timer.getMonotonicTimestamp()
+        now = wpilib.Timer.get_monotonic_timestamp()
         timestamp = 0.0
         iter = 0
         # prepare next latest update
@@ -386,10 +384,10 @@ def distance(target: VisionTargetSim):
 
             detectableTgts.append(
                 PhotonTrackedTarget(
-                    yaw=math.degrees(-centerRot.Z()),
-                    pitch=math.degrees(-centerRot.Y()),
+                    yaw=math.degrees(-centerRot.z),
+                    pitch=math.degrees(-centerRot.y),
                     area=areaPercent,
-                    skew=math.degrees(centerRot.X()),
+                    skew=math.degrees(centerRot.x),
                     fiducialId=tgt.fiducialId,
                     objDetectId=classId,
                     objDetectConf=conf,
@@ -420,7 +418,7 @@ def distance(target: VisionTargetSim):
         )
 
         if len(visibleLayoutTags) > 1:
-            usedIds = [tag.ID for tag in visibleLayoutTags]
+            usedIds = [tag.id for tag in visibleLayoutTags]
             # sort target order sorts in ascending order by default
             usedIds.sort()
             pnpResult = VisionEstimation.estimateCamPosePNP(
@@ -435,7 +433,7 @@ def distance(target: VisionTargetSim):
 
         # put this simulated data to NT
         self.heartbeatCounter += 1
-        publishTimestampMicros = wpilib.Timer.getMonotonicTimestamp() * 1e6
+        publishTimestampMicros = wpilib.Timer.get_monotonic_timestamp() * 1e6
         return PhotonPipelineResult(
             ntReceiveTimestampMicros=int(publishTimestampMicros + 10),
             metadata=PhotonPipelineMetadata(
@@ -462,7 +460,7 @@ def submitProcessedFrame(
         :param receiveTimestamp: The (sim) timestamp when this result was read by NT in microseconds. If not passed image capture time is assumed be (current time - latency)
         """
         if receiveTimestamp_us is None:
-            receiveTimestamp_us = wpilib.Timer.getMonotonicTimestamp() * 1e6
+            receiveTimestamp_us = wpilib.Timer.get_monotonic_timestamp() * 1e6
         receiveTimestamp_us = int(receiveTimestamp_us)
 
         self.ts.latencyMillisEntry.set(result.getLatencyMillis(), receiveTimestamp_us)
@@ -502,4 +500,4 @@ def submitProcessedFrame(
         self.ts.heartbeatPublisher.set(self.heartbeatCounter, receiveTimestamp_us)
         self.heartbeatCounter += 1
 
-        self.ts.subTable.getInstance().flush()
+        self.ts.subTable.get_instance().flush()
diff --git a/photon-lib/py/photonlibpy/simulation/simCameraProperties.py b/photon-lib/py/photonlibpy/simulation/simCameraProperties.py
index 1d72d102d2..d93465f3c9 100644
--- a/photon-lib/py/photonlibpy/simulation/simCameraProperties.py
+++ b/photon-lib/py/photonlibpy/simulation/simCameraProperties.py
@@ -48,7 +48,7 @@ def setCalibrationFromFOV(
         self, width: int, height: int, fovDiag: Rotation2d
     ) -> None:
         if fovDiag.degrees() < 1.0 or fovDiag.degrees() > 179.0:
-            fovDiag = Rotation2d.fromDegrees(max(min(fovDiag.degrees(), 179.0), 1.0))
+            fovDiag = Rotation2d.from_degrees(max(min(fovDiag.degrees(), 179.0), 1.0))
             logger.error("Requested invalid FOV! Clamping between (1, 179) degrees...")
 
         resDiag = math.sqrt(width * width + height * height)
@@ -125,7 +125,7 @@ def setCalibrationFromIntrinsics(
         self.viewplanes = []
 
         for i in p:
-            self.viewplanes.append(np.array([i.X(), i.Y(), i.Z()]))
+            self.viewplanes.append(np.array([i.x, i.y, i.z]))
 
     def setCalibError(self, newAvgErrorPx: float, newErrorStdDevPx: float):
         self.avgErrorPx = newAvgErrorPx
@@ -320,11 +320,11 @@ def getVisibleLine(
         relB = camRt.applyTranslation(b)
 
         # check if both ends are behind camera
-        if relA.X() <= 0.0 and relB.X() <= 0.0:
+        if relA.x <= 0.0 and relB.x <= 0.0:
             return (None, None)
 
-        av = np.array([relA.X(), relA.Y(), relA.Z()])
-        bv = np.array([relB.X(), relB.Y(), relB.Z()])
+        av = np.array([relA.x, relA.y, relA.z])
+        bv = np.array([relB.x, relB.y, relB.z])
         abv = bv - av
 
         aVisible = True
diff --git a/photon-lib/py/photonlibpy/simulation/visionSystemSim.py b/photon-lib/py/photonlibpy/simulation/visionSystemSim.py
index abb313cec7..15cbe92b98 100644
--- a/photon-lib/py/photonlibpy/simulation/visionSystemSim.py
+++ b/photon-lib/py/photonlibpy/simulation/visionSystemSim.py
@@ -1,7 +1,7 @@
 import typing
 
 import wpilib
-from robotpy_apriltag import AprilTagFieldLayout
+from robotpy_fields import Field
 from wpilib import Field2d
 
 # TODO(auscompgeek): update import path when RobotPy re-exports are fixed
@@ -43,7 +43,7 @@ def __init__(self, visionSystemName: str):
         self.targetSets: typing.Dict[str, list[VisionTargetSim]] = {}
 
         self.tableName: str = "VisionSystemSim-" + visionSystemName
-        wpilib.SmartDashboard.putData(self.tableName + "/Sim Field", self.dbgField)
+        wpilib.SmartDashboard.put_data(self.tableName + "/Sim Field", self.dbgField)
 
     def getCameraSim(self, name: str) -> PhotonCameraSim | None:
         """Get one of the simulated cameras."""
@@ -67,8 +67,8 @@ def addCamera(self, cameraSim: PhotonCameraSim, robotToCamera: Transform3d) -> N
             self.camTrfMap[cameraSim] = TimeInterpolatablePose3dBuffer(
                 self.bufferLength
             )
-            self.camTrfMap[cameraSim].addSample(
-                wpilib.Timer.getMonotonicTimestamp(), Pose3d() + robotToCamera
+            self.camTrfMap[cameraSim].add_sample(
+                wpilib.Timer.get_monotonic_timestamp(), Pose3d() + robotToCamera
             )
 
     def clearCameras(self) -> None:
@@ -102,7 +102,7 @@ def getRobotToCamera(
         :returns: The transform of this camera, or an empty optional if it is invalid
         """
         if time is None:
-            time = wpilib.Timer.getMonotonicTimestamp()
+            time = wpilib.Timer.get_monotonic_timestamp()
         if cameraSim in self.camTrfMap:
             trfBuffer = self.camTrfMap[cameraSim]
             sample = trfBuffer.sample(time)
@@ -126,7 +126,7 @@ def getCameraPose(
         :returns: The pose of this camera, or an empty optional if it is invalid
         """
         if time is None:
-            time = wpilib.Timer.getMonotonicTimestamp()
+            time = wpilib.Timer.get_monotonic_timestamp()
         robotToCamera = self.getRobotToCamera(cameraSim, time)
         if robotToCamera is None:
             return None
@@ -149,8 +149,8 @@ def adjustCamera(
         :returns: If the cameraSim was valid and transform was adjusted
         """
         if cameraSim in self.camTrfMap:
-            self.camTrfMap[cameraSim].addSample(
-                wpilib.Timer.getMonotonicTimestamp(), Pose3d() + robotToCamera
+            self.camTrfMap[cameraSim].add_sample(
+                wpilib.Timer.get_monotonic_timestamp(), Pose3d() + robotToCamera
             )
             return True
         else:
@@ -158,7 +158,7 @@ def adjustCamera(
 
     def resetCameraTransforms(self, cameraSim: PhotonCameraSim | None = None) -> None:
         """Reset the transform history for this camera to just the current transform."""
-        now = wpilib.Timer.getMonotonicTimestamp()
+        now = wpilib.Timer.get_monotonic_timestamp()
 
         def resetSingleCamera(self, cameraSim: PhotonCameraSim) -> bool:
             if cameraSim in self.camTrfMap:
@@ -202,7 +202,7 @@ def addVisionTargets(
         else:
             self.targetSets[targetType] += targets
 
-    def addAprilTags(self, layout: AprilTagFieldLayout) -> None:
+    def addAprilTags(self, layout: Field) -> None:
         """Adds targets on the field which your vision system is designed to detect. The {@link
         PhotonCamera}s simulated from this system will report the location of the camera relative to
         the subset of these targets which are visible from the given camera position.
@@ -214,12 +214,12 @@ def addAprilTags(self, layout: AprilTagFieldLayout) -> None:
         :param tagLayout: The field tag layout to get Apriltag poses and IDs from
         """
         targets: list[VisionTargetSim] = []
-        for tag in layout.getTags():
-            tag_pose = layout.getTagPose(tag.ID)
+        for tag in layout.get_tags():
+            tag_pose = layout.get_tag_pose(tag.id)
             # TODO this was done to make the python gods happy. Confirm that this is desired or if types dont matter
             assert tag_pose is not None
             targets.append(
-                VisionTargetSim(tag_pose, TargetModel.AprilTag36h11(), tag.ID)
+                VisionTargetSim(tag_pose, TargetModel.AprilTag36h11(), tag.id)
             )
         self.addVisionTargets(targets, "apriltag")
 
@@ -249,7 +249,7 @@ def getRobotPose(self, timestamp: seconds | None = None) -> Pose3d | None:
         :param timestamp: Timestamp of the desired robot pose
         """
         if timestamp is None:
-            timestamp = wpilib.Timer.getMonotonicTimestamp()
+            timestamp = wpilib.Timer.get_monotonic_timestamp()
         return self.robotPoseBuffer.sample(timestamp)
 
     def resetRobotPose(self, robotPose: Pose2d | Pose3d) -> None:
@@ -259,7 +259,9 @@ def resetRobotPose(self, robotPose: Pose2d | Pose3d) -> None:
         assert type(robotPose) is Pose3d
 
         self.robotPoseBuffer.clear()
-        self.robotPoseBuffer.addSample(wpilib.Timer.getMonotonicTimestamp(), robotPose)
+        self.robotPoseBuffer.add_sample(
+            wpilib.Timer.get_monotonic_timestamp(), robotPose
+        )
 
     def getDebugField(self) -> Field2d:
         return self.dbgField
@@ -278,13 +280,13 @@ def update(self, robotPose: Pose2d | Pose3d) -> None:
         for targetType, targets in self.targetSets.items():
             posesToAdd: list[Pose2d] = []
             for target in targets:
-                posesToAdd.append(target.getPose().toPose2d())
-            self.dbgField.getObject(targetType).setPoses(posesToAdd)
+                posesToAdd.append(target.getPose().to_pose2d())
+            self.dbgField.get_object(targetType).set_poses(posesToAdd)
 
         # save "real" robot poses over time
-        now = wpilib.Timer.getMonotonicTimestamp()
-        self.robotPoseBuffer.addSample(now, robotPose)
-        self.dbgField.setRobotPose(robotPose.toPose2d())
+        now = wpilib.Timer.get_monotonic_timestamp()
+        self.robotPoseBuffer.add_sample(now, robotPose)
+        self.dbgField.set_robot_pose(robotPose.to_pose2d())
 
         allTargets: list[VisionTargetSim] = []
         for targets in self.targetSets.values():
@@ -315,7 +317,7 @@ def update(self, robotPose: Pose2d | Pose3d) -> None:
             if lateRobotPose is None or robotToCamera is None:
                 return None
             lateCameraPose = lateRobotPose + robotToCamera
-            cameraPoses2d.append(lateCameraPose.toPose2d())
+            cameraPoses2d.append(lateCameraPose.to_pose2d())
 
             # process a PhotonPipelineResult with visible targets
             camResult = camSim.process(latency, lateCameraPose, allTargets)
@@ -328,10 +330,10 @@ def update(self, robotPose: Pose2d | Pose3d) -> None:
                 if trf == Transform3d():
                     continue
 
-                visTgtPoses2d.append(lateCameraPose.transformBy(trf).toPose2d())
+                visTgtPoses2d.append(lateCameraPose.transform_by(trf).to_pose2d())
 
         if processed:
-            self.dbgField.getObject("visibleTargetPoses").setPoses(visTgtPoses2d)
+            self.dbgField.get_object("visibleTargetPoses").set_poses(visTgtPoses2d)
 
         if len(cameraPoses2d) != 0:
-            self.dbgField.getObject("cameras").setPoses(cameraPoses2d)
+            self.dbgField.get_object("cameras").set_poses(cameraPoses2d)
diff --git a/photon-lib/py/photonlibpy/simulation/visionTargetSim.py b/photon-lib/py/photonlibpy/simulation/visionTargetSim.py
index 6bb494be6e..2ed1b665ac 100644
--- a/photon-lib/py/photonlibpy/simulation/visionTargetSim.py
+++ b/photon-lib/py/photonlibpy/simulation/visionTargetSim.py
@@ -88,17 +88,16 @@ def __lt__(self, right) -> bool:
     def __eq__(self, other) -> bool:
         # Use 1 inch and 1 degree tolerance
         return (
-            abs(self.pose.translation().X() - other.getPose().translation().X())
+            abs(self.pose.translation().x - other.getPose().translation().x) < 0.0254
+            and abs(self.pose.translation().y - other.getPose().translation().y)
             < 0.0254
-            and abs(self.pose.translation().Y() - other.getPose().translation().Y())
+            and abs(self.pose.translation().z - other.getPose().translation().z)
             < 0.0254
-            and abs(self.pose.translation().Z() - other.getPose().translation().Z())
-            < 0.0254
-            and abs(self.pose.rotation().X() - other.getPose().rotation().X())
+            and abs(self.pose.rotation().x - other.getPose().rotation().x)
             < math.radians(1)
-            and abs(self.pose.rotation().Y() - other.getPose().rotation().Y())
+            and abs(self.pose.rotation().y - other.getPose().rotation().y)
             < math.radians(1)
-            and abs(self.pose.rotation().Z() - other.getPose().rotation().Z())
+            and abs(self.pose.rotation().z - other.getPose().rotation().z)
             < math.radians(1)
             and self.model.getIsPlanar() == other.getModel().getIsPlanar()
         )
diff --git a/photon-lib/py/photonlibpy/timesync/timeSyncServer.py b/photon-lib/py/photonlibpy/timesync/timeSyncServer.py
index 69fc838b8b..8becbcbfab 100644
--- a/photon-lib/py/photonlibpy/timesync/timeSyncServer.py
+++ b/photon-lib/py/photonlibpy/timesync/timeSyncServer.py
@@ -53,7 +53,7 @@ class TimeSyncServer:
     PORT = 5810
 
     def __init__(self, time_provider: Optional[Callable[[], int]] = None):
-        self.time_provider = time_provider or Timer.getMonotonicTimestamp
+        self.time_provider = time_provider or Timer.get_monotonic_timestamp
         self._process: Optional[threading.Thread] = None
         self.logger = logging.getLogger("PhotonVision-TimeSyncServer")
 
diff --git a/photon-lib/py/setup.py b/photon-lib/py/setup.py
index 31cf83c09d..4ba17e71bb 100644
--- a/photon-lib/py/setup.py
+++ b/photon-lib/py/setup.py
@@ -58,11 +58,12 @@
     version=versionString,
     install_requires=[
         "numpy~=2.3",
-        "wpilib==2027.0.0a6.post1",
-        "robotpy-wpimath==2027.0.0a6.post1",
-        "robotpy-apriltag==2027.0.0a6.post1",
-        "robotpy-cscore==2027.0.0a6.post1",
-        "pyntcore==2027.0.0a6.post1",
+        "wpilib==2027.0.0a6.post4",
+        "robotpy-wpimath==2027.0.0a6.post4",
+        "robotpy-apriltag==2027.0.0a6.post4",
+        "robotpy-fields==2027.0.0a6.post4",
+        "robotpy-cscore==2027.0.0a6.post4",
+        "pyntcore==2027.0.0a6.post4",
         "opencv-python;platform_machine!='roborio'",
     ],
     description=descriptionStr,
diff --git a/photon-lib/py/test/openCVHelp_test.py b/photon-lib/py/test/openCVHelp_test.py
index 2e4c52aa05..b770ef0080 100644
--- a/photon-lib/py/test/openCVHelp_test.py
+++ b/photon-lib/py/test/openCVHelp_test.py
@@ -11,7 +11,7 @@
 
 @pytest.fixture(autouse=True)
 def setupCommon() -> None:
-    nt.NetworkTableInstance.getDefault().startServer()
+    nt.NetworkTableInstance.get_default().start_server()
     setVersionCheckEnabled(False)
 
 
@@ -20,9 +20,9 @@ def test_TrlConvert():
     tvec = OpenCVHelp.translationToTVec([trl])
     result = OpenCVHelp.tVecToTranslation(tvec[0])
 
-    assert result.X() == pytest.approx(trl.X(), 0.005)
-    assert result.Y() == pytest.approx(trl.Y(), 0.005)
-    assert result.Z() == pytest.approx(trl.Z(), 0.005)
+    assert result.x == pytest.approx(trl.x, 0.005)
+    assert result.y == pytest.approx(trl.y, 0.005)
+    assert result.z == pytest.approx(trl.z, 0.005)
 
 
 def test_RotConvert():
@@ -30,9 +30,9 @@ def test_RotConvert():
     rvec = OpenCVHelp.rotationToRVec(rot)
     result = OpenCVHelp.rVecToRotation(rvec[0])
 
-    assert result.X() == pytest.approx(rot.X(), 0.25)
-    assert result.Y() == pytest.approx(rot.Y(), 0.25)
-    assert result.Z() == pytest.approx(rot.Z(), 0.25)
+    assert result.x == pytest.approx(rot.x, 0.25)
+    assert result.y == pytest.approx(rot.y, 0.25)
+    assert result.z == pytest.approx(rot.z, 0.25)
 
 
 def test_Projection():
@@ -123,24 +123,18 @@ def test_SolvePNP_SQUARE():
     assert pnpSim is not None
 
     # check solvePNP estimation accuracy
-    assert relTarget.rotation().X() == pytest.approx(
-        pnpSim.best.rotation().X(), abs=0.25
-    )
-    assert relTarget.rotation().Y() == pytest.approx(
-        pnpSim.best.rotation().Y(), abs=0.25
-    )
-    assert relTarget.rotation().Z() == pytest.approx(
-        pnpSim.best.rotation().Z(), abs=0.25
-    )
+    assert relTarget.rotation().x == pytest.approx(pnpSim.best.rotation().x, abs=0.25)
+    assert relTarget.rotation().y == pytest.approx(pnpSim.best.rotation().y, abs=0.25)
+    assert relTarget.rotation().z == pytest.approx(pnpSim.best.rotation().z, abs=0.25)
 
-    assert relTarget.translation().X() == pytest.approx(
-        pnpSim.best.translation().X(), abs=0.005
+    assert relTarget.translation().x == pytest.approx(
+        pnpSim.best.translation().x, abs=0.005
     )
-    assert relTarget.translation().Y() == pytest.approx(
-        pnpSim.best.translation().Y(), abs=0.005
+    assert relTarget.translation().y == pytest.approx(
+        pnpSim.best.translation().y, abs=0.005
     )
-    assert relTarget.translation().Z() == pytest.approx(
-        pnpSim.best.translation().Z(), abs=0.005
+    assert relTarget.translation().z == pytest.approx(
+        pnpSim.best.translation().z, abs=0.005
     )
 
 
@@ -184,22 +178,16 @@ def test_SolvePNP_SQPNP():
     assert pnpSim is not None
 
     # check solvePNP estimation accuracy
-    assert relTarget.rotation().X() == pytest.approx(
-        pnpSim.best.rotation().X(), abs=0.25
-    )
-    assert relTarget.rotation().Y() == pytest.approx(
-        pnpSim.best.rotation().Y(), abs=0.25
-    )
-    assert relTarget.rotation().Z() == pytest.approx(
-        pnpSim.best.rotation().Z(), abs=0.25
-    )
+    assert relTarget.rotation().x == pytest.approx(pnpSim.best.rotation().x, abs=0.25)
+    assert relTarget.rotation().y == pytest.approx(pnpSim.best.rotation().y, abs=0.25)
+    assert relTarget.rotation().z == pytest.approx(pnpSim.best.rotation().z, abs=0.25)
 
-    assert relTarget.translation().X() == pytest.approx(
-        pnpSim.best.translation().X(), abs=0.005
+    assert relTarget.translation().x == pytest.approx(
+        pnpSim.best.translation().x, abs=0.005
     )
-    assert relTarget.translation().Y() == pytest.approx(
-        pnpSim.best.translation().Y(), abs=0.005
+    assert relTarget.translation().y == pytest.approx(
+        pnpSim.best.translation().y, abs=0.005
     )
-    assert relTarget.translation().Z() == pytest.approx(
-        pnpSim.best.translation().Z(), abs=0.005
+    assert relTarget.translation().z == pytest.approx(
+        pnpSim.best.translation().z, abs=0.005
     )
diff --git a/photon-lib/py/test/photonPoseEstimator_test.py b/photon-lib/py/test/photonPoseEstimator_test.py
index 8acf7d9a6e..781727b7e4 100644
--- a/photon-lib/py/test/photonPoseEstimator_test.py
+++ b/photon-lib/py/test/photonPoseEstimator_test.py
@@ -27,7 +27,7 @@
 )
 from photonlibpy.targeting.multiTargetPNPResult import MultiTargetPNPResult, PnpResult
 from photonlibpy.targeting.photonPipelineResult import PhotonPipelineResult
-from robotpy_apriltag import AprilTag, AprilTagFieldLayout
+from robotpy_fields import Field, FieldTag
 from wpimath import Pose3d, Rotation3d, Transform3d, Translation3d
 
 
@@ -41,22 +41,19 @@ def getLatestResult(self) -> PhotonPipelineResult:
         return self.result
 
 
-def fakeAprilTagFieldLayout() -> AprilTagFieldLayout:
+def fakeAprilTagFieldLayout() -> Field:
     tagList = []
     tagPoses = (
         Pose3d(3, 3, 3, Rotation3d()),
         Pose3d(5, 5, 5, Rotation3d()),
     )
     for id_, pose in enumerate(tagPoses):
-        aprilTag = AprilTag()
-        aprilTag.ID = id_
-        aprilTag.pose = pose
-        tagList.append(aprilTag)
+        tagList.append(FieldTag(id_, pose))
 
     fieldLength = 54 / 3.281  # 54 ft -> meters
     fieldWidth = 27 / 3.281  # 24 ft -> meters
 
-    return AprilTagFieldLayout(tagList, fieldLength, fieldWidth)
+    return Field("test", "test", "test", None, fieldLength, fieldWidth, "frc", tagList)
 
 
 def test_lowestAmbiguityStrategy():
@@ -164,19 +161,19 @@ def test_pnpDistanceTrigSolve():
 
     cameraOneSim = PhotonCameraSim(cameraOne, SimCameraProperties.PERFECT_90DEG())
     simTargets = [
-        VisionTargetSim(tag.pose, TargetModel.AprilTag36h11(), tag.ID)
-        for tag in aprilTags.getTags()
+        VisionTargetSim(tag.pose, TargetModel.AprilTag36h11(), tag.id)
+        for tag in aprilTags.get_tags()
     ]
 
     # Compound Rolled + Pitched + Yaw
     compoundTestTransform = Transform3d(
-        -wpimath.units.inchesToMeters(12),
-        -wpimath.units.inchesToMeters(11),
+        -wpimath.units.inches_to_meters(12),
+        -wpimath.units.inches_to_meters(11),
         3,
         Rotation3d(
-            wpimath.units.degreesToRadians(37),
-            wpimath.units.degreesToRadians(6),
-            wpimath.units.degreesToRadians(60),
+            wpimath.units.degrees_to_radians(37),
+            wpimath.units.degrees_to_radians(6),
+            wpimath.units.degrees_to_radians(60),
         ),
     )
 
@@ -187,7 +184,7 @@ def test_pnpDistanceTrigSolve():
 
     realPose = Pose3d(7.3, 4.42, 0, Rotation3d(0, 0, 2.197))  # Pose to compare with
     result = cameraOneSim.process(
-        latencySecs, realPose.transformBy(estimator.robotToCamera), simTargets
+        latencySecs, realPose.transform_by(estimator.robotToCamera), simTargets
     )
     bestTarget = result.getBestTarget()
     assert bestTarget is not None
@@ -197,7 +194,7 @@ def test_pnpDistanceTrigSolve():
     result.ntReceiveTimestampMicros = int(fakeTimestampSecs * 1e6)
 
     estimator.addHeadingData(
-        result.getTimestampSeconds(), realPose.rotation().toRotation2d()
+        result.getTimestampSeconds(), realPose.rotation().to_rotation2d()
     )
     estimatedRobotPose = estimator.estimatePnpDistanceTrigSolvePose(result)
 
@@ -216,7 +213,7 @@ def test_pnpDistanceTrigSolve():
     estimator.robotToCamera = straightOnTestTransform
     realPose = Pose3d(4.81, 2.38, 0, Rotation3d(0, 0, 2.818))  # Pose to compare with
     result = cameraOneSim.process(
-        latencySecs, realPose.transformBy(estimator.robotToCamera), simTargets
+        latencySecs, realPose.transform_by(estimator.robotToCamera), simTargets
     )
     bestTarget = result.getBestTarget()
     assert bestTarget is not None
@@ -226,7 +223,7 @@ def test_pnpDistanceTrigSolve():
     result.ntReceiveTimestampMicros = int(fakeTimestampSecs * 1e6)
 
     estimator.addHeadingData(
-        result.getTimestampSeconds(), realPose.rotation().toRotation2d()
+        result.getTimestampSeconds(), realPose.rotation().to_rotation2d()
     )
     estimatedRobotPose = estimator.estimatePnpDistanceTrigSolvePose(result)
 
@@ -277,7 +274,7 @@ def test_multiTagOnCoprocStrategy():
     )
 
     estimator = PhotonPoseEstimator(
-        AprilTagFieldLayout(),
+        Field(),
         Transform3d(),
     )
 
diff --git a/photon-lib/py/test/photonlibpy_test.py b/photon-lib/py/test/photonlibpy_test.py
index f87ca05883..81fa13fe1c 100644
--- a/photon-lib/py/test/photonlibpy_test.py
+++ b/photon-lib/py/test/photonlibpy_test.py
@@ -23,9 +23,9 @@
 
 
 def test_roundTrip():
-    ntcore.NetworkTableInstance.getDefault().stopServer()
-    ntcore.NetworkTableInstance.getDefault().setServer("localhost")
-    ntcore.NetworkTableInstance.getDefault().startClient("meme")
+    ntcore.NetworkTableInstance.get_default().stop_server()
+    ntcore.NetworkTableInstance.get_default().set_server("localhost")
+    ntcore.NetworkTableInstance.get_default().start_client("meme")
 
     camera = PhotonCamera("WPI2024")
 
@@ -35,7 +35,7 @@ def test_roundTrip():
         sleep(0.1)
         result = camera.getLatestResult()
         print(result)
-        print(camera._rawBytesEntry.getTopic().getProperties())
+        print(camera._rawBytesEntry.get_topic().get_properties())
 
 
 if __name__ == "__main__":
diff --git a/photon-lib/py/test/visionSystemSim_test.py b/photon-lib/py/test/visionSystemSim_test.py
index 0ec192a4ef..0fd8c7c775 100644
--- a/photon-lib/py/test/visionSystemSim_test.py
+++ b/photon-lib/py/test/visionSystemSim_test.py
@@ -4,7 +4,7 @@
 from photonlibpy.estimation import TargetModel, VisionEstimation
 from photonlibpy.photonCamera import PhotonCamera
 from photonlibpy.simulation import PhotonCameraSim, VisionSystemSim, VisionTargetSim
-from robotpy_apriltag import AprilTag, AprilTagFieldLayout
+from robotpy_fields import Field, FieldTag
 from wpimath import (
     Pose2d,
     Pose3d,
@@ -14,7 +14,7 @@
     Translation2d,
     Translation3d,
 )
-from wpimath.units import feetToMeters, meters
+from wpimath.units import feet_to_meters, meters
 
 
 def test_VisibilityCupidShuffle() -> None:
@@ -25,7 +25,9 @@ def test_VisibilityCupidShuffle() -> None:
     cameraSim = PhotonCameraSim(camera)
     visionSysSim.addCamera(cameraSim, Transform3d())
 
-    cameraSim.prop.setCalibrationFromFOV(640, 480, fovDiag=Rotation2d.fromDegrees(80.0))
+    cameraSim.prop.setCalibrationFromFOV(
+        640, 480, fovDiag=Rotation2d.from_degrees(80.0)
+    )
 
     visionSysSim.addVisionTargets(
         [
@@ -36,37 +38,37 @@ def test_VisibilityCupidShuffle() -> None:
     )
 
     # To the right, to the right
-    robotPose = Pose2d(Translation2d(5.0, 0.0), Rotation2d.fromDegrees(-70.0))
+    robotPose = Pose2d(Translation2d(5.0, 0.0), Rotation2d.from_degrees(-70.0))
     visionSysSim.update(robotPose)
     assert not camera.getLatestResult().hasTargets()
 
     # To the right, to the right
-    robotPose = Pose2d(Translation2d(5.0, 0.0), Rotation2d.fromDegrees(-95.0))
+    robotPose = Pose2d(Translation2d(5.0, 0.0), Rotation2d.from_degrees(-95.0))
     visionSysSim.update(robotPose)
     assert not camera.getLatestResult().hasTargets()
 
     # To the left, to the left
-    robotPose = Pose2d(Translation2d(5.0, 0.0), Rotation2d.fromDegrees(90.0))
+    robotPose = Pose2d(Translation2d(5.0, 0.0), Rotation2d.from_degrees(90.0))
     visionSysSim.update(robotPose)
     assert not camera.getLatestResult().hasTargets()
 
     # To the left, to the left
-    robotPose = Pose2d(Translation2d(5.0, 0.0), Rotation2d.fromDegrees(65.0))
+    robotPose = Pose2d(Translation2d(5.0, 0.0), Rotation2d.from_degrees(65.0))
     visionSysSim.update(robotPose)
     assert not camera.getLatestResult().hasTargets()
 
     # Now kick, now kick
-    robotPose = Pose2d(Translation2d(2.0, 0.0), Rotation2d.fromDegrees(5.0))
+    robotPose = Pose2d(Translation2d(2.0, 0.0), Rotation2d.from_degrees(5.0))
     visionSysSim.update(robotPose)
     assert camera.getLatestResult().hasTargets()
 
     # Now kick, now kick
-    robotPose = Pose2d(Translation2d(2.0, 0.0), Rotation2d.fromDegrees(-5.0))
+    robotPose = Pose2d(Translation2d(2.0, 0.0), Rotation2d.from_degrees(-5.0))
     visionSysSim.update(robotPose)
     assert camera.getLatestResult().hasTargets()
 
     # Now walk it by yourself
-    robotPose = Pose2d(Translation2d(2.0, 0.0), Rotation2d.fromDegrees(-179.0))
+    robotPose = Pose2d(Translation2d(2.0, 0.0), Rotation2d.from_degrees(-179.0))
     visionSysSim.update(robotPose)
     assert not camera.getLatestResult().hasTargets()
 
@@ -84,7 +86,9 @@ def test_bunchaTargets() -> None:
     cameraSim = PhotonCameraSim(camera)
     visionSysSim.addCamera(cameraSim, Transform3d())
 
-    cameraSim.prop.setCalibrationFromFOV(640, 480, fovDiag=Rotation2d.fromDegrees(80.0))
+    cameraSim.prop.setCalibrationFromFOV(
+        640, 480, fovDiag=Rotation2d.from_degrees(80.0)
+    )
 
     for i in range(100):
         targetPose = Pose3d(
@@ -100,7 +104,7 @@ def test_bunchaTargets() -> None:
             ]
         )
 
-    robotPose = Pose2d(Translation2d(2.0, 0.0), Rotation2d.fromDegrees(5.0))
+    robotPose = Pose2d(Translation2d(2.0, 0.0), Rotation2d.from_degrees(5.0))
 
     visionSysSim.update(robotPose)
 
@@ -115,7 +119,9 @@ def test_NotVisibleVert1() -> None:
     cameraSim = PhotonCameraSim(camera)
     visionSysSim.addCamera(cameraSim, Transform3d())
 
-    cameraSim.prop.setCalibrationFromFOV(640, 480, fovDiag=Rotation2d.fromDegrees(80.0))
+    cameraSim.prop.setCalibrationFromFOV(
+        640, 480, fovDiag=Rotation2d.from_degrees(80.0)
+    )
 
     visionSysSim.addVisionTargets(
         [
@@ -125,7 +131,7 @@ def test_NotVisibleVert1() -> None:
         ]
     )
 
-    robotPose = Pose2d(Translation2d(5.0, 0.0), Rotation2d.fromDegrees(5.0))
+    robotPose = Pose2d(Translation2d(5.0, 0.0), Rotation2d.from_degrees(5.0))
 
     visionSysSim.update(robotPose)
     assert camera.getLatestResult().hasTargets()
@@ -151,7 +157,7 @@ def test_NotVisibleVert2() -> None:
     visionSysSim.addCamera(cameraSim, robotToCamera)
 
     cameraSim.prop.setCalibrationFromFOV(
-        4774, 4774, fovDiag=Rotation2d.fromDegrees(80.0)
+        4774, 4774, fovDiag=Rotation2d.from_degrees(80.0)
     )
     visionSysSim.addVisionTargets(
         [
@@ -161,11 +167,11 @@ def test_NotVisibleVert2() -> None:
         ]
     )
 
-    robotPose = Pose2d(Translation2d(13.98, 0.0), Rotation2d.fromDegrees(5.0))
+    robotPose = Pose2d(Translation2d(13.98, 0.0), Rotation2d.from_degrees(5.0))
     visionSysSim.update(robotPose)
     assert camera.getLatestResult().hasTargets()
 
-    robotPose = Pose2d(Translation2d(0.0, 0.0), Rotation2d.fromDegrees(5.0))
+    robotPose = Pose2d(Translation2d(0.0, 0.0), Rotation2d.from_degrees(5.0))
     visionSysSim.update(robotPose)
     assert not camera.getLatestResult().hasTargets()
 
@@ -178,7 +184,9 @@ def test_NotVisibleTargetSize() -> None:
     cameraSim = PhotonCameraSim(camera)
     visionSysSim.addCamera(cameraSim, Transform3d())
 
-    cameraSim.prop.setCalibrationFromFOV(640, 480, fovDiag=Rotation2d.fromDegrees(80.0))
+    cameraSim.prop.setCalibrationFromFOV(
+        640, 480, fovDiag=Rotation2d.from_degrees(80.0)
+    )
     cameraSim.setMinTargetAreaPixels(20.0)
     visionSysSim.addVisionTargets(
         [
@@ -188,11 +196,11 @@ def test_NotVisibleTargetSize() -> None:
         ]
     )
 
-    robotPose = Pose2d(Translation2d(12.0, 0.0), Rotation2d.fromDegrees(5.0))
+    robotPose = Pose2d(Translation2d(12.0, 0.0), Rotation2d.from_degrees(5.0))
     visionSysSim.update(robotPose)
     assert camera.getLatestResult().hasTargets()
 
-    robotPose = Pose2d(Translation2d(0.0, 0.0), Rotation2d.fromDegrees(5.0))
+    robotPose = Pose2d(Translation2d(0.0, 0.0), Rotation2d.from_degrees(5.0))
     visionSysSim.update(robotPose)
     assert not camera.getLatestResult().hasTargets()
 
@@ -205,7 +213,9 @@ def test_NotVisibleTooFarLeds() -> None:
     cameraSim = PhotonCameraSim(camera)
     visionSysSim.addCamera(cameraSim, Transform3d())
 
-    cameraSim.prop.setCalibrationFromFOV(640, 480, fovDiag=Rotation2d.fromDegrees(80.0))
+    cameraSim.prop.setCalibrationFromFOV(
+        640, 480, fovDiag=Rotation2d.from_degrees(80.0)
+    )
     cameraSim.setMinTargetAreaPixels(1.0)
     cameraSim.setMaxSightRange(10.0)
     visionSysSim.addVisionTargets(
@@ -216,11 +226,11 @@ def test_NotVisibleTooFarLeds() -> None:
         ]
     )
 
-    robotPose = Pose2d(Translation2d(10.0, 0.0), Rotation2d.fromDegrees(5.0))
+    robotPose = Pose2d(Translation2d(10.0, 0.0), Rotation2d.from_degrees(5.0))
     visionSysSim.update(robotPose)
     assert camera.getLatestResult().hasTargets()
 
-    robotPose = Pose2d(Translation2d(0.0, 0.0), Rotation2d.fromDegrees(5.0))
+    robotPose = Pose2d(Translation2d(0.0, 0.0), Rotation2d.from_degrees(5.0))
     visionSysSim.update(robotPose)
     assert not camera.getLatestResult().hasTargets()
 
@@ -239,7 +249,9 @@ def test_YawAngles(expected_yaw) -> None:
 
     visionSysSim.addCamera(cameraSim, Transform3d())
 
-    cameraSim.prop.setCalibrationFromFOV(640, 480, fovDiag=Rotation2d.fromDegrees(80.0))
+    cameraSim.prop.setCalibrationFromFOV(
+        640, 480, fovDiag=Rotation2d.from_degrees(80.0)
+    )
     cameraSim.setMinTargetAreaPixels(0.0)
     visionSysSim.addVisionTargets(
         [
@@ -249,7 +261,7 @@ def test_YawAngles(expected_yaw) -> None:
         ]
     )
 
-    robotPose = Pose2d(Translation2d(10.0, 0.0), Rotation2d.fromDegrees(expected_yaw))
+    robotPose = Pose2d(Translation2d(10.0, 0.0), Rotation2d.from_degrees(expected_yaw))
     visionSysSim.update(robotPose)
 
     result = camera.getLatestResult()
@@ -267,7 +279,7 @@ def test_PitchAngles(expected_pitch) -> None:
         Translation3d(15.98, 0.0, 0.0), Rotation3d(0, 0, 3.0 * math.pi / 4.0)
     )
     robotPose = Pose2d(
-        Translation2d(10.0, 0.0), Rotation2d.fromDegrees(-expected_pitch)
+        Translation2d(10.0, 0.0), Rotation2d.from_degrees(-expected_pitch)
     )
     visionSysSim = VisionSystemSim("Test")
     camera = PhotonCamera("camera")
@@ -275,7 +287,7 @@ def test_PitchAngles(expected_pitch) -> None:
     visionSysSim.addCamera(cameraSim, Transform3d())
 
     cameraSim.prop.setCalibrationFromFOV(
-        640, 480, fovDiag=Rotation2d.fromDegrees(120.0)
+        640, 480, fovDiag=Rotation2d.from_degrees(120.0)
     )
     cameraSim.setMinTargetAreaPixels(0.0)
     visionSysSim.addVisionTargets(
@@ -323,9 +335,9 @@ def test_PitchAngles(expected_pitch) -> None:
     ],
 )
 def test_distanceCalc(distParam, pitchParam, heightParam) -> None:
-    distParam = feetToMeters(distParam)
+    distParam = feet_to_meters(distParam)
     pitchParam = math.radians(pitchParam)
-    heightParam = feetToMeters(heightParam)
+    heightParam = feet_to_meters(heightParam)
 
     targetPose = Pose3d(
         Translation3d(15.98, 0.0, 1.0), Rotation3d(0.0, 0.0, 0.98 * math.pi)
@@ -343,7 +355,7 @@ def test_distanceCalc(distParam, pitchParam, heightParam) -> None:
     visionSysSim.addCamera(cameraSim, Transform3d())
 
     cameraSim.prop.setCalibrationFromFOV(
-        640, 480, fovDiag=Rotation2d.fromDegrees(160.0)
+        640, 480, fovDiag=Rotation2d.from_degrees(160.0)
     )
     cameraSim.setMinTargetAreaPixels(0.0)
     visionSysSim.adjustCamera(cameraSim, robotToCamera)
@@ -379,83 +391,85 @@ def test_MultipleTargets() -> None:
     cameraSim = PhotonCameraSim(camera)
     visionSysSim.addCamera(cameraSim, Transform3d())
 
-    cameraSim.prop.setCalibrationFromFOV(640, 480, fovDiag=Rotation2d.fromDegrees(80.0))
+    cameraSim.prop.setCalibrationFromFOV(
+        640, 480, fovDiag=Rotation2d.from_degrees(80.0)
+    )
     cameraSim.setMinTargetAreaPixels(20.0)
 
     visionSysSim.addVisionTargets(
         [
             VisionTargetSim(
-                targetPoseL.transformBy(
+                targetPoseL.transform_by(
                     Transform3d(Translation3d(0, 0, 0), Rotation3d())
                 ),
                 TargetModel.AprilTag16h5(),
                 1,
             ),
             VisionTargetSim(
-                targetPoseC.transformBy(
+                targetPoseC.transform_by(
                     Transform3d(Translation3d(0, 0, 0), Rotation3d())
                 ),
                 TargetModel.AprilTag16h5(),
                 2,
             ),
             VisionTargetSim(
-                targetPoseR.transformBy(
+                targetPoseR.transform_by(
                     Transform3d(Translation3d(0, 0, 0), Rotation3d())
                 ),
                 TargetModel.AprilTag16h5(),
                 3,
             ),
             VisionTargetSim(
-                targetPoseL.transformBy(
+                targetPoseL.transform_by(
                     Transform3d(Translation3d(0, 0, 1), Rotation3d())
                 ),
                 TargetModel.AprilTag16h5(),
                 4,
             ),
             VisionTargetSim(
-                targetPoseC.transformBy(
+                targetPoseC.transform_by(
                     Transform3d(Translation3d(0, 0, 1), Rotation3d())
                 ),
                 TargetModel.AprilTag16h5(),
                 5,
             ),
             VisionTargetSim(
-                targetPoseR.transformBy(
+                targetPoseR.transform_by(
                     Transform3d(Translation3d(0, 0, 1), Rotation3d())
                 ),
                 TargetModel.AprilTag16h5(),
                 6,
             ),
             VisionTargetSim(
-                targetPoseL.transformBy(
+                targetPoseL.transform_by(
                     Transform3d(Translation3d(0, 0, 0.5), Rotation3d())
                 ),
                 TargetModel.AprilTag16h5(),
                 7,
             ),
             VisionTargetSim(
-                targetPoseC.transformBy(
+                targetPoseC.transform_by(
                     Transform3d(Translation3d(0, 0, 0.5), Rotation3d())
                 ),
                 TargetModel.AprilTag16h5(),
                 8,
             ),
             VisionTargetSim(
-                targetPoseL.transformBy(
+                targetPoseL.transform_by(
                     Transform3d(Translation3d(0, 0, 0.75), Rotation3d())
                 ),
                 TargetModel.AprilTag16h5(),
                 9,
             ),
             VisionTargetSim(
-                targetPoseR.transformBy(
+                targetPoseR.transform_by(
                     Transform3d(Translation3d(0, 0, 0.75), Rotation3d())
                 ),
                 TargetModel.AprilTag16h5(),
                 10,
             ),
             VisionTargetSim(
-                targetPoseL.transformBy(
+                targetPoseL.transform_by(
                     Transform3d(Translation3d(0, 0, 0.25), Rotation3d())
                 ),
                 TargetModel.AprilTag16h5(),
@@ -463,7 +477,7 @@ def test_MultipleTargets() -> None:
             ),
         ]
     )
-    robotPose = Pose2d(Translation2d(6.0, 0.0), Rotation2d.fromDegrees(0.25))
+    robotPose = Pose2d(Translation2d(6.0, 0.0), Rotation2d.from_degrees(0.25))
     visionSysSim.update(robotPose)
     res = camera.getLatestResult()
     assert res.hasTargets()
@@ -477,27 +491,23 @@ def test_PoseEstimation() -> None:
     cameraSim = PhotonCameraSim(camera)
     visionSysSim.addCamera(cameraSim, Transform3d())
 
-    cameraSim.prop.setCalibrationFromFOV(640, 480, fovDiag=Rotation2d.fromDegrees(90.0))
+    cameraSim.prop.setCalibrationFromFOV(
+        640, 480, fovDiag=Rotation2d.from_degrees(90.0)
+    )
     cameraSim.setMinTargetAreaPixels(20.0)
 
-    tagList: list[AprilTag] = []
-    at0 = AprilTag()
-    at0.ID = 0
-    at0.pose = Pose3d(12.0, 3.0, 1.0, Rotation3d(0.0, 0.0, math.pi))
-    tagList.append(at0)
-    at1 = AprilTag()
-    at1.ID = 1
-    at1.pose = Pose3d(12.0, 1.0, -1.0, Rotation3d(0.0, 0.0, math.pi))
-    tagList.append(at1)
-    at2 = AprilTag()
-    at2.ID = 2
-    at2.pose = Pose3d(11.0, 0.0, 2.0, Rotation3d(0.0, 0.0, math.pi))
-    tagList.append(at2)
+    tagList: list[FieldTag] = [
+        FieldTag(0, Pose3d(12.0, 3.0, 1.0, Rotation3d(0.0, 0.0, math.pi))),
+        FieldTag(1, Pose3d(12.0, 1.0, -1.0, Rotation3d(0.0, 0.0, math.pi))),
+        FieldTag(2, Pose3d(11.0, 0.0, 2.0, Rotation3d(0.0, 0.0, math.pi))),
+    ]
 
     fieldLength: meters = 54.0
     fieldWidth: meters = 27.0
-    layout = AprilTagFieldLayout(tagList, fieldLength, fieldWidth)
-    robotPose = Pose2d(Translation2d(5.0, 1.0), Rotation2d.fromDegrees(5.0))
+    layout = Field(
+        "test", "test", "test", None, fieldLength, fieldWidth, "frc", tagList
+    )
+    robotPose = Pose2d(Translation2d(5.0, 1.0), Rotation2d.from_degrees(5.0))
     visionSysSim.addVisionTargets(
         [VisionTargetSim(tagList[0].pose, TargetModel.AprilTag16h5(), 0)]
     )
@@ -514,10 +524,10 @@ def test_PoseEstimation() -> None:
     )
     assert results is not None
     pose: Pose3d = Pose3d() + results.best
-    assert pose.X() == pytest.approx(5.0, abs=0.01)
-    assert pose.Y() == pytest.approx(1.0, abs=0.01)
-    assert pose.Z() == pytest.approx(0.0, abs=0.01)
-    assert pose.rotation().Z() == pytest.approx(math.radians(5.0), abs=0.01)
+    assert pose.x == pytest.approx(5.0, abs=0.01)
+    assert pose.y == pytest.approx(1.0, abs=0.01)
+    assert pose.z == pytest.approx(0.0, abs=0.01)
+    assert pose.rotation().z == pytest.approx(math.radians(5.0), abs=0.01)
 
     visionSysSim.addVisionTargets(
         [VisionTargetSim(tagList[1].pose, TargetModel.AprilTag16h5(), 1)]
@@ -535,10 +545,10 @@ def test_PoseEstimation() -> None:
     assert results2 is not None
     pose2 = Pose3d() + results2.best
 
-    assert pose2.X() == pytest.approx(robotPose.X(), abs=0.01)
-    assert pose2.Y() == pytest.approx(robotPose.Y(), abs=0.01)
-    assert pose2.Z() == pytest.approx(0.0, abs=0.01)
-    assert pose2.rotation().Z() == pytest.approx(math.radians(5.0), abs=0.01)
+    assert pose2.x == pytest.approx(robotPose.x, abs=0.01)
+    assert pose2.y == pytest.approx(robotPose.y, abs=0.01)
+    assert pose2.z == pytest.approx(0.0, abs=0.01)
+    assert pose2.rotation().z == pytest.approx(math.radians(5.0), abs=0.01)
 
 
 def test_PoseEstimationRotated() -> None:
@@ -552,27 +562,23 @@ def test_PoseEstimationRotated() -> None:
     cameraSim = PhotonCameraSim(camera)
     visionSysSim.addCamera(cameraSim, robotToCamera)
 
-    cameraSim.prop.setCalibrationFromFOV(640, 480, fovDiag=Rotation2d.fromDegrees(90.0))
+    cameraSim.prop.setCalibrationFromFOV(
+        640, 480, fovDiag=Rotation2d.from_degrees(90.0)
+    )
     cameraSim.setMinTargetAreaPixels(20.0)
 
-    tagList: list[AprilTag] = []
-    at0 = AprilTag()
-    at0.ID = 0
-    at0.pose = Pose3d(12.0, 3.0, 1.0, Rotation3d(0.0, 0.0, math.pi))
-    tagList.append(at0)
-    at1 = AprilTag()
-    at1.ID = 1
-    at1.pose = Pose3d(12.0, 1.0, -1.0, Rotation3d(0.0, 0.0, math.pi))
-    tagList.append(at1)
-    at2 = AprilTag()
-    at2.ID = 2
-    at2.pose = Pose3d(11.0, 0.0, 2.0, Rotation3d(0.0, 0.0, math.pi))
-    tagList.append(at2)
+    tagList: list[FieldTag] = [
+        FieldTag(0, Pose3d(12.0, 3.0, 1.0, Rotation3d(0.0, 0.0, math.pi))),
+        FieldTag(1, Pose3d(12.0, 1.0, -1.0, Rotation3d(0.0, 0.0, math.pi))),
+        FieldTag(2, Pose3d(11.0, 0.0, 2.0, Rotation3d(0.0, 0.0, math.pi))),
+    ]
 
     fieldLength: meters = 54.0
     fieldWidth: meters = 27.0
-    layout = AprilTagFieldLayout(tagList, fieldLength, fieldWidth)
-    robotPose = Pose2d(Translation2d(5.0, 1.0), Rotation2d.fromDegrees(-5.0))
+    layout = Field(
+        "test", "test", "test", None, fieldLength, fieldWidth, "frc", tagList
+    )
+    robotPose = Pose2d(Translation2d(5.0, 1.0), Rotation2d.from_degrees(-5.0))
     visionSysSim.addVisionTargets(
         [VisionTargetSim(tagList[0].pose, TargetModel.AprilTag36h11(), 0)]
     )
@@ -589,11 +595,11 @@ def test_PoseEstimationRotated() -> None:
     )
     assert results is not None
     pose: Pose3d = Pose3d() + results.best
-    pose = pose.transformBy(robotToCamera.inverse())
-    assert pose.X() == pytest.approx(5.0, abs=0.01)
-    assert pose.Y() == pytest.approx(1.0, abs=0.01)
-    assert pose.Z() == pytest.approx(0.0, abs=0.01)
-    assert pose.rotation().Z() == pytest.approx(math.radians(-5.0), abs=0.01)
+    pose = pose.transform_by(robotToCamera.inverse())
+    assert pose.x == pytest.approx(5.0, abs=0.01)
+    assert pose.y == pytest.approx(1.0, abs=0.01)
+    assert pose.z == pytest.approx(0.0, abs=0.01)
+    assert pose.rotation().z == pytest.approx(math.radians(-5.0), abs=0.01)
 
     visionSysSim.addVisionTargets(
         [VisionTargetSim(tagList[1].pose, TargetModel.AprilTag36h11(), 1)]
@@ -610,12 +616,12 @@ def test_PoseEstimationRotated() -> None:
     )
     assert results2 is not None
     pose2 = Pose3d() + results2.best
-    pose2 = pose2.transformBy(robotToCamera.inverse())
+    pose2 = pose2.transform_by(robotToCamera.inverse())
 
-    assert pose2.X() == pytest.approx(robotPose.X(), abs=0.01)
-    assert pose2.Y() == pytest.approx(robotPose.Y(), abs=0.01)
-    assert pose2.Z() == pytest.approx(0.0, abs=0.01)
-    assert pose2.rotation().Z() == pytest.approx(math.radians(-5.0), abs=0.01)
+    assert pose2.x == pytest.approx(robotPose.x, abs=0.01)
+    assert pose2.y == pytest.approx(robotPose.y, abs=0.01)
+    assert pose2.z == pytest.approx(0.0, abs=0.01)
+    assert pose2.rotation().z == pytest.approx(math.radians(-5.0), abs=0.01)
 
 
 def test_TagAmbiguity() -> None:
@@ -623,7 +629,9 @@ def test_TagAmbiguity() -> None:
     camera = PhotonCamera("camera")
     cameraSim = PhotonCameraSim(camera)
     visionSysSim.addCamera(cameraSim, Transform3d())
-    cameraSim.prop.setCalibrationFromFOV(640, 480, fovDiag=Rotation2d.fromDegrees(80.0))
+    cameraSim.prop.setCalibrationFromFOV(
+        640, 480, fovDiag=Rotation2d.from_degrees(80.0)
+    )
     cameraSim.setMinTargetAreaPixels(20.0)
 
     targetPose = Pose3d(Translation3d(2.0, 0.0, 0.0), Rotation3d(0, 0, math.pi))
@@ -638,7 +646,7 @@ def test_TagAmbiguity() -> None:
     ambiguity = tgt.getPoseAmbiguity()
     assert ambiguity > 0.5, "Tag ambiguity expected to be high"
 
-    robotPose = Pose2d(Translation2d(-2.0, -2.0), Rotation2d.fromDegrees(30.0))
+    robotPose = Pose2d(Translation2d(-2.0, -2.0), Rotation2d.from_degrees(30.0))
     visionSysSim.update(robotPose)
     tgt = camera.getLatestResult().getBestTarget()
     assert tgt is not None
diff --git a/photon-lib/src/main/java/org/photonvision/PhotonCamera.java b/photon-lib/src/main/java/org/photonvision/PhotonCamera.java
index feb3885f8e..d39dea8384 100644
--- a/photon-lib/src/main/java/org/photonvision/PhotonCamera.java
+++ b/photon-lib/src/main/java/org/photonvision/PhotonCamera.java
@@ -33,7 +33,6 @@
 import org.photonvision.common.networktables.PacketSubscriber;
 import org.photonvision.targeting.PhotonPipelineResult;
 import org.photonvision.timesync.TimeSyncSingleton;
-import org.wpilib.driverstation.Alert;
 import org.wpilib.driverstation.DriverStationErrors;
 import org.wpilib.hardware.hal.HAL;
 import org.wpilib.math.linalg.MatBuilder;
@@ -52,6 +51,7 @@
 import org.wpilib.networktables.PubSubOption;
 import org.wpilib.networktables.StringSubscriber;
 import org.wpilib.system.Timer;
+import org.wpilib.util.Alert;
 
 /** Represents a camera that is connected to PhotonVision. */
 public class PhotonCamera implements AutoCloseable {
@@ -140,8 +140,12 @@ public PhotonCamera(NetworkTableInstance instance, String cameraName) {
         name = cameraName;
         disconnectAlert =
                 new Alert(
-                        PHOTON_ALERT_GROUP, "PhotonCamera '" + name + "' is disconnected.", Alert.Level.MEDIUM);
-        timesyncAlert = new Alert(PHOTON_ALERT_GROUP, "", Alert.Level.MEDIUM);
+                        PHOTON_ALERT_GROUP,
+                        "disconnected-" + InstanceCount,
+                        "PhotonCamera '" + name + "' is disconnected.",
+                        Alert.Level.MEDIUM);
+        timesyncAlert =
+                new Alert(PHOTON_ALERT_GROUP, "timesync-" + InstanceCount, "", Alert.Level.MEDIUM);
         rootPhotonTable = instance.getTable(kTableName);
         this.cameraTable = rootPhotonTable.getSubTable(cameraName);
         path = cameraTable.getPath();
diff --git a/photon-lib/src/main/java/org/photonvision/PhotonPoseEstimator.java b/photon-lib/src/main/java/org/photonvision/PhotonPoseEstimator.java
index 537b18ff44..3698eb025e 100644
--- a/photon-lib/src/main/java/org/photonvision/PhotonPoseEstimator.java
+++ b/photon-lib/src/main/java/org/photonvision/PhotonPoseEstimator.java
@@ -30,6 +30,7 @@
 import org.photonvision.targeting.PhotonPipelineResult;
 import org.photonvision.targeting.PhotonTrackedTarget;
 import org.wpilib.driverstation.DriverStationErrors;
+import org.wpilib.fields.Field;
 import org.wpilib.hardware.hal.HAL;
 import org.wpilib.math.geometry.Pose2d;
 import org.wpilib.math.geometry.Pose3d;
@@ -43,8 +44,7 @@
 import org.wpilib.math.numbers.N1;
 import org.wpilib.math.numbers.N3;
 import org.wpilib.math.numbers.N8;
-import org.wpilib.math.util.Pair;
-import org.wpilib.vision.apriltag.AprilTagFieldLayout;
+import org.wpilib.util.Pair;
 
 /**
  * The PhotonPoseEstimator class filters or combines readings from all the AprilTags visible at a
@@ -120,7 +120,7 @@ public enum PoseStrategy {
     public static final record ConstrainedSolvepnpParams(
             boolean headingFree, double headingScaleFactor) {}
 
-    private AprilTagFieldLayout fieldTags;
+    private Field fieldTags;
     private TargetModel tagModel = TargetModel.kAprilTag36h11;
     private Transform3d robotToCamera;
     private final Set<Integer> reportedErrors = new HashSet<>();
@@ -131,8 +131,8 @@ public static final record ConstrainedSolvepnpParams(
     /**
      * Create a new PhotonPoseEstimator.
      *
-     * @param fieldTags A WPILib {@link AprilTagFieldLayout} linking AprilTag IDs to Pose3d objects
-     *     with respect to the FIRST field using the <a href=
+     * @param fieldTags A WPILib {@link Field} linking AprilTag IDs to Pose3d objects with respect to
+     *     the FIRST field using the <a href=
      *     "https://docs.wpilib.org/en/stable/docs/software/advanced-controls/geometry/coordinate-systems.html#field-coordinate-system">Field
      *     Coordinate System</a>. Note that setting the origin of this layout object will affect the
      *     results from this class.
@@ -141,7 +141,7 @@ public static final record ConstrainedSolvepnpParams(
      *     "https://docs.wpilib.org/en/stable/docs/software/advanced-controls/geometry/coordinate-systems.html#robot-coordinate-system">Robot
      *     Coordinate System</a>.
      */
-    public PhotonPoseEstimator(AprilTagFieldLayout fieldTags, Transform3d robotToCamera) {
+    public PhotonPoseEstimator(Field fieldTags, Transform3d robotToCamera) {
         this.fieldTags = fieldTags;
         this.robotToCamera = robotToCamera;
 
@@ -150,24 +150,24 @@ public PhotonPoseEstimator(AprilTagFieldLayout fieldTags, Transform3d robotToCam
     }
 
     /**
-     * Get the AprilTagFieldLayout being used by the PositionEstimator.
+     * Get the Field being used by the PositionEstimator.
      *
      * <p>Note: Setting the origin of this layout will affect the results from this class.
      *
-     * @return the AprilTagFieldLayout
+     * @return the Field
      */
-    public AprilTagFieldLayout getFieldTags() {
+    public Field getFieldTags() {
         return fieldTags;
     }
 
     /**
-     * Set the AprilTagFieldLayout being used by the PositionEstimator.
+     * Set the Field being used by the PositionEstimator.
      *
      * <p>Note: Setting the origin of this layout will affect the results from this class.
      *
-     * @param fieldTags the AprilTagFieldLayout
+     * @param fieldTags the Field
      */
-    public void setFieldTags(AprilTagFieldLayout fieldTags) {
+    public void setFieldTags(Field fieldTags) {
         this.fieldTags = fieldTags;
     }
 
diff --git a/photon-lib/src/main/java/org/photonvision/simulation/PhotonCameraSim.java b/photon-lib/src/main/java/org/photonvision/simulation/PhotonCameraSim.java
index ebbe59cb2d..38e88af410 100644
--- a/photon-lib/src/main/java/org/photonvision/simulation/PhotonCameraSim.java
+++ b/photon-lib/src/main/java/org/photonvision/simulation/PhotonCameraSim.java
@@ -47,14 +47,14 @@
 import org.photonvision.targeting.PhotonPipelineResult;
 import org.photonvision.targeting.PhotonTrackedTarget;
 import org.photonvision.targeting.PnpResult;
+import org.wpilib.fields.Field;
+import org.wpilib.fields.Fields;
 import org.wpilib.math.geometry.Pose3d;
 import org.wpilib.math.geometry.Transform3d;
-import org.wpilib.math.util.Pair;
 import org.wpilib.system.RobotController;
+import org.wpilib.util.Pair;
 import org.wpilib.util.PixelFormat;
 import org.wpilib.util.WPIUtilJNI;
-import org.wpilib.vision.apriltag.AprilTagFieldLayout;
-import org.wpilib.vision.apriltag.AprilTagFields;
 import org.wpilib.vision.camera.CvSource;
 import org.wpilib.vision.camera.OpenCvLoader;
 import org.wpilib.vision.camera.VideoSource.ConnectionStrategy;
@@ -83,7 +83,7 @@ public class PhotonCameraSim implements AutoCloseable {
     private double minTargetAreaPercent;
     private PhotonTargetSortMode sortMode = PhotonTargetSortMode.Largest;
 
-    private final AprilTagFieldLayout tagLayout;
+    private final Field tagLayout;
 
     // video stream simulation
     private final CvSource videoSimRaw;
@@ -131,7 +131,7 @@ public PhotonCameraSim(PhotonCamera camera) {
      * @param prop Properties of this camera such as FOV and FPS
      */
     public PhotonCameraSim(PhotonCamera camera, SimCameraProperties prop) {
-        this(camera, prop, AprilTagFieldLayout.loadField(AprilTagFields.kDefaultField));
+        this(camera, prop, Field.loadField(Fields.DEFAULT_FIELD));
     }
 
     /**
@@ -142,10 +142,9 @@ public PhotonCameraSim(PhotonCamera camera, SimCameraProperties prop) {
      *
      * @param camera The camera to be simulated
      * @param prop Properties of this camera such as FOV and FPS
-     * @param tagLayout The {@link AprilTagFieldLayout} used to solve for tag positions.
+     * @param tagLayout The {@link Field} used to solve for tag positions.
      */
-    public PhotonCameraSim(
-            PhotonCamera camera, SimCameraProperties prop, AprilTagFieldLayout tagLayout) {
+    public PhotonCameraSim(PhotonCamera camera, SimCameraProperties prop, Field tagLayout) {
         this.cam = camera;
         this.prop = prop;
         this.tagLayout = tagLayout;
@@ -180,7 +179,7 @@ public PhotonCameraSim(
             SimCameraProperties prop,
             double minTargetAreaPercent,
             double maxSightRangeMeters) {
-        this(camera, prop, AprilTagFieldLayout.loadField(AprilTagFields.kDefaultField));
+        this(camera, prop, Field.loadField(Fields.DEFAULT_FIELD));
         this.minTargetAreaPercent = minTargetAreaPercent;
         this.maxSightRangeMeters = maxSightRangeMeters;
     }
@@ -203,7 +202,7 @@ public PhotonCameraSim(
             SimCameraProperties prop,
             double minTargetAreaPercent,
             double maxSightRangeMeters,
-            AprilTagFieldLayout tagLayout) {
+            Field tagLayout) {
         this(camera, prop);
         this.minTargetAreaPercent = minTargetAreaPercent;
         this.maxSightRangeMeters = maxSightRangeMeters;
@@ -629,7 +628,10 @@ public PhotonPipelineResult process(
         var visibleLayoutTags = VisionEstimation.getVisibleLayoutTags(detectableTgts, tagLayout);
         if (visibleLayoutTags.size() > 1) {
             List<Short> usedIDs =
-                    visibleLayoutTags.stream().map(t -> (short) t.ID).sorted().collect(Collectors.toList());
+                    visibleLayoutTags.stream()
+                            .map(t -> (short) t.getID())
+                            .sorted()
+                            .collect(Collectors.toList());
             var pnpResult =
                     VisionEstimation.estimateCamPosePNP(
                             prop.getIntrinsics(),
diff --git a/photon-lib/src/main/java/org/photonvision/simulation/SimCameraProperties.java b/photon-lib/src/main/java/org/photonvision/simulation/SimCameraProperties.java
index 8a7950ecf7..a5fc24de54 100644
--- a/photon-lib/src/main/java/org/photonvision/simulation/SimCameraProperties.java
+++ b/photon-lib/src/main/java/org/photonvision/simulation/SimCameraProperties.java
@@ -52,7 +52,7 @@
 import org.wpilib.math.linalg.Vector;
 import org.wpilib.math.numbers.*;
 import org.wpilib.math.util.Nat;
-import org.wpilib.math.util.Pair;
+import org.wpilib.util.Pair;
 
 /**
  * Calibration and performance values for this camera.
diff --git a/photon-lib/src/main/java/org/photonvision/simulation/VideoSimUtil.java b/photon-lib/src/main/java/org/photonvision/simulation/VideoSimUtil.java
index 63d22be850..7bd2bfa052 100644
--- a/photon-lib/src/main/java/org/photonvision/simulation/VideoSimUtil.java
+++ b/photon-lib/src/main/java/org/photonvision/simulation/VideoSimUtil.java
@@ -45,7 +45,7 @@
 import org.wpilib.math.geometry.Translation3d;
 import org.wpilib.math.util.Units;
 import org.wpilib.util.RawFrame;
-import org.wpilib.vision.apriltag.AprilTag;
+import org.wpilib.vision.apriltag.AprilTagImageGenerator;
 import org.wpilib.vision.camera.CvSource;
 import org.wpilib.vision.camera.OpenCvLoader;
 
@@ -115,7 +115,7 @@ public static Point[] getImageCorners(Size size) {
      * @param id The fiducial id of the desired tag
      */
     private static Mat get36h11TagImage(int id) {
-        RawFrame frame = AprilTag.generate36h11AprilTagImage(id);
+        RawFrame frame = AprilTagImageGenerator.generate36h11AprilTagImage(id);
         return new Mat(
                 frame.getHeight(), frame.getWidth(), CvType.CV_8UC1, frame.getData(), frame.getStride());
     }
diff --git a/photon-lib/src/main/java/org/photonvision/simulation/VisionSystemSim.java b/photon-lib/src/main/java/org/photonvision/simulation/VisionSystemSim.java
index 46491defed..4702253d3f 100644
--- a/photon-lib/src/main/java/org/photonvision/simulation/VisionSystemSim.java
+++ b/photon-lib/src/main/java/org/photonvision/simulation/VisionSystemSim.java
@@ -34,6 +34,8 @@
 import java.util.Set;
 import org.photonvision.PhotonCamera;
 import org.photonvision.estimation.TargetModel;
+import org.wpilib.fields.Field;
+import org.wpilib.fields.FieldTag;
 import org.wpilib.math.geometry.Pose2d;
 import org.wpilib.math.geometry.Pose3d;
 import org.wpilib.math.geometry.Transform3d;
@@ -41,8 +43,6 @@
 import org.wpilib.smartdashboard.Field2d;
 import org.wpilib.smartdashboard.SmartDashboard;
 import org.wpilib.system.Timer;
-import org.wpilib.vision.apriltag.AprilTag;
-import org.wpilib.vision.apriltag.AprilTagFieldLayout;
 
 /**
  * A simulated vision system involving a camera(s) and coprocessor(s) mounted on a mobile robot
@@ -263,14 +263,14 @@ public void addVisionTargets(VisionTargetSim... targets) {
      *
      * @param tagLayout The field tag layout to get Apriltag poses and IDs from
      */
-    public void addAprilTags(AprilTagFieldLayout tagLayout) {
-        for (AprilTag tag : tagLayout.getTags()) {
+    public void addAprilTags(Field tagLayout) {
+        for (FieldTag tag : tagLayout.getTags()) {
             addVisionTargets(
                     "apriltag",
                     new VisionTargetSim(
-                            tagLayout.getTagPose(tag.ID).get(), // preserve alliance rotation
+                            tagLayout.getTagPose(tag.getID()).get(), // preserve alliance rotation
                             TargetModel.kAprilTag36h11,
-                            tag.ID));
+                            tag.getID()));
         }
     }
 
diff --git a/photon-lib/src/main/native/cpp/photon/PhotonCamera.cpp b/photon-lib/src/main/native/cpp/photon/PhotonCamera.cpp
index ab2aab76a9..f2590bcc8c 100644
--- a/photon-lib/src/main/native/cpp/photon/PhotonCamera.cpp
+++ b/photon-lib/src/main/native/cpp/photon/PhotonCamera.cpp
@@ -120,10 +120,13 @@ PhotonCamera::PhotonCamera(wpi::nt::NetworkTableInstance instance,
       path(rootTable->GetPath()),
       cameraName(cameraName),
       disconnectAlert(PHOTON_ALERT_GROUP,
+                      "disconnected-" + std::to_string(InstanceCount),
                       std::string{"PhotonCamera '"} + std::string{cameraName} +
                           "' is disconnected.",
-                      wpi::Alert::Level::MEDIUM),
-      timesyncAlert(PHOTON_ALERT_GROUP, "", wpi::Alert::Level::MEDIUM) {
+                      wpi::util::Alert::Level::MEDIUM),
+      timesyncAlert(PHOTON_ALERT_GROUP,
+                    "timesync-" + std::to_string(InstanceCount), "",
+                    wpi::util::Alert::Level::MEDIUM) {
   InstanceCount++;
   HAL_ReportUsage("PhotonVision/PhotonCamera", InstanceCount, "");
 
@@ -392,7 +395,7 @@ void PhotonCamera::VerifyVersion() {
           ">>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>\n"
           "\n\n";
       WPILIB_ReportWarning(bfw);
-      std::string error_str = fmt::format(
+      std::string error_str = std::format(
           "Photonlib version {} (message definition version {}) does not match "
           "coprocessor version {} (message definition version {})!",
           PhotonVersion::versionString, local_uuid, versionString, remote_uuid);
diff --git a/photon-lib/src/main/native/cpp/photon/PhotonPoseEstimator.cpp b/photon-lib/src/main/native/cpp/photon/PhotonPoseEstimator.cpp
index 4d28d44c12..2092cc4350 100644
--- a/photon-lib/src/main/native/cpp/photon/PhotonPoseEstimator.cpp
+++ b/photon-lib/src/main/native/cpp/photon/PhotonPoseEstimator.cpp
@@ -56,16 +56,15 @@ namespace photon {
 namespace detail {
 cv::Point3d ToPoint3d(const wpi::math::Translation3d& translation);
 std::optional<std::array<cv::Point3d, 4>> CalcTagCorners(
-    int tagID, const wpi::apriltag::AprilTagFieldLayout& aprilTags);
+    int tagID, const wpi::fields::Field& aprilTags);
 wpi::math::Pose3d ToPose3d(const cv::Mat& tvec, const cv::Mat& rvec);
 cv::Point3d TagCornerToObjectPoint(wpi::units::meter_t cornerX,
                                    wpi::units::meter_t cornerY,
                                    wpi::math::Pose3d tagPose);
 }  // namespace detail
 
-PhotonPoseEstimator::PhotonPoseEstimator(
-    wpi::apriltag::AprilTagFieldLayout tags,
-    wpi::math::Transform3d robotToCamera)
+PhotonPoseEstimator::PhotonPoseEstimator(wpi::fields::Field tags,
+                                         wpi::math::Transform3d robotToCamera)
     : aprilTags(tags),
       m_robotToCamera(robotToCamera),
       headingBuffer(
@@ -244,7 +243,7 @@ PhotonPoseEstimator::EstimateClosestToReferencePose(
 }
 
 std::optional<std::array<cv::Point3d, 4>> detail::CalcTagCorners(
-    int tagID, const wpi::apriltag::AprilTagFieldLayout& aprilTags) {
+    int tagID, const wpi::fields::Field& aprilTags) {
   if (auto tagPose = aprilTags.GetTagPose(tagID); tagPose.has_value()) {
     return std::array{TagCornerToObjectPoint(-3.25_in, -3.25_in, *tagPose),
                       TagCornerToObjectPoint(+3.25_in, -3.25_in, *tagPose),
diff --git a/photon-lib/src/main/native/cpp/photon/simulation/PhotonCameraSim.cpp b/photon-lib/src/main/native/cpp/photon/simulation/PhotonCameraSim.cpp
index 8be6e0bec1..24f03e29cc 100644
--- a/photon-lib/src/main/native/cpp/photon/simulation/PhotonCameraSim.cpp
+++ b/photon-lib/src/main/native/cpp/photon/simulation/PhotonCameraSim.cpp
@@ -29,8 +29,8 @@
 #include <utility>
 #include <vector>
 
-#include <wpi/apriltag/AprilTagFieldLayout.hpp>
-#include <wpi/apriltag/AprilTagFields.hpp>
+#include <wpi/fields/Field.hpp>
+#include <wpi/fields/fields.hpp>
 
 #include "photon/estimation/CameraTargetRelation.h"
 #include "photon/estimation/RotTrlTransform3d.h"
@@ -39,13 +39,13 @@
 
 namespace photon {
 PhotonCameraSim::PhotonCameraSim(PhotonCamera* camera)
-    : PhotonCameraSim(camera, photon::SimCameraProperties::PERFECT_90DEG(),
-                      wpi::apriltag::AprilTagFieldLayout::LoadField(
-                          wpi::apriltag::AprilTagField::kDefaultField)) {}
+    : PhotonCameraSim(
+          camera, photon::SimCameraProperties::PERFECT_90DEG(),
+          wpi::fields::GetField(wpi::fields::FieldId::DEFAULT_FIELD)) {}
 
-PhotonCameraSim::PhotonCameraSim(
-    PhotonCamera* camera, const SimCameraProperties& props,
-    const wpi::apriltag::AprilTagFieldLayout& tagLayout)
+PhotonCameraSim::PhotonCameraSim(PhotonCamera* camera,
+                                 const SimCameraProperties& props,
+                                 const wpi::fields::Field& tagLayout)
     : prop{props}, cam{camera}, tagLayout{tagLayout} {
   SetMinTargetAreaPixels(kDefaultMinAreaPx);
   videoSimRaw =
@@ -341,14 +341,14 @@ PhotonPipelineResult PhotonCameraSim::Process(
 
   std::optional<MultiTargetPNPResult> multiTagResults = std::nullopt;
 
-  std::vector<wpi::apriltag::AprilTag> visibleLayoutTags =
+  std::vector<wpi::fields::FieldTag> visibleLayoutTags =
       VisionEstimation::GetVisibleLayoutTags(detectableTgts, tagLayout);
   if (visibleLayoutTags.size() > 1) {
     std::vector<int16_t> usedIds{};
     usedIds.resize(visibleLayoutTags.size());
     std::transform(visibleLayoutTags.begin(), visibleLayoutTags.end(),
                    usedIds.begin(),
-                   [](const wpi::apriltag::AprilTag& tag) { return tag.ID; });
+                   [](const wpi::fields::FieldTag& tag) { return tag.ID; });
     std::sort(usedIds.begin(), usedIds.end());
     auto pnpResult = VisionEstimation::EstimateCamPosePNP(
         prop.GetIntrinsics(), prop.GetDistCoeffs(), detectableTgts, tagLayout,
diff --git a/photon-lib/src/main/native/include/photon/PhotonCamera.h b/photon-lib/src/main/native/include/photon/PhotonCamera.h
index 4b40d079e1..5b5ceaf438 100644
--- a/photon-lib/src/main/native/include/photon/PhotonCamera.h
+++ b/photon-lib/src/main/native/include/photon/PhotonCamera.h
@@ -28,7 +28,6 @@
 #include <string>
 #include <vector>
 
-#include <wpi/driverstation/Alert.hpp>
 #include <wpi/nt/BooleanTopic.hpp>
 #include <wpi/nt/DoubleArrayTopic.hpp>
 #include <wpi/nt/DoubleTopic.hpp>
@@ -39,6 +38,7 @@
 #include <wpi/nt/RawTopic.hpp>
 #include <wpi/nt/StringTopic.hpp>
 #include <wpi/units/time.hpp>
+#include <wpi/util/Alert.hpp>
 
 #include "photon/targeting/PhotonPipelineResult.h"
 
@@ -266,8 +266,8 @@ class PhotonCamera {
   std::string path;
   std::string cameraName;
 
-  wpi::Alert disconnectAlert;
-  wpi::Alert timesyncAlert;
+  wpi::util::Alert disconnectAlert;
+  wpi::util::Alert timesyncAlert;
 
  private:
   wpi::units::second_t lastVersionCheckTime = 0_s;
diff --git a/photon-lib/src/main/native/include/photon/PhotonPoseEstimator.h b/photon-lib/src/main/native/include/photon/PhotonPoseEstimator.h
index a32b0b18ac..749f7f9f87 100644
--- a/photon-lib/src/main/native/include/photon/PhotonPoseEstimator.h
+++ b/photon-lib/src/main/native/include/photon/PhotonPoseEstimator.h
@@ -27,7 +27,7 @@
 #include <optional>
 #include <span>
 
-#include <wpi/apriltag/AprilTagFieldLayout.hpp>
+#include <wpi/fields/Field.hpp>
 #include <wpi/math/geometry/Pose3d.hpp>
 #include <wpi/math/geometry/Rotation3d.hpp>
 #include <wpi/math/geometry/Transform3d.hpp>
@@ -89,22 +89,20 @@ class PhotonPoseEstimator {
   /**
    * Create a new PhotonPoseEstimator.
    *
-   * @param aprilTags A AprilTagFieldLayout linking AprilTag IDs to Pose3ds with
-   * respect to the FIRST field.
+   * @param aprilTags A Field linking AprilTag IDs to Pose3ds with respect to
+   * the FIRST field.
    * @param robotToCamera Transform3d from the center of the robot to the camera
    * mount positions (ie, robot ➔ camera).
    */
-  explicit PhotonPoseEstimator(wpi::apriltag::AprilTagFieldLayout aprilTags,
+  explicit PhotonPoseEstimator(wpi::fields::Field aprilTags,
                                wpi::math::Transform3d robotToCamera);
 
   /**
-   * Get the AprilTagFieldLayout being used by the PositionEstimator.
+   * Get the Field being used by the PositionEstimator.
    *
-   * @return the AprilTagFieldLayout
+   * @return the Field
    */
-  wpi::apriltag::AprilTagFieldLayout GetFieldLayout() const {
-    return aprilTags;
-  }
+  wpi::fields::Field GetFieldLayout() const { return aprilTags; }
 
   /**
    * @return The current transform from the center of the robot to the camera
@@ -305,7 +303,7 @@ class PhotonPoseEstimator {
       wpi::math::Pose3d seedPose, bool headingFree, double headingScaleFactor);
 
  private:
-  wpi::apriltag::AprilTagFieldLayout aprilTags;
+  wpi::fields::Field aprilTags;
 
   wpi::math::Transform3d m_robotToCamera;
 
diff --git a/photon-lib/src/main/native/include/photon/simulation/PhotonCameraSim.h b/photon-lib/src/main/native/include/photon/simulation/PhotonCameraSim.h
index 21552e7034..a6986e691e 100644
--- a/photon-lib/src/main/native/include/photon/simulation/PhotonCameraSim.h
+++ b/photon-lib/src/main/native/include/photon/simulation/PhotonCameraSim.h
@@ -31,9 +31,9 @@
 #include <photon/networktables/NTTopicSet.h>
 #include <photon/simulation/SimCameraProperties.h>
 #include <photon/simulation/VisionTargetSim.h>
-#include <wpi/apriltag/AprilTagFieldLayout.hpp>
-#include <wpi/apriltag/AprilTagFields.hpp>
 #include <wpi/cameraserver/CameraServer.hpp>
+#include <wpi/fields/Field.hpp>
+#include <wpi/fields/fields.hpp>
 #include <wpi/system/Timer.hpp>
 #include <wpi/units/math.hpp>
 #include <wpi/util/timestamp.h>
@@ -65,13 +65,11 @@ class PhotonCameraSim {
    *
    * @param camera The camera to be simulated
    * @param prop Properties of this camera such as FOV and FPS
-   * @param tagLayout The AprilTagFieldLayout used to solve for tag
-   * positions.
+   * @param tagLayout The Field used to solve for tag positions.
    */
   PhotonCameraSim(PhotonCamera* camera, const SimCameraProperties& props,
-                  const wpi::apriltag::AprilTagFieldLayout& tagLayout =
-                      wpi::apriltag::AprilTagFieldLayout::LoadField(
-                          wpi::apriltag::AprilTagField::kDefaultField));
+                  const wpi::fields::Field& tagLayout = wpi::fields::GetField(
+                      wpi::fields::FieldId::DEFAULT_FIELD));
 
   /**
    * Constructs a handle for simulating PhotonCamera values. Processing
@@ -251,7 +249,7 @@ class PhotonCameraSim {
   static constexpr double kDefaultMinAreaPx{100};
   double minTargetAreaPercent;
 
-  wpi::apriltag::AprilTagFieldLayout tagLayout;
+  wpi::fields::Field tagLayout;
 
   wpi::cs::CvSource videoSimRaw;
   cv::Mat videoSimFrameRaw{};
diff --git a/photon-lib/src/main/native/include/photon/simulation/VideoSimUtil.h b/photon-lib/src/main/native/include/photon/simulation/VideoSimUtil.h
index cb0ebad45c..dd17229ef0 100644
--- a/photon-lib/src/main/native/include/photon/simulation/VideoSimUtil.h
+++ b/photon-lib/src/main/native/include/photon/simulation/VideoSimUtil.h
@@ -34,7 +34,7 @@
 #include <opencv2/core.hpp>
 #include <opencv2/imgcodecs.hpp>
 #include <opencv2/objdetect.hpp>
-#include <wpi/apriltag/AprilTag.hpp>
+#include <wpi/apriltag/AprilTagImageGenerator.hpp>
 #include <wpi/cs/CvSource.hpp>
 #include <wpi/units/length.hpp>
 
@@ -58,7 +58,7 @@ static constexpr wpi::units::meter_t fieldWidth{8.0137_m};
 
 static cv::Mat Get36h11TagImage(int id) {
   wpi::util::RawFrame frame;
-  wpi::apriltag::AprilTag::Generate36h11AprilTagImage(&frame, id);
+  wpi::apriltag::Generate36h11AprilTagImage(&frame, id);
   cv::Mat markerImage{frame.height, frame.width, CV_8UC1, frame.data,
                       static_cast<size_t>(frame.stride)};
   cv::Mat markerClone = markerImage.clone();
diff --git a/photon-lib/src/main/native/include/photon/simulation/VisionSystemSim.h b/photon-lib/src/main/native/include/photon/simulation/VisionSystemSim.h
index f0338af82f..608b3039a5 100644
--- a/photon-lib/src/main/native/include/photon/simulation/VisionSystemSim.h
+++ b/photon-lib/src/main/native/include/photon/simulation/VisionSystemSim.h
@@ -29,6 +29,8 @@
 #include <utility>
 #include <vector>
 
+#include <wpi/fields/Field.hpp>
+#include <wpi/fields/FieldTag.hpp>
 #include <wpi/math/interpolation/TimeInterpolatableBuffer.hpp>
 #include <wpi/smartdashboard/Field2d.hpp>
 #include <wpi/smartdashboard/FieldObject2d.hpp>
@@ -315,9 +317,9 @@ class VisionSystemSim {
    *
    * @param layout The field tag layout to get Apriltag poses and IDs from
    */
-  void AddAprilTags(const wpi::apriltag::AprilTagFieldLayout& layout) {
+  void AddAprilTags(const wpi::fields::Field& layout) {
     std::vector<VisionTargetSim> targets;
-    for (const wpi::apriltag::AprilTag& tag : layout.GetTags()) {
+    for (const wpi::fields::FieldTag& tag : layout.GetTags()) {
       targets.emplace_back(VisionTargetSim{layout.GetTagPose(tag.ID).value(),
                                            photon::kAprilTag36h11, tag.ID});
     }
diff --git a/photon-lib/src/test/java/org/photonvision/PhotonCameraTest.java b/photon-lib/src/test/java/org/photonvision/PhotonCameraTest.java
index 2edbed5a33..bcd86fcf46 100644
--- a/photon-lib/src/test/java/org/photonvision/PhotonCameraTest.java
+++ b/photon-lib/src/test/java/org/photonvision/PhotonCameraTest.java
@@ -79,7 +79,7 @@ public static void load() throws IOException {
     public void setup() {
         assertNull(inst);
 
-        HAL.initialize(500, 0);
+        HAL.initialize();
 
         inst = NetworkTableInstance.create();
         assertTrue(inst.isValid());
diff --git a/photon-lib/src/test/java/org/photonvision/PhotonPoseEstimatorTest.java b/photon-lib/src/test/java/org/photonvision/PhotonPoseEstimatorTest.java
index b698fc697a..25e8624c65 100644
--- a/photon-lib/src/test/java/org/photonvision/PhotonPoseEstimatorTest.java
+++ b/photon-lib/src/test/java/org/photonvision/PhotonPoseEstimatorTest.java
@@ -49,6 +49,9 @@
 import org.photonvision.targeting.PhotonTrackedTarget;
 import org.photonvision.targeting.PnpResult;
 import org.photonvision.targeting.TargetCorner;
+import org.wpilib.fields.Field;
+import org.wpilib.fields.FieldTag;
+import org.wpilib.fields.Fields;
 import org.wpilib.hardware.hal.HAL;
 import org.wpilib.math.geometry.Pose3d;
 import org.wpilib.math.geometry.Quaternion;
@@ -61,12 +64,9 @@
 import org.wpilib.math.util.Nat;
 import org.wpilib.math.util.Units;
 import org.wpilib.util.runtime.RuntimeLoader;
-import org.wpilib.vision.apriltag.AprilTag;
-import org.wpilib.vision.apriltag.AprilTagFieldLayout;
-import org.wpilib.vision.apriltag.AprilTagFields;
 
 class PhotonPoseEstimatorTest {
-    static AprilTagFieldLayout aprilTags;
+    static Field aprilTags;
     @AutoClose final PhotonCameraInjector cameraOne = new PhotonCameraInjector();
 
     @BeforeAll
@@ -76,14 +76,14 @@ public static void init() throws IOException {
         }
         RuntimeLoader.loadLibrary("photontargetingJNI");
 
-        HAL.initialize(1000, 0);
+        HAL.initialize();
 
-        List<AprilTag> tagList = new ArrayList<>(2);
-        tagList.add(new AprilTag(0, new Pose3d(3, 3, 3, new Rotation3d())));
-        tagList.add(new AprilTag(1, new Pose3d(5, 5, 5, new Rotation3d())));
+        List<FieldTag> tagList = new ArrayList<>(2);
+        tagList.add(new FieldTag(0, new Pose3d(3, 3, 3, new Rotation3d())));
+        tagList.add(new FieldTag(1, new Pose3d(5, 5, 5, new Rotation3d())));
         double fieldLength = Units.feetToMeters(54.0);
         double fieldWidth = Units.feetToMeters(27.0);
-        aprilTags = new AprilTagFieldLayout(tagList, fieldLength, fieldWidth);
+        aprilTags = new Field("test", "test", "test", null, fieldLength, fieldWidth, "frc", tagList);
     }
 
     @AfterAll
@@ -529,7 +529,9 @@ void closestToLastPose() {
     void pnpDistanceTrigSolve() {
         List<VisionTargetSim> simTargets =
                 aprilTags.getTags().stream()
-                        .map((AprilTag x) -> new VisionTargetSim(x.pose, TargetModel.kAprilTag36h11, x.ID))
+                        .map(
+                                (FieldTag x) ->
+                                        new VisionTargetSim(x.getPose(), TargetModel.kAprilTag36h11, x.getID()))
                         .toList();
         try (PhotonCameraSim cameraOneSim =
                 new PhotonCameraSim(cameraOne, SimCameraProperties.PERFECT_90DEG())) {
@@ -929,8 +931,7 @@ public void testConstrainedPnpOneTag() {
                 new Transform3d(new Translation3d(0.5, 0.0, 0.5), new Rotation3d(0, -camPitch, 0));
 
         PhotonPoseEstimator estimator =
-                new PhotonPoseEstimator(
-                        AprilTagFieldLayout.loadField(AprilTagFields.k2024Crescendo), kRobotToCam);
+                new PhotonPoseEstimator(Field.loadField(Fields.FRC_2024_CRESCENDO), kRobotToCam);
 
         var multiTagEstimate = estimator.estimateCoprocMultiTagPose(result);
         estimator.addHeadingData(result.getTimestampSeconds(), Rotation2d.kZero);
diff --git a/photon-lib/src/test/java/org/photonvision/VisionSystemSimTest.java b/photon-lib/src/test/java/org/photonvision/VisionSystemSimTest.java
index 769fc2ce86..62e9593905 100644
--- a/photon-lib/src/test/java/org/photonvision/VisionSystemSimTest.java
+++ b/photon-lib/src/test/java/org/photonvision/VisionSystemSimTest.java
@@ -49,6 +49,8 @@
 import org.photonvision.simulation.VisionSystemSim;
 import org.photonvision.simulation.VisionTargetSim;
 import org.photonvision.targeting.PhotonTrackedTarget;
+import org.wpilib.fields.Field;
+import org.wpilib.fields.FieldTag;
 import org.wpilib.hardware.hal.HAL;
 import org.wpilib.math.geometry.Pose2d;
 import org.wpilib.math.geometry.Pose3d;
@@ -61,8 +63,6 @@
 import org.wpilib.networktables.NetworkTableInstance;
 import org.wpilib.smartdashboard.SmartDashboard;
 import org.wpilib.util.runtime.RuntimeLoader;
-import org.wpilib.vision.apriltag.AprilTag;
-import org.wpilib.vision.apriltag.AprilTagFieldLayout;
 import org.wpilib.vision.camera.OpenCvLoader;
 
 class VisionSystemSimTest {
@@ -80,7 +80,7 @@ public static void setUp() throws IOException {
 
     @BeforeEach
     public void setup() {
-        HAL.initialize(500, 0);
+        HAL.initialize();
 
         inst = NetworkTableInstance.create();
         inst.stopClient();
@@ -532,17 +532,17 @@ public void testPoseEstimation() {
         cameraSim.prop.setCalibration(640, 480, Rotation2d.fromDegrees(90));
         cameraSim.setMinTargetAreaPixels(20.0);
 
-        List<AprilTag> tagList = new ArrayList<>();
-        tagList.add(new AprilTag(0, new Pose3d(12, 3, 1, new Rotation3d(0, 0, Math.PI))));
-        tagList.add(new AprilTag(1, new Pose3d(12, 1, -1, new Rotation3d(0, 0, Math.PI))));
-        tagList.add(new AprilTag(2, new Pose3d(11, 0, 2, new Rotation3d(0, 0, Math.PI))));
+        List<FieldTag> tagList = new ArrayList<>();
+        tagList.add(new FieldTag(0, new Pose3d(12, 3, 1, new Rotation3d(0, 0, Math.PI))));
+        tagList.add(new FieldTag(1, new Pose3d(12, 1, -1, new Rotation3d(0, 0, Math.PI))));
+        tagList.add(new FieldTag(2, new Pose3d(11, 0, 2, new Rotation3d(0, 0, Math.PI))));
         double fieldLength = Units.feetToMeters(54.0);
         double fieldWidth = Units.feetToMeters(27.0);
-        AprilTagFieldLayout layout = new AprilTagFieldLayout(tagList, fieldLength, fieldWidth);
+        Field layout = new Field("test", "test", "test", null, fieldLength, fieldWidth, "frc", tagList);
         Pose2d robotPose = new Pose2d(5, 1, Rotation2d.fromDegrees(5));
 
         visionSysSim.addVisionTargets(
-                new VisionTargetSim(tagList.get(0).pose, TargetModel.kAprilTag16h5, 0));
+                new VisionTargetSim(tagList.get(0).getPose(), TargetModel.kAprilTag16h5, 0));
 
         visionSysSim.update(robotPose);
 
@@ -561,9 +561,9 @@ public void testPoseEstimation() {
         assertEquals(Math.toRadians(5), pose.getRotation().getZ(), 0.01);
 
         visionSysSim.addVisionTargets(
-                new VisionTargetSim(tagList.get(1).pose, TargetModel.kAprilTag16h5, 1));
+                new VisionTargetSim(tagList.get(1).getPose(), TargetModel.kAprilTag16h5, 1));
         visionSysSim.addVisionTargets(
-                new VisionTargetSim(tagList.get(2).pose, TargetModel.kAprilTag16h5, 2));
+                new VisionTargetSim(tagList.get(2).getPose(), TargetModel.kAprilTag16h5, 2));
 
         visionSysSim.update(robotPose);
 
diff --git a/photon-lib/src/test/native/cpp/PhotonCameraTest.cpp b/photon-lib/src/test/native/cpp/PhotonCameraTest.cpp
index b704a3abc4..0dd030bdff 100644
--- a/photon-lib/src/test/native/cpp/PhotonCameraTest.cpp
+++ b/photon-lib/src/test/native/cpp/PhotonCameraTest.cpp
@@ -25,8 +25,7 @@
 #include <string>
 #include <vector>
 
-#include <fmt/ranges.h>
-#include <gtest/gtest.h>
+#include <catch2/catch_test_macros.hpp>
 #include <net/TimeSyncClient.h>
 #include <net/TimeSyncServer.h>
 #include <photon/PhotonCamera.h>
@@ -36,7 +35,7 @@
 #include <wpi/simulation/AlertSim.hpp>
 #include <wpi/smartdashboard/SmartDashboard.hpp>
 
-TEST(TimeSyncProtocolTest, Smoketest) {
+TEST_CASE("TimeSyncProtocolTest Smoketest", "[timesync]") {
   using namespace wpi::tsp;
   using namespace std::chrono_literals;
 
@@ -52,15 +51,15 @@ TEST(TimeSyncProtocolTest, Smoketest) {
 
     // give us time to warm up
     if (i > 5) {
-      EXPECT_TRUE(m.rtt2 > 0);
-      EXPECT_TRUE(m.pongsReceived > 0);
+      CHECK(m.rtt2 > 0);
+      CHECK(m.pongsReceived > 0);
     }
   }
 
   client.Stop();
 }
 
-TEST(PhotonCameraTest, Alerts) {
+TEST_CASE("PhotonCameraTest Alerts", "[photonlib]") {
   // GIVEN a local-only NT instance
   auto inst = wpi::nt::NetworkTableInstance::GetDefault();
   inst.StopClient();
@@ -73,7 +72,7 @@ TEST(PhotonCameraTest, Alerts) {
 
   // AND a PhotonCamera that is disconnected
   photon::PhotonCamera camera(inst, cameraName);
-  EXPECT_FALSE(camera.IsConnected());
+  CHECK_FALSE(camera.IsConnected());
   std::string disconnectedCameraString =
       "PhotonCamera '" + cameraName + "' is disconnected.";
 
@@ -95,11 +94,11 @@ TEST(PhotonCameraTest, Alerts) {
 
     // The alert state will be set (hard-coded here)
     auto alerts = getActiveAlerts();
-    EXPECT_TRUE(std::any_of(alerts.begin(), alerts.end(),
-                            [&disconnectedCameraString](
-                                const wpi::sim::AlertSim::AlertInfo& alert) {
-                              return alert.text == disconnectedCameraString;
-                            }));
+    CHECK(std::any_of(alerts.begin(), alerts.end(),
+                      [&disconnectedCameraString](
+                          const wpi::sim::AlertSim::AlertInfo& alert) {
+                        return alert.text == disconnectedCameraString;
+                      }));
 
     std::this_thread::sleep_for(std::chrono::milliseconds(20));
   }
@@ -120,20 +119,20 @@ TEST(PhotonCameraTest, Alerts) {
 
     // THEN the camera isn't disconnected
     auto alerts = getActiveAlerts();
-    EXPECT_TRUE(std::none_of(alerts.begin(), alerts.end(),
-                             [&disconnectedCameraString](
-                                 const wpi::sim::AlertSim::AlertInfo& alert) {
-                               return alert.text == disconnectedCameraString;
-                             }));
+    CHECK(std::none_of(alerts.begin(), alerts.end(),
+                       [&disconnectedCameraString](
+                           const wpi::sim::AlertSim::AlertInfo& alert) {
+                         return alert.text == disconnectedCameraString;
+                       }));
 
     // AND the alert string looks like a timesync warning
-    EXPECT_EQ(1, std::count_if(
-                     alerts.begin(), alerts.end(),
-                     [](const wpi::sim::AlertSim::AlertInfo& alert) {
-                       return alert.text.find(
-                                  "is not connected to the TimeSyncServer") !=
-                              std::string::npos;
-                     }));
+    CHECK(1 == std::count_if(
+                   alerts.begin(), alerts.end(),
+                   [](const wpi::sim::AlertSim::AlertInfo& alert) {
+                     return alert.text.find(
+                                "is not connected to the TimeSyncServer") !=
+                            std::string::npos;
+                   }));
 
     std::this_thread::sleep_for(std::chrono::milliseconds(20));
   }
diff --git a/photon-lib/src/test/native/cpp/PhotonPoseEstimatorTest.cpp b/photon-lib/src/test/native/cpp/PhotonPoseEstimatorTest.cpp
index 1cf1ae714a..6602840dba 100644
--- a/photon-lib/src/test/native/cpp/PhotonPoseEstimatorTest.cpp
+++ b/photon-lib/src/test/native/cpp/PhotonPoseEstimatorTest.cpp
@@ -27,8 +27,10 @@
 #include <utility>
 #include <vector>
 
-#include <gtest/gtest.h>
-#include <wpi/apriltag/AprilTagFieldLayout.hpp>
+#include <catch2/catch_approx.hpp>
+#include <catch2/catch_test_macros.hpp>
+#include <wpi/fields/Field.hpp>
+#include <wpi/fields/fields.hpp>
 #include <wpi/math/geometry/Pose3d.hpp>
 #include <wpi/math/geometry/Rotation3d.hpp>
 #include <wpi/math/geometry/Transform3d.hpp>
@@ -46,13 +48,14 @@
 #include "photon/targeting/PhotonTrackedTarget.h"
 #include "photon/targeting/PnpResult.h"
 
-static std::vector<wpi::apriltag::AprilTag> tags = {
+static std::vector<wpi::fields::FieldTag> tags = {
     {0, wpi::math::Pose3d(wpi::units::meter_t(3), wpi::units::meter_t(3),
                           wpi::units::meter_t(3), wpi::math::Rotation3d())},
     {1, wpi::math::Pose3d(wpi::units::meter_t(5), wpi::units::meter_t(5),
                           wpi::units::meter_t(5), wpi::math::Rotation3d())}};
 
-static wpi::apriltag::AprilTagFieldLayout aprilTags{tags, 54_ft, 27_ft};
+static wpi::fields::Field aprilTags{"test", "test", "test", std::nullopt,
+                                    54_ft,  27_ft,  "frc",  tags};
 
 static std::vector<photon::TargetCorner> corners{
     photon::TargetCorner{1., 2.}, photon::TargetCorner{3., 4.},
@@ -61,7 +64,7 @@ static std::vector<photon::TargetCorner> detectedCorners{
     photon::TargetCorner{1., 2.}, photon::TargetCorner{3., 4.},
     photon::TargetCorner{5., 6.}, photon::TargetCorner{7., 8.}};
 
-TEST(PhotonPoseEstimatorTest, LowestAmbiguityStrategy) {
+TEST_CASE("PhotonPoseEstimatorTest LowestAmbiguityStrategy", "[poseest]") {
   photon::PhotonCamera cameraOne = photon::PhotonCamera("test");
 
   std::vector<photon::PhotonTrackedTarget> targets{
@@ -98,20 +101,25 @@ TEST(PhotonPoseEstimatorTest, LowestAmbiguityStrategy) {
   for (const auto& result : cameraOne.GetAllUnreadResults()) {
     estimatedPose = estimator.EstimateLowestAmbiguityPose(result);
   }
-  ASSERT_TRUE(estimatedPose);
+  REQUIRE(estimatedPose);
   wpi::math::Pose3d pose = estimatedPose.value().estimatedPose;
 
-  EXPECT_NEAR(
-      11, wpi::units::unit_cast<double>(estimatedPose.value().timestamp), .02);
-  EXPECT_NEAR(1, wpi::units::unit_cast<double>(pose.X()), .01);
-  EXPECT_NEAR(3, wpi::units::unit_cast<double>(pose.Y()), .01);
-  EXPECT_NEAR(2, wpi::units::unit_cast<double>(pose.Z()), .01);
+  CHECK(11 == Catch::Approx(wpi::units::unit_cast<double>(
+                                estimatedPose.value().timestamp))
+                  .margin(.02));
+  CHECK(1 ==
+        Catch::Approx(wpi::units::unit_cast<double>(pose.X())).margin(.01));
+  CHECK(3 ==
+        Catch::Approx(wpi::units::unit_cast<double>(pose.Y())).margin(.01));
+  CHECK(2 ==
+        Catch::Approx(wpi::units::unit_cast<double>(pose.Z())).margin(.01));
   // Only the chosen (lowest-ambiguity) target should be reported as used.
-  EXPECT_EQ(static_cast<size_t>(1), estimatedPose.value().targetsUsed.size());
-  EXPECT_EQ(1, estimatedPose.value().targetsUsed[0].GetFiducialId());
+  CHECK(static_cast<size_t>(1) == estimatedPose.value().targetsUsed.size());
+  CHECK(1 == estimatedPose.value().targetsUsed[0].GetFiducialId());
 }
 
-TEST(PhotonPoseEstimatorTest, LowestAmbiguityIgnoresNonFiducialTargets) {
+TEST_CASE("PhotonPoseEstimatorTest LowestAmbiguityIgnoresNonFiducialTargets",
+          "[poseest]") {
   photon::PhotonCamera cameraOne = photon::PhotonCamera("test");
 
   // A non-fiducial target reports poseAmbiguity = -1. Without the guard the
@@ -141,23 +149,28 @@ TEST(PhotonPoseEstimatorTest, LowestAmbiguityIgnoresNonFiducialTargets) {
   for (const auto& result : cameraOne.GetAllUnreadResults()) {
     estimatedPose = estimator.EstimateLowestAmbiguityPose(result);
   }
-  ASSERT_TRUE(estimatedPose);
+  REQUIRE(estimatedPose);
   // Tag 1 is at (5,5,5), bestCameraToTarget = (4,2,3), so the estimated
   // robot pose lands at (1,3,2) in the field frame.
   wpi::math::Pose3d pose = estimatedPose.value().estimatedPose;
-  EXPECT_NEAR(1, wpi::units::unit_cast<double>(pose.X()), .01);
-  EXPECT_NEAR(3, wpi::units::unit_cast<double>(pose.Y()), .01);
-  EXPECT_NEAR(2, wpi::units::unit_cast<double>(pose.Z()), .01);
+  CHECK(1 ==
+        Catch::Approx(wpi::units::unit_cast<double>(pose.X())).margin(.01));
+  CHECK(3 ==
+        Catch::Approx(wpi::units::unit_cast<double>(pose.Y())).margin(.01));
+  CHECK(2 ==
+        Catch::Approx(wpi::units::unit_cast<double>(pose.Z())).margin(.01));
 }
 
-TEST(PhotonPoseEstimatorTest, ClosestToCameraHeightStrategy) {
-  std::vector<wpi::apriltag::AprilTag> tags = {
+TEST_CASE("PhotonPoseEstimatorTest ClosestToCameraHeightStrategy",
+          "[poseest]") {
+  std::vector<wpi::fields::FieldTag> tags = {
       {0, wpi::math::Pose3d(wpi::units::meter_t(3), wpi::units::meter_t(3),
                             wpi::units::meter_t(3), wpi::math::Rotation3d())},
       {1, wpi::math::Pose3d(wpi::units::meter_t(5), wpi::units::meter_t(5),
                             wpi::units::meter_t(5), wpi::math::Rotation3d())},
   };
-  auto aprilTags = wpi::apriltag::AprilTagFieldLayout(tags, 54_ft, 27_ft);
+  auto aprilTags = wpi::fields::Field("test", "test", "test", std::nullopt,
+                                      54_ft, 27_ft, "frc", tags);
 
   std::vector<std::pair<photon::PhotonCamera, wpi::math::Transform3d>> cameras;
 
@@ -200,21 +213,26 @@ TEST(PhotonPoseEstimatorTest, ClosestToCameraHeightStrategy) {
   for (const auto& result : cameraOne.GetAllUnreadResults()) {
     estimatedPose = estimator.EstimateClosestToCameraHeightPose(result);
   }
-  ASSERT_TRUE(estimatedPose);
+  REQUIRE(estimatedPose);
 
   wpi::math::Pose3d pose = estimatedPose.value().estimatedPose;
 
-  EXPECT_NEAR(
-      17, wpi::units::unit_cast<double>(estimatedPose.value().timestamp), .02);
-  EXPECT_NEAR(4, wpi::units::unit_cast<double>(pose.X()), .01);
-  EXPECT_NEAR(4, wpi::units::unit_cast<double>(pose.Y()), .01);
-  EXPECT_NEAR(0, wpi::units::unit_cast<double>(pose.Z()), .01);
+  CHECK(17 == Catch::Approx(wpi::units::unit_cast<double>(
+                                estimatedPose.value().timestamp))
+                  .margin(.02));
+  CHECK(4 ==
+        Catch::Approx(wpi::units::unit_cast<double>(pose.X())).margin(.01));
+  CHECK(4 ==
+        Catch::Approx(wpi::units::unit_cast<double>(pose.Y())).margin(.01));
+  CHECK(0 ==
+        Catch::Approx(wpi::units::unit_cast<double>(pose.Z())).margin(.01));
   // Only the chosen target should be reported as used.
-  EXPECT_EQ(static_cast<size_t>(1), estimatedPose.value().targetsUsed.size());
-  EXPECT_EQ(1, estimatedPose.value().targetsUsed[0].GetFiducialId());
+  CHECK(static_cast<size_t>(1) == estimatedPose.value().targetsUsed.size());
+  CHECK(1 == estimatedPose.value().targetsUsed[0].GetFiducialId());
 }
 
-TEST(PhotonPoseEstimatorTest, ClosestToReferencePoseStrategy) {
+TEST_CASE("PhotonPoseEstimatorTest ClosestToReferencePoseStrategy",
+          "[poseest]") {
   photon::PhotonCamera cameraOne = photon::PhotonCamera("test");
 
   std::vector<photon::PhotonTrackedTarget> targets{
@@ -254,20 +272,24 @@ TEST(PhotonPoseEstimatorTest, ClosestToReferencePoseStrategy) {
                                   wpi::math::Rotation3d(0_rad, 0_rad, 0_rad)));
   }
 
-  ASSERT_TRUE(estimatedPose);
+  REQUIRE(estimatedPose);
   wpi::math::Pose3d pose = estimatedPose.value().estimatedPose;
 
-  EXPECT_NEAR(
-      17, wpi::units::unit_cast<double>(estimatedPose.value().timestamp), .01);
-  EXPECT_NEAR(1, wpi::units::unit_cast<double>(pose.X()), .01);
-  EXPECT_NEAR(1.1, wpi::units::unit_cast<double>(pose.Y()), .01);
-  EXPECT_NEAR(.9, wpi::units::unit_cast<double>(pose.Z()), .01);
+  CHECK(17 == Catch::Approx(wpi::units::unit_cast<double>(
+                                estimatedPose.value().timestamp))
+                  .margin(.01));
+  CHECK(1 ==
+        Catch::Approx(wpi::units::unit_cast<double>(pose.X())).margin(.01));
+  CHECK(1.1 ==
+        Catch::Approx(wpi::units::unit_cast<double>(pose.Y())).margin(.01));
+  CHECK(.9 ==
+        Catch::Approx(wpi::units::unit_cast<double>(pose.Z())).margin(.01));
   // Only the chosen target should be reported as used.
-  EXPECT_EQ(static_cast<size_t>(1), estimatedPose.value().targetsUsed.size());
-  EXPECT_EQ(0, estimatedPose.value().targetsUsed[0].GetFiducialId());
+  CHECK(static_cast<size_t>(1) == estimatedPose.value().targetsUsed.size());
+  CHECK(0 == estimatedPose.value().targetsUsed[0].GetFiducialId());
 }
 
-TEST(PhotonPoseEstimatorTest, ClosestToLastPose) {
+TEST_CASE("PhotonPoseEstimatorTest ClosestToLastPose", "[poseest]") {
   photon::PhotonCamera cameraOne = photon::PhotonCamera("test");
 
   std::vector<photon::PhotonTrackedTarget> targets{
@@ -307,7 +329,7 @@ TEST(PhotonPoseEstimatorTest, ClosestToLastPose) {
                                   wpi::math::Rotation3d(0_rad, 0_rad, 0_rad)));
   }
 
-  ASSERT_TRUE(estimatedPose);
+  REQUIRE(estimatedPose);
   wpi::math::Pose3d pose = estimatedPose.value().estimatedPose;
 
   std::vector<photon::PhotonTrackedTarget> targetsThree{
@@ -342,21 +364,24 @@ TEST(PhotonPoseEstimatorTest, ClosestToLastPose) {
     estimatedPose = estimator.EstimateClosestToReferencePose(result, pose);
   }
 
-  ASSERT_TRUE(estimatedPose);
+  REQUIRE(estimatedPose);
   pose = estimatedPose.value().estimatedPose;
 
-  EXPECT_NEAR(21.0,
-              wpi::units::unit_cast<double>(estimatedPose.value().timestamp),
-              .01);
-  EXPECT_NEAR(.9, wpi::units::unit_cast<double>(pose.X()), .01);
-  EXPECT_NEAR(1.1, wpi::units::unit_cast<double>(pose.Y()), .01);
-  EXPECT_NEAR(1, wpi::units::unit_cast<double>(pose.Z()), .01);
+  CHECK(21.0 == Catch::Approx(wpi::units::unit_cast<double>(
+                                  estimatedPose.value().timestamp))
+                    .margin(.01));
+  CHECK(.9 ==
+        Catch::Approx(wpi::units::unit_cast<double>(pose.X())).margin(.01));
+  CHECK(1.1 ==
+        Catch::Approx(wpi::units::unit_cast<double>(pose.Y())).margin(.01));
+  CHECK(1 ==
+        Catch::Approx(wpi::units::unit_cast<double>(pose.Z())).margin(.01));
   // Only the chosen target should be reported as used.
-  EXPECT_EQ(static_cast<size_t>(1), estimatedPose.value().targetsUsed.size());
-  EXPECT_EQ(0, estimatedPose.value().targetsUsed[0].GetFiducialId());
+  CHECK(static_cast<size_t>(1) == estimatedPose.value().targetsUsed.size());
+  CHECK(0 == estimatedPose.value().targetsUsed[0].GetFiducialId());
 }
 
-TEST(PhotonPoseEstimatorTest, PnpDistanceTrigSolve) {
+TEST_CASE("PhotonPoseEstimatorTest PnpDistanceTrigSolve", "[poseest]") {
   photon::PhotonCamera cameraOne = photon::PhotonCamera("test");
   cameraOne.test = true;
 
@@ -392,17 +417,17 @@ TEST(PhotonPoseEstimatorTest, PnpDistanceTrigSolve) {
     estimatedPose = estimator.EstimatePnpDistanceTrigSolvePose(result);
   }
 
-  ASSERT_TRUE(estimatedPose);
+  REQUIRE(estimatedPose);
   wpi::math::Pose3d pose = estimatedPose.value().estimatedPose;
 
-  EXPECT_NEAR(wpi::units::unit_cast<double>(realPose.X()),
-              wpi::units::unit_cast<double>(pose.X()), .01);
-  EXPECT_NEAR(wpi::units::unit_cast<double>(realPose.Y()),
-              wpi::units::unit_cast<double>(pose.Y()), .01);
-  EXPECT_NEAR(wpi::units::unit_cast<double>(realPose.Z()),
-              wpi::units::unit_cast<double>(pose.Z()), .01);
+  CHECK(wpi::units::unit_cast<double>(realPose.X()) ==
+        Catch::Approx(wpi::units::unit_cast<double>(pose.X())).margin(.01));
+  CHECK(wpi::units::unit_cast<double>(realPose.Y()) ==
+        Catch::Approx(wpi::units::unit_cast<double>(pose.Y())).margin(.01));
+  CHECK(wpi::units::unit_cast<double>(realPose.Z()) ==
+        Catch::Approx(wpi::units::unit_cast<double>(pose.Z())).margin(.01));
   // PNP_DISTANCE_TRIG_SOLVE uses only the best target.
-  EXPECT_EQ(static_cast<size_t>(1), estimatedPose.value().targetsUsed.size());
+  CHECK(static_cast<size_t>(1) == estimatedPose.value().targetsUsed.size());
 
   /* Straight on */
   wpi::math::Transform3d straightOnTestTransform = wpi::math::Transform3d(
@@ -424,20 +449,20 @@ TEST(PhotonPoseEstimatorTest, PnpDistanceTrigSolve) {
     estimatedPose = estimator.EstimatePnpDistanceTrigSolvePose(result);
   }
 
-  ASSERT_TRUE(estimatedPose);
+  REQUIRE(estimatedPose);
   pose = estimatedPose.value().estimatedPose;
 
-  EXPECT_NEAR(wpi::units::unit_cast<double>(realPose.X()),
-              wpi::units::unit_cast<double>(pose.X()), .01);
-  EXPECT_NEAR(wpi::units::unit_cast<double>(realPose.Y()),
-              wpi::units::unit_cast<double>(pose.Y()), .01);
-  EXPECT_NEAR(wpi::units::unit_cast<double>(realPose.Z()),
-              wpi::units::unit_cast<double>(pose.Z()), .01);
+  CHECK(wpi::units::unit_cast<double>(realPose.X()) ==
+        Catch::Approx(wpi::units::unit_cast<double>(pose.X())).margin(.01));
+  CHECK(wpi::units::unit_cast<double>(realPose.Y()) ==
+        Catch::Approx(wpi::units::unit_cast<double>(pose.Y())).margin(.01));
+  CHECK(wpi::units::unit_cast<double>(realPose.Z()) ==
+        Catch::Approx(wpi::units::unit_cast<double>(pose.Z())).margin(.01));
   // PNP_DISTANCE_TRIG_SOLVE uses only the best target.
-  EXPECT_EQ(static_cast<size_t>(1), estimatedPose.value().targetsUsed.size());
+  CHECK(static_cast<size_t>(1) == estimatedPose.value().targetsUsed.size());
 }
 
-TEST(PhotonPoseEstimatorTest, AverageBestPoses) {
+TEST_CASE("PhotonPoseEstimatorTest AverageBestPoses", "[poseest]") {
   photon::PhotonCamera cameraOne = photon::PhotonCamera("test");
 
   std::vector<photon::PhotonTrackedTarget> targets{
@@ -481,25 +506,30 @@ TEST(PhotonPoseEstimatorTest, AverageBestPoses) {
     estimatedPose = estimator.EstimateAverageBestTargetsPose(result);
   }
 
-  ASSERT_TRUE(estimatedPose);
+  REQUIRE(estimatedPose);
   wpi::math::Pose3d pose = estimatedPose.value().estimatedPose;
 
-  EXPECT_NEAR(15.0,
-              wpi::units::unit_cast<double>(estimatedPose.value().timestamp),
-              .01);
-  EXPECT_NEAR(2.15, wpi::units::unit_cast<double>(pose.X()), .01);
-  EXPECT_NEAR(2.15, wpi::units::unit_cast<double>(pose.Y()), .01);
-  EXPECT_NEAR(2.15, wpi::units::unit_cast<double>(pose.Z()), .01);
+  CHECK(15.0 == Catch::Approx(wpi::units::unit_cast<double>(
+                                  estimatedPose.value().timestamp))
+                    .margin(.01));
+  CHECK(2.15 ==
+        Catch::Approx(wpi::units::unit_cast<double>(pose.X())).margin(.01));
+  CHECK(2.15 ==
+        Catch::Approx(wpi::units::unit_cast<double>(pose.Y())).margin(.01));
+  CHECK(2.15 ==
+        Catch::Approx(wpi::units::unit_cast<double>(pose.Z())).margin(.01));
   // Only the three fiducial targets contributed; the non-fiducial fourth target
   // is excluded.
-  EXPECT_EQ(static_cast<size_t>(3), estimatedPose.value().targetsUsed.size());
+  CHECK(static_cast<size_t>(3) == estimatedPose.value().targetsUsed.size());
   for (const auto& t : estimatedPose.value().targetsUsed) {
-    EXPECT_NE(-1, t.GetFiducialId());
+    CHECK(-1 != t.GetFiducialId());
   }
 }
 
-TEST(PhotonPoseEstimatorTest,
-     ClosestToCameraHeightReturnsEmptyForNoFiducialTargets) {
+TEST_CASE(
+    "PhotonPoseEstimatorTest "
+    "ClosestToCameraHeightReturnsEmptyForNoFiducialTargets",
+    "[poseest]") {
   photon::PhotonCamera cameraOne = photon::PhotonCamera("test");
 
   // A single non-fiducial target (fid = -1) should yield no estimate.
@@ -518,11 +548,13 @@ TEST(PhotonPoseEstimatorTest,
   for (const auto& result : cameraOne.GetAllUnreadResults()) {
     estimatedPose = estimator.EstimateClosestToCameraHeightPose(result);
   }
-  EXPECT_FALSE(estimatedPose);
+  CHECK_FALSE(estimatedPose);
 }
 
-TEST(PhotonPoseEstimatorTest,
-     ClosestToReferencePoseReturnsEmptyForNoFiducialTargets) {
+TEST_CASE(
+    "PhotonPoseEstimatorTest "
+    "ClosestToReferencePoseReturnsEmptyForNoFiducialTargets",
+    "[poseest]") {
   photon::PhotonCamera cameraOne = photon::PhotonCamera("test");
 
   std::vector<photon::PhotonTrackedTarget> targets{photon::PhotonTrackedTarget{
@@ -541,10 +573,10 @@ TEST(PhotonPoseEstimatorTest,
     estimatedPose = estimator.EstimateClosestToReferencePose(
         result, wpi::math::Pose3d(1_m, 1_m, 1_m, wpi::math::Rotation3d()));
   }
-  EXPECT_FALSE(estimatedPose);
+  CHECK_FALSE(estimatedPose);
 }
 
-TEST(PhotonPoseEstimatorTest, MultiTagOnCoprocFallback) {
+TEST_CASE("PhotonPoseEstimatorTest MultiTagOnCoprocFallback", "[poseest]") {
   photon::PhotonCamera cameraOne = photon::PhotonCamera("test");
 
   std::vector<photon::PhotonTrackedTarget> targets{
@@ -574,25 +606,29 @@ TEST(PhotonPoseEstimatorTest, MultiTagOnCoprocFallback) {
   for (const auto& result : cameraOne.GetAllUnreadResults()) {
     estimatedPose = estimator.EstimateCoprocMultiTagPose(result);
   }
-  ASSERT_FALSE(estimatedPose);
+  REQUIRE_FALSE(estimatedPose);
   for (const auto& result : cameraOne.GetAllUnreadResults()) {
     estimatedPose = estimator.EstimateLowestAmbiguityPose(result);
   }
-  ASSERT_TRUE(estimatedPose);
+  REQUIRE(estimatedPose);
   wpi::math::Pose3d pose = estimatedPose.value().estimatedPose;
 
   // Make sure values match what we'd expect for the LOWEST_AMBIGUITY strategy
-  EXPECT_NEAR(
-      11, wpi::units::unit_cast<double>(estimatedPose.value().timestamp), .02);
-  EXPECT_NEAR(1, wpi::units::unit_cast<double>(pose.X()), .01);
-  EXPECT_NEAR(3, wpi::units::unit_cast<double>(pose.Y()), .01);
-  EXPECT_NEAR(2, wpi::units::unit_cast<double>(pose.Z()), .01);
+  CHECK(11 == Catch::Approx(wpi::units::unit_cast<double>(
+                                estimatedPose.value().timestamp))
+                  .margin(.02));
+  CHECK(1 ==
+        Catch::Approx(wpi::units::unit_cast<double>(pose.X())).margin(.01));
+  CHECK(3 ==
+        Catch::Approx(wpi::units::unit_cast<double>(pose.Y())).margin(.01));
+  CHECK(2 ==
+        Catch::Approx(wpi::units::unit_cast<double>(pose.Z())).margin(.01));
   // LOWEST_AMBIGUITY fallback should report only the single chosen target.
-  EXPECT_EQ(static_cast<size_t>(1), estimatedPose.value().targetsUsed.size());
-  EXPECT_EQ(1, estimatedPose.value().targetsUsed[0].GetFiducialId());
+  CHECK(static_cast<size_t>(1) == estimatedPose.value().targetsUsed.size());
+  CHECK(1 == estimatedPose.value().targetsUsed[0].GetFiducialId());
 }
 
-TEST(PhotonPoseEstimatorTest, CopyResult) {
+TEST_CASE("PhotonPoseEstimatorTest CopyResult", "[poseest]") {
   std::vector<photon::PhotonTrackedTarget> targets{};
 
   auto testResult = photon::PhotonPipelineResult{
@@ -601,14 +637,13 @@ TEST(PhotonPoseEstimatorTest, CopyResult) {
 
   auto test2 = testResult;
 
-  EXPECT_NEAR(testResult.GetTimestamp().to<double>(),
-              test2.GetTimestamp().to<double>(), 0.001);
+  CHECK(testResult.GetTimestamp().to<double>() ==
+        Catch::Approx(test2.GetTimestamp().to<double>()).margin(0.001));
 }
 
-TEST(PhotonPoseEstimatorTest, ConstrainedPnpEmptyCase) {
+TEST_CASE("PhotonPoseEstimatorTest ConstrainedPnpEmptyCase", "[poseest]") {
   photon::PhotonPoseEstimator estimator(
-      wpi::apriltag::AprilTagFieldLayout::LoadField(
-          wpi::apriltag::AprilTagField::k2024Crescendo),
+      wpi::fields::GetField(wpi::fields::FieldId::FRC_2024_CRESCENDO),
       wpi::math::Transform3d());
 
   photon::PhotonPipelineResult result;
@@ -618,10 +653,10 @@ TEST(PhotonPoseEstimatorTest, ConstrainedPnpEmptyCase) {
                                    {0, 0, 1}};
   auto estimate = estimator.EstimateConstrainedSolvepnpPose(
       result, cameraMat, distortion, wpi::math::Pose3d(), true, 0.0);
-  EXPECT_FALSE(estimate.has_value());
+  CHECK_FALSE(estimate.has_value());
 }
 
-TEST(PhotonPoseEstimatorTest, ConstrainedPnpOneTag) {
+TEST_CASE("PhotonPoseEstimatorTest ConstrainedPnpOneTag", "[poseest]") {
   photon::PhotonCamera cameraOne = photon::PhotonCamera("test");
   auto distortion = Eigen::VectorXd::Zero(8);
   auto cameraMat = Eigen::Matrix3d{{399.37500000000006, 0, 319.5},
@@ -664,8 +699,7 @@ TEST(PhotonPoseEstimatorTest, ConstrainedPnpOneTag) {
       wpi::math::Rotation3d(0_rad, -camPitch, 0_rad)};
 
   photon::PhotonPoseEstimator estimator(
-      wpi::apriltag::AprilTagFieldLayout::LoadField(
-          wpi::apriltag::AprilTagField::k2024Crescendo),
+      wpi::fields::GetField(wpi::fields::FieldId::FRC_2024_CRESCENDO),
       kRobotToCam);
 
   auto estimatedMultiTagPose =
@@ -678,13 +712,16 @@ TEST(PhotonPoseEstimatorTest, ConstrainedPnpOneTag) {
       cameraOne.testResult[0], cameraMat, distortion,
       estimatedMultiTagPose->estimatedPose, true, 0);
 
-  ASSERT_TRUE(estimatedPose.has_value());
+  REQUIRE(estimatedPose.has_value());
 
   wpi::math::Pose3d pose = estimatedPose.value().estimatedPose;
 
-  EXPECT_NEAR(3.58, wpi::units::unit_cast<double>(pose.X()), 0.01);
-  EXPECT_NEAR(4.13, wpi::units::unit_cast<double>(pose.Y()), 0.01);
-  EXPECT_NEAR(0.0, wpi::units::unit_cast<double>(pose.Z()), 0.01);
+  CHECK(3.58 ==
+        Catch::Approx(wpi::units::unit_cast<double>(pose.X())).margin(0.01));
+  CHECK(4.13 ==
+        Catch::Approx(wpi::units::unit_cast<double>(pose.Y())).margin(0.01));
+  CHECK(0.0 ==
+        Catch::Approx(wpi::units::unit_cast<double>(pose.Z())).margin(0.01));
 
-  EXPECT_EQ(photon::CONSTRAINED_SOLVEPNP, estimatedPose.value().strategy);
+  CHECK(photon::CONSTRAINED_SOLVEPNP == estimatedPose.value().strategy);
 }
diff --git a/photon-lib/src/test/native/cpp/PhotonUtilsTest.cpp b/photon-lib/src/test/native/cpp/PhotonUtilsTest.cpp
index f9a493cba5..1cad0a490f 100644
--- a/photon-lib/src/test/native/cpp/PhotonUtilsTest.cpp
+++ b/photon-lib/src/test/native/cpp/PhotonUtilsTest.cpp
@@ -24,6 +24,6 @@
 
 #include "photon/PhotonUtils.h"
 
-#include <gtest/gtest.h>
+#include <catch2/catch_test_macros.hpp>
 
-TEST(PhotonUtilsTest, Include) {}
+TEST_CASE("PhotonUtilsTest Include", "[photonlib]") {}
diff --git a/photon-lib/src/test/native/cpp/VersionTest.cpp b/photon-lib/src/test/native/cpp/VersionTest.cpp
index 442f14adb2..183e553a99 100644
--- a/photon-lib/src/test/native/cpp/VersionTest.cpp
+++ b/photon-lib/src/test/native/cpp/VersionTest.cpp
@@ -22,11 +22,11 @@
  * SOFTWARE.
  */
 
-#include <gtest/gtest.h>
+#include <catch2/catch_test_macros.hpp>
 #include <wpi/util/print.hpp>
 
 #include "PhotonVersion.h"
 
-TEST(VersionTest, PrintVersion) {
+TEST_CASE("VersionTest PrintVersion", "[photonlib]") {
   wpi::util::println("{}", photon::PhotonVersion::versionString);
 }
diff --git a/photon-lib/src/test/native/cpp/VisionSystemSimTest.cpp b/photon-lib/src/test/native/cpp/VisionSystemSimTest.cpp
index 651e6f1d8b..9e18ca6353 100644
--- a/photon-lib/src/test/native/cpp/VisionSystemSimTest.cpp
+++ b/photon-lib/src/test/native/cpp/VisionSystemSimTest.cpp
@@ -27,7 +27,11 @@
 #include <tuple>
 #include <vector>
 
-#include <gtest/gtest.h>
+#include <catch2/catch_approx.hpp>
+#include <catch2/catch_test_macros.hpp>
+#include <catch2/generators/catch_generators_all.hpp>
+#include <wpi/fields/Field.hpp>
+#include <wpi/fields/FieldTag.hpp>
 #include <wpi/util/deprecated.hpp>
 
 #include "photon/PhotonUtils.h"
@@ -36,24 +40,19 @@
 // Ignore GetLatestResult warnings
 WPI_IGNORE_DEPRECATED
 
-class VisionSystemSimTest : public ::testing::Test {
-  void SetUp() override {
+class VisionSystemSimTest {
+ public:
+  VisionSystemSimTest() {
     wpi::nt::NetworkTableInstance::GetDefault().StartServer();
     photon::PhotonCamera::SetVersionCheckEnabled(false);
   }
-
-  void TearDown() override {}
 };
 
-class VisionSystemSimTestWithParamsTest
-    : public VisionSystemSimTest,
-      public testing::WithParamInterface<wpi::units::degree_t> {};
-class VisionSystemSimTestDistanceParamsTest
-    : public VisionSystemSimTest,
-      public testing::WithParamInterface<std::tuple<
-          wpi::units::foot_t, wpi::units::degree_t, wpi::units::foot_t>> {};
+class VisionSystemSimTestWithParamsTest : public VisionSystemSimTest {};
+class VisionSystemSimTestDistanceParamsTest : public VisionSystemSimTest {};
 
-TEST_F(VisionSystemSimTest, TestVisibilityCupidShuffle) {
+TEST_CASE_METHOD(VisionSystemSimTest, "TestVisibilityCupidShuffle",
+                 "[photonlib]") {
   wpi::math::Pose3d targetPose{
       wpi::math::Translation3d{15.98_m, 0_m, 2_m},
       wpi::math::Rotation3d{0_rad, 0_rad,
@@ -71,43 +70,43 @@ TEST_F(VisionSystemSimTest, TestVisibilityCupidShuffle) {
   wpi::math::Pose2d robotPose{wpi::math::Translation2d{5_m, 0_m},
                               wpi::math::Rotation2d{-70_deg}};
   visionSysSim.Update(robotPose);
-  ASSERT_FALSE(camera.GetLatestResult().HasTargets());
+  REQUIRE_FALSE(camera.GetLatestResult().HasTargets());
 
   // To the right, to the right
   robotPose = wpi::math::Pose2d{wpi::math::Translation2d{5_m, 0_m},
                                 wpi::math::Rotation2d{-95_deg}};
   visionSysSim.Update(robotPose);
-  ASSERT_FALSE(camera.GetLatestResult().HasTargets());
+  REQUIRE_FALSE(camera.GetLatestResult().HasTargets());
 
   // To the left, to the left
   robotPose = wpi::math::Pose2d{wpi::math::Translation2d{5_m, 0_m},
                                 wpi::math::Rotation2d{90_deg}};
   visionSysSim.Update(robotPose);
-  ASSERT_FALSE(camera.GetLatestResult().HasTargets());
+  REQUIRE_FALSE(camera.GetLatestResult().HasTargets());
 
   // To the left, to the left
   robotPose = wpi::math::Pose2d{wpi::math::Translation2d{5_m, 0_m},
                                 wpi::math::Rotation2d{65_deg}};
   visionSysSim.Update(robotPose);
-  ASSERT_FALSE(camera.GetLatestResult().HasTargets());
+  REQUIRE_FALSE(camera.GetLatestResult().HasTargets());
 
   // Now kick, now kick
   robotPose = wpi::math::Pose2d{wpi::math::Translation2d{2_m, 0_m},
                                 wpi::math::Rotation2d{5_deg}};
   visionSysSim.Update(robotPose);
-  ASSERT_TRUE(camera.GetLatestResult().HasTargets());
+  REQUIRE(camera.GetLatestResult().HasTargets());
 
   // Now kick, now kick
   robotPose = wpi::math::Pose2d{wpi::math::Translation2d{2_m, 0_m},
                                 wpi::math::Rotation2d{-5_deg}};
   visionSysSim.Update(robotPose);
-  ASSERT_TRUE(camera.GetLatestResult().HasTargets());
+  REQUIRE(camera.GetLatestResult().HasTargets());
 
   // Now walk it by yourself
   robotPose = wpi::math::Pose2d{wpi::math::Translation2d{2_m, 0_m},
                                 wpi::math::Rotation2d{-179_deg}};
   visionSysSim.Update(robotPose);
-  ASSERT_FALSE(camera.GetLatestResult().HasTargets());
+  REQUIRE_FALSE(camera.GetLatestResult().HasTargets());
 
   // Now walk it by yourself
   visionSysSim.AdjustCamera(
@@ -117,10 +116,10 @@ TEST_F(VisionSystemSimTest, TestVisibilityCupidShuffle) {
           wpi::math::Rotation3d{0_deg, 0_deg,
                                 wpi::units::radian_t{std::numbers::pi}}});
   visionSysSim.Update(robotPose);
-  ASSERT_TRUE(camera.GetLatestResult().HasTargets());
+  REQUIRE(camera.GetLatestResult().HasTargets());
 }
 
-TEST_F(VisionSystemSimTest, TestBunchaTargets) {
+TEST_CASE_METHOD(VisionSystemSimTest, "TestBunchaTargets", "[photonlib]") {
   photon::VisionSystemSim visionSysSim{"Test"};
   photon::PhotonCamera camera{"camera"};
   photon::PhotonCameraSim cameraSim{&camera};
@@ -142,10 +141,10 @@ TEST_F(VisionSystemSimTest, TestBunchaTargets) {
                               wpi::math::Rotation2d{5_deg}};
   visionSysSim.Update(robotPose);
 
-  ASSERT_EQ(camera.GetLatestResult().targets.size(), 50u);
+  REQUIRE(camera.GetLatestResult().targets.size() == 50u);
 }
 
-TEST_F(VisionSystemSimTest, TestNotVisibleVert1) {
+TEST_CASE_METHOD(VisionSystemSimTest, "TestNotVisibleVert1", "[photonlib]") {
   wpi::math::Pose3d targetPose{
       wpi::math::Translation3d{15.98_m, 0_m, 1_m},
       wpi::math::Rotation3d{0_rad, 0_rad,
@@ -162,7 +161,7 @@ TEST_F(VisionSystemSimTest, TestNotVisibleVert1) {
   wpi::math::Pose2d robotPose{wpi::math::Translation2d{5_m, 0_m},
                               wpi::math::Rotation2d{5_deg}};
   visionSysSim.Update(robotPose);
-  ASSERT_TRUE(camera.GetLatestResult().HasTargets());
+  REQUIRE(camera.GetLatestResult().HasTargets());
 
   visionSysSim.AdjustCamera(
       &cameraSim,
@@ -171,10 +170,10 @@ TEST_F(VisionSystemSimTest, TestNotVisibleVert1) {
           wpi::math::Rotation3d{0_deg, 0_deg,
                                 wpi::units::radian_t{std::numbers::pi}}});
   visionSysSim.Update(robotPose);
-  ASSERT_FALSE(camera.GetLatestResult().HasTargets());
+  REQUIRE_FALSE(camera.GetLatestResult().HasTargets());
 }
 
-TEST_F(VisionSystemSimTest, TestNotVisibleVert2) {
+TEST_CASE_METHOD(VisionSystemSimTest, "TestNotVisibleVert2", "[photonlib]") {
   wpi::math::Pose3d targetPose{
       wpi::math::Translation3d{15.98_m, 0_m, 2_m},
       wpi::math::Rotation3d{0_rad, 0_rad,
@@ -196,15 +195,16 @@ TEST_F(VisionSystemSimTest, TestNotVisibleVert2) {
   wpi::math::Pose2d robotPose{wpi::math::Translation2d{13.98_m, 0_m},
                               wpi::math::Rotation2d{5_deg}};
   visionSysSim.Update(robotPose);
-  ASSERT_TRUE(camera.GetLatestResult().HasTargets());
+  REQUIRE(camera.GetLatestResult().HasTargets());
 
   robotPose = wpi::math::Pose2d{wpi::math::Translation2d{0_m, 0_m},
                                 wpi::math::Rotation2d{5_deg}};
   visionSysSim.Update(robotPose);
-  ASSERT_FALSE(camera.GetLatestResult().HasTargets());
+  REQUIRE_FALSE(camera.GetLatestResult().HasTargets());
 }
 
-TEST_F(VisionSystemSimTest, TestNotVisibleTargetSize) {
+TEST_CASE_METHOD(VisionSystemSimTest, "TestNotVisibleTargetSize",
+                 "[photonlib]") {
   wpi::math::Pose3d targetPose{
       wpi::math::Translation3d{15.98_m, 0_m, 1_m},
       wpi::math::Rotation3d{0_rad, 0_rad,
@@ -222,15 +222,16 @@ TEST_F(VisionSystemSimTest, TestNotVisibleTargetSize) {
   wpi::math::Pose2d robotPose{wpi::math::Translation2d{12_m, 0_m},
                               wpi::math::Rotation2d{5_deg}};
   visionSysSim.Update(robotPose);
-  ASSERT_TRUE(camera.GetLatestResult().HasTargets());
+  REQUIRE(camera.GetLatestResult().HasTargets());
 
   robotPose = wpi::math::Pose2d{wpi::math::Translation2d{0_m, 0_m},
                                 wpi::math::Rotation2d{5_deg}};
   visionSysSim.Update(robotPose);
-  ASSERT_FALSE(camera.GetLatestResult().HasTargets());
+  REQUIRE_FALSE(camera.GetLatestResult().HasTargets());
 }
 
-TEST_F(VisionSystemSimTest, TestNotVisibleTooFarLeds) {
+TEST_CASE_METHOD(VisionSystemSimTest, "TestNotVisibleTooFarLeds",
+                 "[photonlib]") {
   wpi::math::Pose3d targetPose{
       wpi::math::Translation3d{15.98_m, 0_m, 1_m},
       wpi::math::Rotation3d{0_rad, 0_rad,
@@ -249,19 +250,23 @@ TEST_F(VisionSystemSimTest, TestNotVisibleTooFarLeds) {
   wpi::math::Pose2d robotPose{wpi::math::Translation2d{10_m, 0_m},
                               wpi::math::Rotation2d{5_deg}};
   visionSysSim.Update(robotPose);
-  ASSERT_TRUE(camera.GetLatestResult().HasTargets());
+  REQUIRE(camera.GetLatestResult().HasTargets());
 
   robotPose = wpi::math::Pose2d{wpi::math::Translation2d{0_m, 0_m},
                                 wpi::math::Rotation2d{5_deg}};
   visionSysSim.Update(robotPose);
-  ASSERT_FALSE(camera.GetLatestResult().HasTargets());
+  REQUIRE_FALSE(camera.GetLatestResult().HasTargets());
 }
 
-TEST_P(VisionSystemSimTestWithParamsTest, YawAngles) {
+TEST_CASE_METHOD(VisionSystemSimTestWithParamsTest, "YawAngles",
+                 "[photonlib]") {
   const wpi::math::Pose3d targetPose{
       {15.98_m, 0_m, 0_m},
       wpi::math::Rotation3d{0_deg, 0_deg,
                             wpi::units::radian_t{3 * std::numbers::pi / 4}}};
+  auto param = GENERATE(-10_deg, -5_deg, -0_deg, -1_deg, -2_deg, 5_deg, 7_deg,
+                        10.23_deg);
+
   photon::VisionSystemSim visionSysSim{"Test"};
   photon::PhotonCamera camera{"camera"};
   photon::PhotonCameraSim cameraSim{&camera};
@@ -273,21 +278,25 @@ TEST_P(VisionSystemSimTestWithParamsTest, YawAngles) {
 
   // If the robot is rotated x deg (CCW+), the target yaw should be x deg (CW+)
   wpi::math::Pose2d robotPose{wpi::math::Translation2d{10_m, 0_m},
-                              wpi::math::Rotation2d{GetParam()}};
+                              wpi::math::Rotation2d{param}};
   visionSysSim.Update(robotPose);
 
   const auto result = camera.GetLatestResult();
-  ASSERT_TRUE(result.HasTargets());
-  ASSERT_NEAR(GetParam().to<double>(), result.GetBestTarget().GetYaw(), 0.25);
+  REQUIRE(result.HasTargets());
+  REQUIRE(param.to<double>() ==
+          Catch::Approx(result.GetBestTarget().GetYaw()).margin(0.25));
 }
 
-TEST_P(VisionSystemSimTestWithParamsTest, PitchAngles) {
+TEST_CASE_METHOD(VisionSystemSimTestWithParamsTest, "PitchAngles",
+                 "[photonlib]") {
   const wpi::math::Pose3d targetPose{
       {15.98_m, 0_m, 0_m},
       wpi::math::Rotation3d{0_deg, 0_deg,
                             wpi::units::radian_t{3 * std::numbers::pi / 4}}};
-  wpi::math::Pose2d robotPose{{10_m, 0_m},
-                              wpi::math::Rotation2d{GetParam() * -1.0}};
+  auto param = GENERATE(-10_deg, -5_deg, -0_deg, -1_deg, -2_deg, 5_deg, 7_deg,
+                        10.23_deg);
+
+  wpi::math::Pose2d robotPose{{10_m, 0_m}, wpi::math::Rotation2d{param * -1.0}};
   photon::VisionSystemSim visionSysSim{"Test"};
   photon::PhotonCamera camera{"camera"};
   photon::PhotonCameraSim cameraSim{&camera};
@@ -298,28 +307,40 @@ TEST_P(VisionSystemSimTestWithParamsTest, PitchAngles) {
       targetPose, photon::TargetModel{0.5_m, 0.5_m}, 3}});
 
   robotPose = wpi::math::Pose2d{wpi::math::Translation2d{10_m, 0_m},
-                                wpi::math::Rotation2d{-1 * GetParam()}};
+                                wpi::math::Rotation2d{-1 * param}};
   visionSysSim.AdjustCamera(
-      &cameraSim, wpi::math::Transform3d{
-                      wpi::math::Translation3d{},
-                      wpi::math::Rotation3d{
-                          0_rad, wpi::units::degree_t{GetParam()}, 0_rad}});
+      &cameraSim,
+      wpi::math::Transform3d{
+          wpi::math::Translation3d{},
+          wpi::math::Rotation3d{0_rad, wpi::units::degree_t{param}, 0_rad}});
   visionSysSim.Update(robotPose);
 
   const auto result = camera.GetLatestResult();
-  ASSERT_TRUE(result.HasTargets());
-  ASSERT_NEAR(GetParam().to<double>(), result.GetBestTarget().GetPitch(), 0.25);
+  REQUIRE(result.HasTargets());
+  REQUIRE(param.to<double>() ==
+          Catch::Approx(result.GetBestTarget().GetPitch()).margin(0.25));
 }
 
-INSTANTIATE_TEST_SUITE_P(AnglesTests, VisionSystemSimTestWithParamsTest,
-                         testing::Values(-10_deg, -5_deg, -0_deg, -1_deg,
-                                         -2_deg, 5_deg, 7_deg, 10.23_deg));
-
-TEST_P(VisionSystemSimTestDistanceParamsTest, DistanceCalc) {
-  wpi::units::foot_t distParam;
-  wpi::units::degree_t pitchParam;
-  wpi::units::foot_t heightParam;
-  std::tie(distParam, pitchParam, heightParam) = GetParam();
+TEST_CASE_METHOD(VisionSystemSimTestDistanceParamsTest, "DistanceCalc",
+                 "[photonlib]") {
+  auto [distParam, pitchParam, heightParam] =
+      GENERATE(std::make_tuple(5_ft, -15.98_deg, 0_ft),
+               std::make_tuple(6_ft, -15.98_deg, 1_ft),
+               std::make_tuple(10_ft, -15.98_deg, 0_ft),
+               std::make_tuple(15_ft, -15.98_deg, 2_ft),
+               std::make_tuple(19.95_ft, -15.98_deg, 0_ft),
+               std::make_tuple(20_ft, -15.98_deg, 0_ft),
+               std::make_tuple(5_ft, -42_deg, 1_ft),
+               std::make_tuple(6_ft, -42_deg, 0_ft),
+               std::make_tuple(10_ft, -42_deg, 2_ft),
+               std::make_tuple(15_ft, -42_deg, 0.5_ft),
+               std::make_tuple(19.42_ft, -15.98_deg, 0_ft),
+               std::make_tuple(20_ft, -42_deg, 0_ft),
+               std::make_tuple(5_ft, -55_deg, 2_ft),
+               std::make_tuple(6_ft, -55_deg, 0_ft),
+               std::make_tuple(10_ft, -54_deg, 2.2_ft),
+               std::make_tuple(15_ft, -53_deg, 0_ft),
+               std::make_tuple(19.52_ft, -15.98_deg, 1.1_ft));
 
   const wpi::math::Pose3d targetPose{
       {15.98_m, 0_m, 1_m},
@@ -344,39 +365,20 @@ TEST_P(VisionSystemSimTestDistanceParamsTest, DistanceCalc) {
   visionSysSim.Update(robotPose);
 
   photon::PhotonPipelineResult res = camera.GetLatestResult();
-  ASSERT_TRUE(res.HasTargets());
+  REQUIRE(res.HasTargets());
   photon::PhotonTrackedTarget target = res.GetBestTarget();
 
-  ASSERT_NEAR(0.0, target.GetYaw(), 0.5);
+  REQUIRE(0.0 == Catch::Approx(target.GetYaw()).margin(0.5));
 
   wpi::units::meter_t dist = photon::PhotonUtils::CalculateDistanceToTarget(
       robotToCamera.Z(), targetPose.Z(), -pitchParam,
       wpi::units::degree_t{target.GetPitch()});
-  ASSERT_NEAR(dist.to<double>(),
-              distParam.convert<wpi::units::meters>().to<double>(), 0.25);
+  REQUIRE(dist.to<double>() ==
+          Catch::Approx(distParam.convert<wpi::units::meters>().to<double>())
+              .margin(0.25));
 }
 
-INSTANTIATE_TEST_SUITE_P(
-    DistanceParamsTests, VisionSystemSimTestDistanceParamsTest,
-    testing::Values(std::make_tuple(5_ft, -15.98_deg, 0_ft),
-                    std::make_tuple(6_ft, -15.98_deg, 1_ft),
-                    std::make_tuple(10_ft, -15.98_deg, 0_ft),
-                    std::make_tuple(15_ft, -15.98_deg, 2_ft),
-                    std::make_tuple(19.95_ft, -15.98_deg, 0_ft),
-                    std::make_tuple(20_ft, -15.98_deg, 0_ft),
-                    std::make_tuple(5_ft, -42_deg, 1_ft),
-                    std::make_tuple(6_ft, -42_deg, 0_ft),
-                    std::make_tuple(10_ft, -42_deg, 2_ft),
-                    std::make_tuple(15_ft, -42_deg, 0.5_ft),
-                    std::make_tuple(19.42_ft, -15.98_deg, 0_ft),
-                    std::make_tuple(20_ft, -42_deg, 0_ft),
-                    std::make_tuple(5_ft, -55_deg, 2_ft),
-                    std::make_tuple(6_ft, -55_deg, 0_ft),
-                    std::make_tuple(10_ft, -54_deg, 2.2_ft),
-                    std::make_tuple(15_ft, -53_deg, 0_ft),
-                    std::make_tuple(19.52_ft, -15.98_deg, 1.1_ft)));
-
-TEST_F(VisionSystemSimTest, TestMultipleTargets) {
+TEST_CASE_METHOD(VisionSystemSimTest, "TestMultipleTargets", "[photonlib]") {
   wpi::math::Pose3d targetPoseL{
       wpi::math::Translation3d{15.98_m, 2_m, 0_m},
       wpi::math::Rotation3d{0_rad, 0_rad,
@@ -446,12 +448,12 @@ TEST_F(VisionSystemSimTest, TestMultipleTargets) {
                               wpi::math::Rotation2d{.25_deg}};
   visionSysSim.Update(robotPose);
   photon::PhotonPipelineResult res = camera.GetLatestResult();
-  ASSERT_TRUE(res.HasTargets());
+  REQUIRE(res.HasTargets());
   std::span<const photon::PhotonTrackedTarget> tgtList = res.GetTargets();
-  ASSERT_EQ(static_cast<size_t>(11), tgtList.size());
+  REQUIRE(static_cast<size_t>(11) == tgtList.size());
 }
 
-TEST_F(VisionSystemSimTest, TestPoseEstimation) {
+TEST_CASE_METHOD(VisionSystemSimTest, "TestPoseEstimation", "[photonlib]") {
   photon::VisionSystemSim visionSysSim{"Test"};
   photon::PhotonCamera camera{"camera"};
   photon::PhotonCameraSim cameraSim{&camera};
@@ -459,25 +461,26 @@ TEST_F(VisionSystemSimTest, TestPoseEstimation) {
   cameraSim.prop.SetCalibration(640, 480, wpi::math::Rotation2d{90_deg});
   cameraSim.SetMinTargetAreaPixels(20.0);
 
-  std::vector<wpi::apriltag::AprilTag> tagList;
-  tagList.emplace_back(wpi::apriltag::AprilTag{
+  std::vector<wpi::fields::FieldTag> tagList;
+  tagList.emplace_back(wpi::fields::FieldTag{
       0, wpi::math::Pose3d{
              12_m, 3_m, 1_m,
              wpi::math::Rotation3d{0_rad, 0_rad,
                                    wpi::units::radian_t{std::numbers::pi}}}});
-  tagList.emplace_back(wpi::apriltag::AprilTag{
+  tagList.emplace_back(wpi::fields::FieldTag{
       1, wpi::math::Pose3d{
              12_m, 1_m, -1_m,
              wpi::math::Rotation3d{0_rad, 0_rad,
                                    wpi::units::radian_t{std::numbers::pi}}}});
-  tagList.emplace_back(wpi::apriltag::AprilTag{
+  tagList.emplace_back(wpi::fields::FieldTag{
       2, wpi::math::Pose3d{
              11_m, 0_m, 2_m,
              wpi::math::Rotation3d{0_rad, 0_rad,
                                    wpi::units::radian_t{std::numbers::pi}}}});
   wpi::units::meter_t fieldLength{54};
   wpi::units::meter_t fieldWidth{27};
-  wpi::apriltag::AprilTagFieldLayout layout{tagList, fieldLength, fieldWidth};
+  wpi::fields::Field layout{"Test",      "Test",     "Test", std::nullopt,
+                            fieldLength, fieldWidth, "frc",  tagList};
   wpi::math::Pose2d robotPose{wpi::math::Translation2d{5_m, 1_m},
                               wpi::math::Rotation2d{5_deg}};
   visionSysSim.AddVisionTargets(
@@ -495,14 +498,13 @@ TEST_F(VisionSystemSimTest, TestPoseEstimation) {
   }
   auto results = photon::VisionEstimation::EstimateCamPosePNP(
       camEigen, distEigen, targets, layout, photon::kAprilTag16h5);
-  ASSERT_TRUE(results);
+  REQUIRE(results);
   wpi::math::Pose3d pose = wpi::math::Pose3d{} + results->best;
-  ASSERT_NEAR(5, pose.X().to<double>(), 0.01);
-  ASSERT_NEAR(1, pose.Y().to<double>(), 0.01);
-  ASSERT_NEAR(0, pose.Z().to<double>(), 0.01);
-  ASSERT_NEAR(
-      wpi::units::degree_t{5}.convert<wpi::units::radians>().to<double>(),
-      pose.Rotation().Z().to<double>(), 0.01);
+  REQUIRE(5 == Catch::Approx(pose.X().to<double>()).margin(0.01));
+  REQUIRE(1 == Catch::Approx(pose.Y().to<double>()).margin(0.01));
+  REQUIRE(0 == Catch::Approx(pose.Z().to<double>()).margin(0.01));
+  REQUIRE(wpi::units::degree_t{5}.convert<wpi::units::radians>().to<double>() ==
+          Catch::Approx(pose.Rotation().Z().to<double>()).margin(0.01));
 
   visionSysSim.AddVisionTargets(
       {photon::VisionTargetSim{tagList[1].pose, photon::kAprilTag16h5, 1}});
@@ -518,17 +520,19 @@ TEST_F(VisionSystemSimTest, TestPoseEstimation) {
   }
   auto results2 = photon::VisionEstimation::EstimateCamPosePNP(
       camEigen, distEigen, targets2, layout, photon::kAprilTag16h5);
-  ASSERT_TRUE(results2);
+  REQUIRE(results2);
   wpi::math::Pose3d pose2 = wpi::math::Pose3d{} + results2->best;
-  ASSERT_NEAR(robotPose.X().to<double>(), pose2.X().to<double>(), 0.01);
-  ASSERT_NEAR(robotPose.Y().to<double>(), pose2.Y().to<double>(), 0.01);
-  ASSERT_NEAR(0, pose2.Z().to<double>(), 0.01);
-  ASSERT_NEAR(
-      wpi::units::degree_t{5}.convert<wpi::units::radians>().to<double>(),
-      pose2.Rotation().Z().to<double>(), 0.01);
+  REQUIRE(robotPose.X().to<double>() ==
+          Catch::Approx(pose2.X().to<double>()).margin(0.01));
+  REQUIRE(robotPose.Y().to<double>() ==
+          Catch::Approx(pose2.Y().to<double>()).margin(0.01));
+  REQUIRE(0 == Catch::Approx(pose2.Z().to<double>()).margin(0.01));
+  REQUIRE(wpi::units::degree_t{5}.convert<wpi::units::radians>().to<double>() ==
+          Catch::Approx(pose2.Rotation().Z().to<double>()).margin(0.01));
 }
 
-TEST_F(VisionSystemSimTest, TestPoseEstimationRotated) {
+TEST_CASE_METHOD(VisionSystemSimTest, "TestPoseEstimationRotated",
+                 "[photonlib]") {
   wpi::math::Transform3d robotToCamera{
       wpi::math::Translation3d{6_in, 6_in, 6_in},
       wpi::math::Rotation3d{0_deg, -30_deg, 25.5_deg}};
@@ -540,25 +544,26 @@ TEST_F(VisionSystemSimTest, TestPoseEstimationRotated) {
   cameraSim.prop.SetCalibration(640, 480, wpi::math::Rotation2d{90_deg});
   cameraSim.SetMinTargetAreaPixels(20.0);
 
-  std::vector<wpi::apriltag::AprilTag> tagList;
-  tagList.emplace_back(wpi::apriltag::AprilTag{
+  std::vector<wpi::fields::FieldTag> tagList;
+  tagList.emplace_back(wpi::fields::FieldTag{
       0, wpi::math::Pose3d{
              12_m, 3_m, 1_m,
              wpi::math::Rotation3d{0_rad, 0_rad,
                                    wpi::units::radian_t{std::numbers::pi}}}});
-  tagList.emplace_back(wpi::apriltag::AprilTag{
+  tagList.emplace_back(wpi::fields::FieldTag{
       1, wpi::math::Pose3d{
              12_m, 1_m, -1_m,
              wpi::math::Rotation3d{0_rad, 0_rad,
                                    wpi::units::radian_t{std::numbers::pi}}}});
-  tagList.emplace_back(wpi::apriltag::AprilTag{
+  tagList.emplace_back(wpi::fields::FieldTag{
       2, wpi::math::Pose3d{
              11_m, 0_m, 2_m,
              wpi::math::Rotation3d{0_rad, 0_rad,
                                    wpi::units::radian_t{std::numbers::pi}}}});
   wpi::units::meter_t fieldLength{54};
   wpi::units::meter_t fieldWidth{27};
-  wpi::apriltag::AprilTagFieldLayout layout{tagList, fieldLength, fieldWidth};
+  wpi::fields::Field layout{"Test",      "Test",     "Test", std::nullopt,
+                            fieldLength, fieldWidth, "frc",  tagList};
   wpi::math::Pose2d robotPose{wpi::math::Translation2d{5_m, 1_m},
                               wpi::math::Rotation2d{-5_deg}};
   visionSysSim.AddVisionTargets(
@@ -572,7 +577,7 @@ TEST_F(VisionSystemSimTest, TestPoseEstimationRotated) {
   auto targetSpan = camResults.GetTargets();
 
   // We need to see at least one target
-  ASSERT_GT(targetSpan.size(), static_cast<size_t>(0));
+  REQUIRE(targetSpan.size() > static_cast<size_t>(0));
 
   std::vector<photon::PhotonTrackedTarget> targets;
   for (photon::PhotonTrackedTarget tar : targetSpan) {
@@ -580,15 +585,15 @@ TEST_F(VisionSystemSimTest, TestPoseEstimationRotated) {
   }
   auto results = photon::VisionEstimation::EstimateCamPosePNP(
       camEigen, distEigen, targets, layout, photon::kAprilTag36h11);
-  ASSERT_TRUE(results);
+  REQUIRE(results);
   wpi::math::Pose3d pose = wpi::math::Pose3d{} + results->best;
   pose = pose.TransformBy(robotToCamera.Inverse());
-  ASSERT_NEAR(5, pose.X().to<double>(), 0.01);
-  ASSERT_NEAR(1, pose.Y().to<double>(), 0.01);
-  ASSERT_NEAR(0, pose.Z().to<double>(), 0.01);
-  ASSERT_NEAR(
-      wpi::units::degree_t{-5}.convert<wpi::units::radians>().to<double>(),
-      pose.Rotation().Z().to<double>(), 0.01);
+  REQUIRE(5 == Catch::Approx(pose.X().to<double>()).margin(0.01));
+  REQUIRE(1 == Catch::Approx(pose.Y().to<double>()).margin(0.01));
+  REQUIRE(0 == Catch::Approx(pose.Z().to<double>()).margin(0.01));
+  REQUIRE(
+      wpi::units::degree_t{-5}.convert<wpi::units::radians>().to<double>() ==
+      Catch::Approx(pose.Rotation().Z().to<double>()).margin(0.01));
 
   visionSysSim.AddVisionTargets(
       {photon::VisionTargetSim{tagList[1].pose, photon::kAprilTag36h11, 1}});
@@ -604,18 +609,20 @@ TEST_F(VisionSystemSimTest, TestPoseEstimationRotated) {
   }
   auto results2 = photon::VisionEstimation::EstimateCamPosePNP(
       camEigen, distEigen, targets2, layout, photon::kAprilTag36h11);
-  ASSERT_TRUE(results2);
+  REQUIRE(results2);
   wpi::math::Pose3d pose2 = wpi::math::Pose3d{} + results2->best;
   pose2 = pose2.TransformBy(robotToCamera.Inverse());
-  ASSERT_NEAR(robotPose.X().to<double>(), pose2.X().to<double>(), 0.01);
-  ASSERT_NEAR(robotPose.Y().to<double>(), pose2.Y().to<double>(), 0.01);
-  ASSERT_NEAR(0, pose2.Z().to<double>(), 0.01);
-  ASSERT_NEAR(
-      wpi::units::degree_t{-5}.convert<wpi::units::radians>().to<double>(),
-      pose2.Rotation().Z().to<double>(), 0.01);
+  REQUIRE(robotPose.X().to<double>() ==
+          Catch::Approx(pose2.X().to<double>()).margin(0.01));
+  REQUIRE(robotPose.Y().to<double>() ==
+          Catch::Approx(pose2.Y().to<double>()).margin(0.01));
+  REQUIRE(0 == Catch::Approx(pose2.Z().to<double>()).margin(0.01));
+  REQUIRE(
+      wpi::units::degree_t{-5}.convert<wpi::units::radians>().to<double>() ==
+      Catch::Approx(pose2.Rotation().Z().to<double>()).margin(0.01));
 }
 
-TEST_F(VisionSystemSimTest, TestTagAmbiguity) {
+TEST_CASE_METHOD(VisionSystemSimTest, "TestTagAmbiguity", "[photonlib]") {
   photon::VisionSystemSim visionSysSim{"Test"};
   photon::PhotonCamera camera{"camera"};
   photon::PhotonCameraSim cameraSim{&camera};
@@ -635,11 +642,11 @@ TEST_F(VisionSystemSimTest, TestTagAmbiguity) {
   visionSysSim.Update(robotPose);
   double ambiguity =
       camera.GetLatestResult().GetBestTarget().GetPoseAmbiguity();
-  ASSERT_TRUE(ambiguity > 0.5);
+  REQUIRE(ambiguity > 0.5);
 
   robotPose = wpi::math::Pose2d{wpi::math::Translation2d{-2_m, -2_m},
                                 wpi::math::Rotation2d{30_deg}};
   visionSysSim.Update(robotPose);
   ambiguity = camera.GetLatestResult().GetBestTarget().GetPoseAmbiguity();
-  ASSERT_TRUE(0 < ambiguity && ambiguity < 0.2);
+  REQUIRE((0 < ambiguity && ambiguity < 0.2));
 }
diff --git a/photon-lib/src/test/native/cpp/main.cpp b/photon-lib/src/test/native/cpp/main.cpp
index 6b8949b2f2..58f1171161 100644
--- a/photon-lib/src/test/native/cpp/main.cpp
+++ b/photon-lib/src/test/native/cpp/main.cpp
@@ -22,14 +22,34 @@
  * SOFTWARE.
  */
 
+#include <string_view>
+
+#include <catch2/catch_session.hpp>
+#include <catch2/catch_test_macros.hpp>
 #include <wpi/hal/HAL.h>
 
-#include "gtest/gtest.h"
+namespace {
+
+bool IsCatchListCommand(int argc, char** argv) {
+  for (int i = 1; i < argc; ++i) {
+    std::string_view arg{argv[i]};
+    if (arg == "--list-tests" || arg == "--list-tags" ||
+        arg == "--list-reporters" || arg == "--list-listeners") {
+      return true;
+    }
+  }
+  return false;
+}
+
+}  // namespace
 
 int main(int argc, char** argv) {
-  HAL_Initialize(500, 0);
-  ::testing::InitGoogleTest(&argc, argv);
-  int ret = RUN_ALL_TESTS();
-  HAL_Shutdown();
+  if (!IsCatchListCommand(argc, argv)) {
+    HAL_Initialize();
+  }
+  int ret = Catch::Session().run(argc, argv);
+  if (!IsCatchListCommand(argc, argv)) {
+    HAL_Shutdown();
+  }
   return ret;
 }
diff --git a/photon-serde-tests/build.gradle b/photon-serde-tests/build.gradle
index 0eff89fe07..17798222cf 100644
--- a/photon-serde-tests/build.gradle
+++ b/photon-serde-tests/build.gradle
@@ -87,8 +87,12 @@ model {
             }
 
             nativeUtils.useRequiredLibrary(it, "wpilib_shared")
-            nativeUtils.useRequiredLibrary(it, "googletest_static")
+            nativeUtils.useRequiredLibrary(it, "catch2_static")
             nativeUtils.useRequiredLibrary(it, "datalog_shared")
+            nativeUtils.useRequiredLibrary(it, "apriltag_shared")
+            nativeUtils.useRequiredLibrary(it, "fields_shared")
+            nativeUtils.useRequiredLibrary(it, "cscore_shared")
+            nativeUtils.useRequiredLibrary(it, "opencv_shared")
         }
     }
 
@@ -149,3 +153,4 @@ nativeConfig.dependencies.add wpilibTools.deps.wpilib("hal")
 nativeConfig.dependencies.add wpilibTools.deps.wpilib("cscore")
 nativeConfig.dependencies.add wpilibTools.deps.wpilibOpenCv(openCVversion)
 nativeConfig.dependencies.add wpilibTools.deps.wpilib("apriltag")
+nativeConfig.dependencies.add wpilibTools.deps.wpilib("fields")
diff --git a/photon-serde/templates/ThingTests.cpp.jinja b/photon-serde/templates/ThingTests.cpp.jinja
index ea9216762d..0a678fc86e 100644
--- a/photon-serde/templates/ThingTests.cpp.jinja
+++ b/photon-serde/templates/ThingTests.cpp.jinja
@@ -21,10 +21,10 @@
 #include <optional>
 #include <vector>
 
+#include <catch2/catch_session.hpp>
+#include <catch2/catch_test_macros.hpp>
 #include <wpi/hal/HAL.h>
 
-#include "gtest/gtest.h"
-
 {% for include in cpp_includes -%}
 #include {{ include }}
 {% endfor %}
@@ -35,8 +35,7 @@
 
 // Hack
 int main(int argc, char** argv) {
-    ::testing::InitGoogleTest(&argc, argv);
-    return RUN_ALL_TESTS();
+    return Catch::Session().run(argc, argv);
 }
 
 using namespace photon;
@@ -51,14 +50,14 @@ inline bool test_serde(const T& data) {
 }
 
 {% for test in tests %}
-TEST(AutoSerdeTest, {{ test.name }}) {
+TEST_CASE("AutoSerdeTest {{ test.name }}", "[serde]") {
     std::cout << "Running {{ test.name }}\n";
     {% for test_case in test.cases %}
     {{ test.type }} {{ test_case.name }}{};
     {% for field in test_case.fields -%}
     {{ test_case.name }}.{{ field.name }} = {{ field.cpp_value }};
     {% endfor -%}
-    ASSERT_TRUE(test_serde({{ test_case.name }}));
+    REQUIRE(test_serde({{ test_case.name }}));
     {% endfor %}
 }
 {% endfor %}
\ No newline at end of file
diff --git a/photon-server/src/main/java/org/photonvision/Main.java b/photon-server/src/main/java/org/photonvision/Main.java
index abbb999160..faae216644 100644
--- a/photon-server/src/main/java/org/photonvision/Main.java
+++ b/photon-server/src/main/java/org/photonvision/Main.java
@@ -250,7 +250,7 @@ public Integer call() {
         }
         logger.info("WPILib and photon-targeting JNI libraries loaded.");
 
-        if (!HAL.initialize(500, 0)) {
+        if (!HAL.initialize()) {
             logger.error("Failed to initialize the HAL! Giving up :(");
             return 1;
         }
diff --git a/photon-server/src/main/java/org/photonvision/server/DataSocketHandler.java b/photon-server/src/main/java/org/photonvision/server/DataSocketHandler.java
index f34a17405e..56a41a23cf 100644
--- a/photon-server/src/main/java/org/photonvision/server/DataSocketHandler.java
+++ b/photon-server/src/main/java/org/photonvision/server/DataSocketHandler.java
@@ -40,7 +40,7 @@
 import org.photonvision.common.logging.LogGroup;
 import org.photonvision.common.logging.Logger;
 import org.photonvision.vision.pipeline.PipelineType;
-import org.wpilib.math.util.Pair;
+import org.wpilib.util.Pair;
 
 @SuppressWarnings("rawtypes")
 public class DataSocketHandler {
diff --git a/photon-targeting/build.gradle b/photon-targeting/build.gradle
index 563afbc5fa..9b908418bf 100644
--- a/photon-targeting/build.gradle
+++ b/photon-targeting/build.gradle
@@ -58,7 +58,9 @@ model {
             nativeUtils.useRequiredLibrary(it, "wpinet_shared")
             nativeUtils.useRequiredLibrary(it, "ntcore_shared")
             nativeUtils.useRequiredLibrary(it, "apriltag_shared")
+            nativeUtils.useRequiredLibrary(it, "fields_shared")
             nativeUtils.useRequiredLibrary(it, "opencv_shared")
+            nativeUtils.useRequiredLibrary(it, "mrclib_shared")
         }
         "${nativeName}JNI"(JniNativeLibrarySpec) {
 
@@ -87,6 +89,7 @@ model {
             nativeUtils.useRequiredLibrary(it, "ntcore_shared")
             nativeUtils.useRequiredLibrary(it, "cscore_shared")
             nativeUtils.useRequiredLibrary(it, "opencv_shared")
+            nativeUtils.useRequiredLibrary(it, "mrclib_shared")
         }
     }
     testSuites {
@@ -118,11 +121,13 @@ model {
             }
 
             nativeUtils.useRequiredLibrary(it, "wpilib_shared")
-            nativeUtils.useRequiredLibrary(it, "googletest_static")
+            nativeUtils.useRequiredLibrary(it, "catch2_static")
             nativeUtils.useRequiredLibrary(it, "datalog_shared")
             nativeUtils.useRequiredLibrary(it, "apriltag_shared")
+            nativeUtils.useRequiredLibrary(it, "fields_shared")
             nativeUtils.useRequiredLibrary(it, "cscore_shared")
             nativeUtils.useRequiredLibrary(it, "opencv_shared")
+            nativeUtils.useRequiredLibrary(it, "mrclib_shared")
         }
     }
 
@@ -157,6 +162,14 @@ model {
     }
 }
 
+tasks.matching { it.name.startsWith('check') && it.name.contains('GoogleTestExe') }.configureEach {
+    timeout = java.time.Duration.ofMinutes(10)
+}
+
+test {
+    timeout = java.time.Duration.ofMinutes(10)
+}
+
 apply from: "${rootDir}/shared/javacpp/publish.gradle"
 
 // Add photon serde headers to our published sources
@@ -187,3 +200,5 @@ nativeConfig.dependencies.add wpilibTools.deps.wpilib("hal")
 nativeConfig.dependencies.add wpilibTools.deps.wpilib("cscore")
 nativeConfig.dependencies.add wpilibTools.deps.wpilibOpenCv(openCVversion)
 nativeConfig.dependencies.add wpilibTools.deps.wpilib("apriltag")
+nativeConfig.dependencies.add wpilibTools.deps.wpilib("fields")
+nativeConfig.dependencies.add wpilibTools.deps.wpilib("mrclib", mrclibVersion)
diff --git a/photon-targeting/src/main/java/org/photonvision/estimation/VisionEstimation.java b/photon-targeting/src/main/java/org/photonvision/estimation/VisionEstimation.java
index c1d0b4afa9..4938dc7100 100644
--- a/photon-targeting/src/main/java/org/photonvision/estimation/VisionEstimation.java
+++ b/photon-targeting/src/main/java/org/photonvision/estimation/VisionEstimation.java
@@ -28,6 +28,8 @@
 import org.photonvision.targeting.PhotonTrackedTarget;
 import org.photonvision.targeting.PnpResult;
 import org.photonvision.targeting.TargetCorner;
+import org.wpilib.fields.Field;
+import org.wpilib.fields.FieldTag;
 import org.wpilib.math.geometry.Pose3d;
 import org.wpilib.math.geometry.Rotation2d;
 import org.wpilib.math.geometry.Transform2d;
@@ -37,28 +39,26 @@
 import org.wpilib.math.linalg.Matrix;
 import org.wpilib.math.numbers.*;
 import org.wpilib.math.util.Nat;
-import org.wpilib.vision.apriltag.AprilTag;
-import org.wpilib.vision.apriltag.AprilTagFieldLayout;
 import org.wpilib.vision.camera.OpenCvLoader;
 
 public class VisionEstimation {
     private VisionEstimation() {}
 
     /**
-     * Get the list of visible {@link AprilTag}s which are in the tag layout using the visible tag
+     * Get the list of visible {@link FieldTag}s which are in the field layout using the visible tag
      * IDs.
      *
      * @param visTags The list of targets to search for visible tags.
-     * @param tagLayout The tag layout to search
+     * @param tagLayout The field layout to search
      */
-    public static List<AprilTag> getVisibleLayoutTags(
-            List<PhotonTrackedTarget> visTags, AprilTagFieldLayout tagLayout) {
+    public static List<FieldTag> getVisibleLayoutTags(
+            List<PhotonTrackedTarget> visTags, Field tagLayout) {
         return visTags.stream()
                 .map(
                         t -> {
                             int id = t.getFiducialId();
                             var maybePose = tagLayout.getTagPose(id);
-                            return maybePose.map(pose3d -> new AprilTag(id, pose3d)).orElse(null);
+                            return maybePose.map(pose3d -> new FieldTag(id, pose3d)).orElse(null);
                         })
                 .filter(Objects::nonNull)
                 .collect(Collectors.toList());
@@ -87,7 +87,7 @@ public static Optional<PnpResult> estimateCamPosePNP(
             Matrix<N3, N3> cameraMatrix,
             Matrix<N8, N1> distCoeffs,
             List<PhotonTrackedTarget> visTags,
-            AprilTagFieldLayout tagLayout,
+            Field tagLayout,
             TargetModel tagModel) {
         if (tagLayout == null
                 || visTags == null
@@ -97,15 +97,15 @@ public static Optional<PnpResult> estimateCamPosePNP(
         }
 
         var corners = new ArrayList<TargetCorner>();
-        var knownTags = new ArrayList<AprilTag>();
-        // ensure these are AprilTags in our layout
+        var knownTags = new ArrayList<FieldTag>();
+        // ensure these are FieldTags in our layout
         for (var tgt : visTags) {
             int id = tgt.getFiducialId();
             tagLayout
                     .getTagPose(id)
                     .ifPresent(
                             pose -> {
-                                knownTags.add(new AprilTag(id, pose));
+                                knownTags.add(new FieldTag(id, pose));
                                 corners.addAll(tgt.getDetectedCorners());
                             });
         }
@@ -121,10 +121,10 @@ public static Optional<PnpResult> estimateCamPosePNP(
             var camToTag =
                     OpenCVHelp.solvePNP_SQUARE(cameraMatrix, distCoeffs, tagModel.vertices, points);
             if (!camToTag.isPresent()) return Optional.empty();
-            var bestPose = knownTags.get(0).pose.transformBy(camToTag.get().best.inverse());
+            var bestPose = knownTags.get(0).getPose().transformBy(camToTag.get().best.inverse());
             var altPose = new Pose3d();
             if (camToTag.get().ambiguity != 0)
-                altPose = knownTags.get(0).pose.transformBy(camToTag.get().alt.inverse());
+                altPose = knownTags.get(0).getPose().transformBy(camToTag.get().alt.inverse());
 
             var o = new Pose3d();
             return Optional.of(
@@ -138,7 +138,7 @@ public static Optional<PnpResult> estimateCamPosePNP(
         // multi-tag pnp
         else {
             var objectTrls = new ArrayList<Translation3d>();
-            for (var tag : knownTags) objectTrls.addAll(tagModel.getFieldVertices(tag.pose));
+            for (var tag : knownTags) objectTrls.addAll(tagModel.getFieldVertices(tag.getPose()));
             var camToOrigin = OpenCVHelp.solvePNP_SQPNP(cameraMatrix, distCoeffs, objectTrls, points);
             if (camToOrigin.isEmpty()) return Optional.empty();
             return Optional.of(
@@ -181,7 +181,7 @@ public static Optional<PnpResult> estimateRobotPoseConstrainedSolvepnp(
             List<PhotonTrackedTarget> visTags,
             Transform3d robot2camera,
             Pose3d robotPoseSeed,
-            AprilTagFieldLayout tagLayout,
+            Field tagLayout,
             TargetModel tagModel,
             boolean headingFree,
             Rotation2d gyroθ,
@@ -194,15 +194,15 @@ public static Optional<PnpResult> estimateRobotPoseConstrainedSolvepnp(
         }
 
         var corners = new ArrayList<TargetCorner>();
-        var knownTags = new ArrayList<AprilTag>();
-        // ensure these are AprilTags in our layout
+        var knownTags = new ArrayList<FieldTag>();
+        // ensure these are FieldTags in our layout
         for (var tgt : visTags) {
             int id = tgt.getFiducialId();
             tagLayout
                     .getTagPose(id)
                     .ifPresent(
                             pose -> {
-                                knownTags.add(new AprilTag(id, pose));
+                                knownTags.add(new FieldTag(id, pose));
                                 corners.addAll(tgt.getDetectedCorners());
                             });
         }
@@ -230,7 +230,7 @@ public static Optional<PnpResult> estimateRobotPoseConstrainedSolvepnp(
 
         // Affine corner locations
         var objectTrls = new ArrayList<Translation3d>();
-        for (var tag : knownTags) objectTrls.addAll(tagModel.getFieldVertices(tag.pose));
+        for (var tag : knownTags) objectTrls.addAll(tagModel.getFieldVertices(tag.getPose()));
         var field2points = new SimpleMatrix(4, points.length);
         for (int i = 0; i < objectTrls.size(); i++) {
             field2points.set(0, i, objectTrls.get(i).getX());
diff --git a/photon-targeting/src/main/native/cpp/net/TimeSyncClient.cpp b/photon-targeting/src/main/native/cpp/net/TimeSyncClient.cpp
index e82c9ab27a..c11dbd74c5 100644
--- a/photon-targeting/src/main/native/cpp/net/TimeSyncClient.cpp
+++ b/photon-targeting/src/main/native/cpp/net/TimeSyncClient.cpp
@@ -32,7 +32,7 @@
 static void ClientLoggerFunc(unsigned int level, const char* file,
                              unsigned int line, const char* msg) {
   if (level == 20) {
-    fmt::print(stderr, "TimeSyncClient: {}\n", msg);
+    wpi::util::print(stderr, "TimeSyncClient: {}\n", msg);
     return;
   }
 
@@ -46,8 +46,8 @@ static void ClientLoggerFunc(unsigned int level, const char* file,
   } else {
     return;
   }
-  fmt::print(stderr, "TimeSyncClient: {}: {} ({}:{})\n", levelmsg, msg, file,
-             line);
+  wpi::util::print(stderr, "TimeSyncClient: {}: {} ({}:{})\n", levelmsg, msg,
+                   file, line);
 }
 
 void wpi::tsp::TimeSyncClient::UpdateStatistics(uint64_t pong_local_time,
diff --git a/photon-targeting/src/main/native/cpp/net/TimeSyncServer.cpp b/photon-targeting/src/main/native/cpp/net/TimeSyncServer.cpp
index 31c8e5469d..051f69f4f2 100644
--- a/photon-targeting/src/main/native/cpp/net/TimeSyncServer.cpp
+++ b/photon-targeting/src/main/native/cpp/net/TimeSyncServer.cpp
@@ -33,7 +33,7 @@
 static void ServerLoggerFunc(unsigned int level, const char* file,
                              unsigned int line, const char* msg) {
   if (level == 20) {
-    fmt::print(stderr, "TimeSyncServer: {}\n", msg);
+    wpi::util::print(stderr, "TimeSyncServer: {}\n", msg);
     return;
   }
 
@@ -47,8 +47,8 @@ static void ServerLoggerFunc(unsigned int level, const char* file,
   } else {
     return;
   }
-  fmt::print(stderr, "TimeSyncServer: {}: {} ({}:{})\n", levelmsg, msg, file,
-             line);
+  wpi::util::print(stderr, "TimeSyncServer: {}: {} ({}:{})\n", levelmsg, msg,
+                   file, line);
 }
 
 void wpi::tsp::TimeSyncServer::UdpCallback(wpi::net::uv::Buffer& data, size_t n,
diff --git a/photon-targeting/src/main/native/cpp/photon/constrained_solvepnp/wrap/casadi_wrapper.cpp b/photon-targeting/src/main/native/cpp/photon/constrained_solvepnp/wrap/casadi_wrapper.cpp
index e6b698c89a..8fb8e373a8 100644
--- a/photon-targeting/src/main/native/cpp/photon/constrained_solvepnp/wrap/casadi_wrapper.cpp
+++ b/photon-targeting/src/main/native/cpp/photon/constrained_solvepnp/wrap/casadi_wrapper.cpp
@@ -23,8 +23,8 @@
 #include <Eigen/Cholesky>
 #include <Eigen/Core>
 #include <Eigen/LU>
-#include <fmt/core.h>
 #include <wpi/math/fmt/Eigen.hpp>
+#include <wpi/util/print.hpp>
 #include <wpi/util/timestamp.hpp>
 
 #include "../generate/constrained_solvepnp_10_tags_fixed.h"
@@ -154,7 +154,7 @@ struct ProblemState {
 #undef MAKE_ARGV
 };
 
-wpi::util::expected<constrained_solvepnp::RobotStateMat, slp::ExitStatus>
+std::expected<constrained_solvepnp::RobotStateMat, slp::ExitStatus>
 constrained_solvepnp::do_optimization(
     bool heading_free, int nTags,
     constrained_solvepnp::CameraCalibration cameraCal,
@@ -167,9 +167,9 @@ constrained_solvepnp::do_optimization(
     double gyroθ, double gyroErrorScaleFac) {
   if (field2points.cols() != (nTags * 4) ||
       point_observations.cols() != (nTags * 4)) {
-    if constexpr (VERBOSE) fmt::println("Got unexpected num cols!");
+    if constexpr (VERBOSE) wpi::util::println("Got unexpected num cols!");
     // TODO find a new error code
-    return wpi::util::unexpected{slp::ExitStatus::NONFINITE_INITIAL_GUESS};
+    return std::unexpected{slp::ExitStatus::NONFINITE_INITIAL_GUESS};
   }
 
   // rescale observations to homogenous pixel coordinates
@@ -181,24 +181,24 @@ constrained_solvepnp::do_optimization(
   }
 
   if constexpr (VERBOSE) {
-    fmt::println("----------------------------------");
-    fmt::println("heading free {}; heading {}, cost={}", heading_free, gyroθ,
-                 gyroErrorScaleFac);
-    fmt::println("Camera cal {} {} {} {}", cameraCal.fx, cameraCal.fy,
-                 cameraCal.cx, cameraCal.cy);
-    fmt::println("{} tags", nTags);
-    // fmt::println("nstate {}", nState);
-
-    fmt::println("robot2camera:\n{}", robot2camera);
-    fmt::println("x guess:\n{}", x_guess);
-    fmt::println("field2pt:\n{}", field2points);
-    fmt::println("observations:\n{}", point_observations);
-    fmt::println("---------^^^^^^^^---------");
+    wpi::util::println("----------------------------------");
+    wpi::util::println("heading free {}; heading {}, cost={}", heading_free,
+                       gyroθ, gyroErrorScaleFac);
+    wpi::util::println("Camera cal {} {} {} {}", cameraCal.fx, cameraCal.fy,
+                       cameraCal.cx, cameraCal.cy);
+    wpi::util::println("{} tags", nTags);
+    // wpi::util::println("nstate {}", nState);
+
+    wpi::util::println("robot2camera:\n{}", robot2camera);
+    wpi::util::println("x guess:\n{}", x_guess);
+    wpi::util::println("field2pt:\n{}", field2points);
+    wpi::util::println("observations:\n{}", point_observations);
+    wpi::util::println("---------^^^^^^^^---------");
   }
 
   auto problemOpt = createProblem(nTags, heading_free);
   if (!problemOpt) {
-    return wpi::util::unexpected{slp::ExitStatus::NONFINITE_INITIAL_GUESS};
+    return std::unexpected{slp::ExitStatus::NONFINITE_INITIAL_GUESS};
   }
 
   ProblemState<3> pState{robot2camera,     field2points, point_observations,
@@ -228,7 +228,7 @@ constrained_solvepnp::do_optimization(
 
     // Check for diverging iterates
     if (x.template lpNorm<Eigen::Infinity>() > 1e20 || !x.allFinite()) {
-      return wpi::util::unexpected{slp::ExitStatus::DIVERGING_ITERATES};
+      return std::unexpected{slp::ExitStatus::DIVERGING_ITERATES};
     }
 
     GradMat g = pState.calculateGradJ(x);
@@ -238,7 +238,8 @@ constrained_solvepnp::do_optimization(
     if (norm_g < ERROR_TOL) {
       // Done!
       if constexpr (VERBOSE)
-        fmt::println("{}: Exiting due to convergence (‖∇J‖={})", iter, norm_g);
+        wpi::util::println("{}: Exiting due to convergence (‖∇J‖={})", iter,
+                           norm_g);
       break;
     }
 
@@ -248,8 +249,8 @@ constrained_solvepnp::do_optimization(
 
     auto H_ldlt = H.ldlt();
     if (H_ldlt.info() != Eigen::Success) {
-      fmt::println(stderr, "LDLT decomp failed! H=\n{}", H);
-      return wpi::util::unexpected{slp::ExitStatus::LOCALLY_INFEASIBLE};
+      wpi::util::println(stderr, "LDLT decomp failed! H=\n{}", H);
+      return std::unexpected{slp::ExitStatus::LOCALLY_INFEASIBLE};
     }
 
     // Make sure H is positive definite (all eigenvalues are > 0)
@@ -266,14 +267,14 @@ constrained_solvepnp::do_optimization(
       int MAX_REG_STEPS = 100;
       for (i_reg = 0; i_reg < MAX_REG_STEPS; i_reg++) {
         // Try δ, which we may have adjusted above
-        // std::printf("Trying %f\n", δ);
+        // wpi::util::printf("Trying %f\n", δ);
         HessianMat delta_I = HessianMat::Identity() * δ;
         H_reg = H + delta_I;
         H_ldlt = H_reg.ldlt();
 
         if (H_ldlt.info() != Eigen::Success) {
-          fmt::println(stderr, "LDLT decomp failed! H=\n{}", H);
-          return wpi::util::unexpected{slp::ExitStatus::LOCALLY_INFEASIBLE};
+          wpi::util::println(stderr, "LDLT decomp failed! H=\n{}", H);
+          return std::unexpected{slp::ExitStatus::LOCALLY_INFEASIBLE};
         }
 
         // If our eigenvalues aren't positive definite, pick a new δ for next
@@ -283,7 +284,7 @@ constrained_solvepnp::do_optimization(
 
           // If the Hessian perturbation is too high, report failure
           if (δ > 1e20) {
-            return wpi::util::unexpected{slp::ExitStatus::LOCALLY_INFEASIBLE};
+            return std::unexpected{slp::ExitStatus::LOCALLY_INFEASIBLE};
           }
         } else {
           // Done!
@@ -294,10 +295,10 @@ constrained_solvepnp::do_optimization(
       }
 
       if (i_reg == MAX_REG_STEPS) {
-        return wpi::util::unexpected{slp::ExitStatus::LOCALLY_INFEASIBLE};
+        return std::unexpected{slp::ExitStatus::LOCALLY_INFEASIBLE};
       }
     } else {
-      // std::printf("Already regularized\n");
+      // wpi::util::printf("Already regularized\n");
     }
 
     // Solve for p_x, and refine our solution
@@ -337,25 +338,25 @@ constrained_solvepnp::do_optimization(
 
         // If our step size shrank too much, report local infesibility
         if (alpha < α_min_frac * γConstraint) {
-          return wpi::util::unexpected{slp::ExitStatus::LOCALLY_INFEASIBLE};
+          return std::unexpected{slp::ExitStatus::LOCALLY_INFEASIBLE};
         }
       }
     }
 
     auto iter_end = wpi::nt::Now();
     if constexpr (VERBOSE) {
-      fmt::println(
+      wpi::util::println(
           "{}: {} uS, ‖∇J‖={}, α={} ({} refinement steps), {} regularization "
           "steps",
           iter, iter_end - iter_start, g.norm(), alpha, alpha_refinement,
           i_reg);
-      // fmt::println("∇J={}", g);
-      // fmt::println("H={}", H);
-      // fmt::println("p_x={}", p_x);
-      // fmt::println("|Hp_x + ∇f|₂={}", (H * p_x + g).norm());
+      // wpi::util::println("∇J={}", g);
+      // wpi::util::println("H={}", H);
+      // wpi::util::println("p_x={}", p_x);
+      // wpi::util::println("|Hp_x + ∇f|₂={}", (H * p_x + g).norm());
     }
   }
-  if constexpr (VERBOSE) fmt::println("======================");
+  if constexpr (VERBOSE) wpi::util::println("======================");
 
   return x;
 }
diff --git a/photon-targeting/src/main/native/cpp/photon/estimation/VisionEstimation.cpp b/photon-targeting/src/main/native/cpp/photon/estimation/VisionEstimation.cpp
index 975610bafc..631c9e5bbb 100644
--- a/photon-targeting/src/main/native/cpp/photon/estimation/VisionEstimation.cpp
+++ b/photon-targeting/src/main/native/cpp/photon/estimation/VisionEstimation.cpp
@@ -25,15 +25,15 @@
 namespace photon {
 namespace VisionEstimation {
 
-std::vector<wpi::apriltag::AprilTag> GetVisibleLayoutTags(
+std::vector<wpi::fields::FieldTag> GetVisibleLayoutTags(
     const std::vector<PhotonTrackedTarget>& visTags,
-    const wpi::apriltag::AprilTagFieldLayout& layout) {
-  std::vector<wpi::apriltag::AprilTag> retVal{};
+    const wpi::fields::Field& layout) {
+  std::vector<wpi::fields::FieldTag> retVal{};
   for (const auto& tag : visTags) {
     int id = tag.GetFiducialId();
     auto maybePose = layout.GetTagPose(id);
     if (maybePose) {
-      retVal.emplace_back(wpi::apriltag::AprilTag{id, maybePose.value()});
+      retVal.emplace_back(wpi::fields::FieldTag{id, maybePose.value()});
     }
   }
   return retVal;
@@ -43,20 +43,19 @@ std::optional<PnpResult> EstimateCamPosePNP(
     const Eigen::Matrix<double, 3, 3>& cameraMatrix,
     const Eigen::Matrix<double, 8, 1>& distCoeffs,
     const std::vector<PhotonTrackedTarget>& visTags,
-    const wpi::apriltag::AprilTagFieldLayout& layout,
-    const TargetModel& tagModel) {
+    const wpi::fields::Field& layout, const TargetModel& tagModel) {
   if (visTags.size() == 0) {
     return PnpResult();
   }
 
   std::vector<photon::TargetCorner> corners{};
-  std::vector<wpi::apriltag::AprilTag> knownTags{};
+  std::vector<wpi::fields::FieldTag> knownTags{};
 
   for (const auto& tgt : visTags) {
     int id = tgt.GetFiducialId();
     auto maybePose = layout.GetTagPose(id);
     if (maybePose) {
-      knownTags.emplace_back(wpi::apriltag::AprilTag{id, maybePose.value()});
+      knownTags.emplace_back(wpi::fields::FieldTag{id, maybePose.value()});
       auto currentCorners = tgt.GetDetectedCorners();
       corners.insert(corners.end(), currentCorners.begin(),
                      currentCorners.end());
@@ -111,8 +110,7 @@ std::optional<photon::PnpResult> EstimateRobotPoseConstrainedSolvePNP(
     const Eigen::Matrix<double, 8, 1>& distCoeffs,
     const std::vector<photon::PhotonTrackedTarget>& visTags,
     const wpi::math::Transform3d& robot2Camera,
-    const wpi::math::Pose3d& robotPoseSeed,
-    const wpi::apriltag::AprilTagFieldLayout& layout,
+    const wpi::math::Pose3d& robotPoseSeed, const wpi::fields::Field& layout,
     const photon::TargetModel& tagModel, bool headingFree,
     wpi::math::Rotation2d gyroTheta, double gyroErrorScaleFac) {
   if (visTags.size() == 0) {
@@ -120,13 +118,13 @@ std::optional<photon::PnpResult> EstimateRobotPoseConstrainedSolvePNP(
   }
 
   std::vector<photon::TargetCorner> corners{};
-  std::vector<wpi::apriltag::AprilTag> knownTags{};
+  std::vector<wpi::fields::FieldTag> knownTags{};
 
   for (const auto& tgt : visTags) {
     int id = tgt.GetFiducialId();
     auto maybePose = layout.GetTagPose(id);
     if (maybePose) {
-      knownTags.emplace_back(wpi::apriltag::AprilTag{id, maybePose.value()});
+      knownTags.emplace_back(wpi::fields::FieldTag{id, maybePose.value()});
       auto currentCorners = tgt.GetDetectedCorners();
       corners.insert(corners.end(), currentCorners.begin(),
                      currentCorners.end());
@@ -191,8 +189,8 @@ std::optional<photon::PnpResult> EstimateRobotPoseConstrainedSolvePNP(
       guess2.X().value(), guess2.Y().value(),
       guess2.Rotation().Radians().value()};
 
-  wpi::util::expected<constrained_solvepnp::RobotStateMat, slp::ExitStatus>
-      result = constrained_solvepnp::do_optimization(
+  std::expected<constrained_solvepnp::RobotStateMat, slp::ExitStatus> result =
+      constrained_solvepnp::do_optimization(
           headingFree, knownTags.size(), cameraCal, robotToCamera, guessMat,
           field2points, pointObservations, gyroTheta.Radians().value(),
           gyroErrorScaleFac);
diff --git a/photon-targeting/src/main/native/include/photon/constrained_solvepnp/wrap/casadi_wrapper.h b/photon-targeting/src/main/native/include/photon/constrained_solvepnp/wrap/casadi_wrapper.h
index 921e383096..100156d488 100644
--- a/photon-targeting/src/main/native/include/photon/constrained_solvepnp/wrap/casadi_wrapper.h
+++ b/photon-targeting/src/main/native/include/photon/constrained_solvepnp/wrap/casadi_wrapper.h
@@ -17,9 +17,10 @@
 
 #pragma once
 
+#include <expected>
+
 #include <Eigen/Core>
 #include <sleipnir/optimization/solver/exit_status.hpp>
-#include <wpi/util/expected>
 
 namespace constrained_solvepnp {
 using casadi_real = double;
@@ -40,7 +41,7 @@ using RobotStateMat = Eigen::Matrix<casadi_real, 3, 1>;
  * to this. The number of columns in field2points and point_observations just be
  * exactly 4x nTags.
  */
-wpi::util::expected<RobotStateMat, slp::ExitStatus> do_optimization(
+std::expected<RobotStateMat, slp::ExitStatus> do_optimization(
     bool heading_free, int nTags, CameraCalibration cameraCal,
     // Note that casadi is column major, apparently
     Eigen::Matrix<casadi_real, 4, 4, Eigen::ColMajor> robot2camera,
diff --git a/photon-targeting/src/main/native/include/photon/estimation/OpenCVHelp.h b/photon-targeting/src/main/native/include/photon/estimation/OpenCVHelp.h
index 059376dde2..28145a856e 100644
--- a/photon-targeting/src/main/native/include/photon/estimation/OpenCVHelp.h
+++ b/photon-targeting/src/main/native/include/photon/estimation/OpenCVHelp.h
@@ -29,6 +29,7 @@
 
 #define OPENCV_DISABLE_EIGEN_TENSOR_SUPPORT
 #include <opencv2/core/eigen.hpp>
+#include <wpi/util/print.hpp>
 
 #include "photon/targeting/PnpResult.h"
 #include "photon/targeting/TargetCorner.h"
@@ -256,7 +257,7 @@ static wpi::math::Rotation3d RVecToRotation(const cv::Mat& rvecInput) {
   }
 
   if (std::isnan(errors[0])) {
-    fmt::print("SolvePNP_Square failed!\n");
+    wpi::util::print("SolvePNP_Square failed!\n");
     return std::nullopt;
   }
   if (alt) {
@@ -304,7 +305,7 @@ static wpi::math::Rotation3d RVecToRotation(const cv::Mat& rvecInput) {
                                 RVecToRotation(rvecs[0])};
 
   if (std::isnan(error)) {
-    fmt::print("SolvePNP_Square failed!\n");
+    wpi::util::print("SolvePNP_Square failed!\n");
   }
   photon::PnpResult result;
   result.best = best;
diff --git a/photon-targeting/src/main/native/include/photon/estimation/VisionEstimation.h b/photon-targeting/src/main/native/include/photon/estimation/VisionEstimation.h
index 56e532a18f..f485e1fd8f 100644
--- a/photon-targeting/src/main/native/include/photon/estimation/VisionEstimation.h
+++ b/photon-targeting/src/main/native/include/photon/estimation/VisionEstimation.h
@@ -20,8 +20,8 @@
 #include <vector>
 
 #include <Eigen/Core>
-#include <wpi/apriltag/AprilTag.hpp>
-#include <wpi/apriltag/AprilTagFieldLayout.hpp>
+#include <wpi/fields/Field.hpp>
+#include <wpi/fields/FieldTag.hpp>
 
 #include "TargetModel.h"
 #include "photon/targeting/PhotonTrackedTarget.h"
@@ -30,24 +30,22 @@
 namespace photon {
 namespace VisionEstimation {
 
-std::vector<wpi::apriltag::AprilTag> GetVisibleLayoutTags(
+std::vector<wpi::fields::FieldTag> GetVisibleLayoutTags(
     const std::vector<PhotonTrackedTarget>& visTags,
-    const wpi::apriltag::AprilTagFieldLayout& layout);
+    const wpi::fields::Field& layout);
 
 std::optional<photon::PnpResult> EstimateCamPosePNP(
     const Eigen::Matrix<double, 3, 3>& cameraMatrix,
     const Eigen::Matrix<double, 8, 1>& distCoeffs,
     const std::vector<PhotonTrackedTarget>& visTags,
-    const wpi::apriltag::AprilTagFieldLayout& layout,
-    const TargetModel& tagModel);
+    const wpi::fields::Field& layout, const TargetModel& tagModel);
 
 std::optional<photon::PnpResult> EstimateRobotPoseConstrainedSolvePNP(
     const Eigen::Matrix<double, 3, 3>& cameraMatrix,
     const Eigen::Matrix<double, 8, 1>& distCoeffs,
     const std::vector<photon::PhotonTrackedTarget>& visTags,
     const wpi::math::Transform3d& robot2Camera,
-    const wpi::math::Pose3d& robotPoseSeed,
-    const wpi::apriltag::AprilTagFieldLayout& layout,
+    const wpi::math::Pose3d& robotPoseSeed, const wpi::fields::Field& layout,
     const photon::TargetModel& tagModel, bool headingFree,
     wpi::math::Rotation2d gyroTheta, double gyroErrorScaleFac);
 
diff --git a/photon-targeting/src/main/native/include/photon/targeting/PhotonPipelineResult.h b/photon-targeting/src/main/native/include/photon/targeting/PhotonPipelineResult.h
index 4cd9447e33..029a706532 100644
--- a/photon-targeting/src/main/native/include/photon/targeting/PhotonPipelineResult.h
+++ b/photon-targeting/src/main/native/include/photon/targeting/PhotonPipelineResult.h
@@ -21,10 +21,10 @@
 #include <utility>
 
 #include <wpi/units/time.hpp>
+#include <wpi/util/print.hpp>
 
 #include "MultiTargetPNPResult.h"
 #include "PhotonTrackedTarget.h"
-#include "fmt/base.h"
 #include "photon/struct/PhotonPipelineResultStruct.h"
 
 namespace photon {
@@ -70,7 +70,7 @@ class PhotonPipelineResult : public PhotonPipelineResult_PhotonStruct {
    */
   PhotonTrackedTarget GetBestTarget() const {
     if (!HasTargets() && !HAS_WARNED) {
-      fmt::println(
+      wpi::util::println(
           "WARNING: This PhotonPipelineResult object has no targets associated "
           "with it! "
           "Please check HasTargets() before calling this method. For more "
diff --git a/photon-targeting/src/main/native/jni/ConstrainedSolvepnpJNI.cpp b/photon-targeting/src/main/native/jni/ConstrainedSolvepnpJNI.cpp
index a4c4b8ea6b..1a48c311f4 100644
--- a/photon-targeting/src/main/native/jni/ConstrainedSolvepnpJNI.cpp
+++ b/photon-targeting/src/main/native/jni/ConstrainedSolvepnpJNI.cpp
@@ -68,8 +68,8 @@ Java_org_photonvision_jni_ConstrainedSolvepnpJni_do_1optimization
       pointObservationsMat(pointObservationsVec.data(), 2,
                            pointObservationsVec.size() / 2);
 
-  wpi::util::expected<constrained_solvepnp::RobotStateMat, slp::ExitStatus>
-      result = constrained_solvepnp::do_optimization(
+  std::expected<constrained_solvepnp::RobotStateMat, slp::ExitStatus> result =
+      constrained_solvepnp::do_optimization(
           headingFree, nTags, cameraCal_, robot2cameraMat, xGuessMat,
           field2pointsMat, pointObservationsMat, gyro_θ, gyro_error_scale_fac);
 
diff --git a/photon-targeting/src/main/native/jni/CscoreExtras.cpp b/photon-targeting/src/main/native/jni/CscoreExtras.cpp
index 5bbf40169c..3e397a102e 100644
--- a/photon-targeting/src/main/native/jni/CscoreExtras.cpp
+++ b/photon-targeting/src/main/native/jni/CscoreExtras.cpp
@@ -67,7 +67,7 @@ static void ReportError(JNIEnv* env, CS_Status status) {
       msg = "telemetry not enabled";
       break;
     default: {
-      msgBuf = fmt::format("unknown error code={}", status);
+      msgBuf = std::format("unknown error code={}", status);
       msg = msgBuf;
       break;
     }
diff --git a/photon-targeting/src/main/proto/photon.proto b/photon-targeting/src/main/proto/photon.proto
index dea75aab07..cf2dc454c0 100644
--- a/photon-targeting/src/main/proto/photon.proto
+++ b/photon-targeting/src/main/proto/photon.proto
@@ -19,7 +19,7 @@ syntax = "proto3";
 
 package photonvision.proto;
 
-import "geometry3d.proto";
+import "wpimath/protobuf/geometry3d.proto";
 
 option java_package = "org.photonvision.proto";
 
diff --git a/photon-targeting/src/test/java/ConstrainedSolvepnpTest.java b/photon-targeting/src/test/java/ConstrainedSolvepnpTest.java
index 0c78b1b505..269578b8f2 100644
--- a/photon-targeting/src/test/java/ConstrainedSolvepnpTest.java
+++ b/photon-targeting/src/test/java/ConstrainedSolvepnpTest.java
@@ -20,7 +20,6 @@
 
 import java.io.IOException;
 import java.util.Arrays;
-import org.junit.jupiter.api.AfterAll;
 import org.junit.jupiter.api.BeforeAll;
 import org.junit.jupiter.api.Test;
 import org.photonvision.jni.ConstrainedSolvepnpJni;
@@ -38,12 +37,7 @@ public static void load() throws IOException {
         }
         RuntimeLoader.loadLibrary("photontargetingJNI");
 
-        HAL.initialize(1000, 0);
-    }
-
-    @AfterAll
-    public static void teardown() {
-        HAL.shutdown();
+        HAL.initialize();
     }
 
     @Test
diff --git a/photon-targeting/src/test/java/jni/CscoreExtrasTest.java b/photon-targeting/src/test/java/jni/CscoreExtrasTest.java
index 2cefdd3c01..f3e910bab3 100644
--- a/photon-targeting/src/test/java/jni/CscoreExtrasTest.java
+++ b/photon-targeting/src/test/java/jni/CscoreExtrasTest.java
@@ -44,7 +44,7 @@ public static void load() throws IOException {
         }
         RuntimeLoader.loadLibrary("photontargetingJNI");
 
-        HAL.initialize(1000, 0);
+        HAL.initialize();
     }
 
     @AfterAll
diff --git a/photon-targeting/src/test/java/jni/FileLoggerTest.java b/photon-targeting/src/test/java/jni/FileLoggerTest.java
index 8aa29b0d67..07a1f72303 100644
--- a/photon-targeting/src/test/java/jni/FileLoggerTest.java
+++ b/photon-targeting/src/test/java/jni/FileLoggerTest.java
@@ -38,7 +38,7 @@ public static void load() throws IOException {
         }
         RuntimeLoader.loadLibrary("photontargetingJNI");
 
-        HAL.initialize(1000, 0);
+        HAL.initialize();
     }
 
     @AfterAll
diff --git a/photon-targeting/src/test/java/net/TimeSyncTest.java b/photon-targeting/src/test/java/net/TimeSyncTest.java
index fbbd4f1f25..f245fa89f2 100644
--- a/photon-targeting/src/test/java/net/TimeSyncTest.java
+++ b/photon-targeting/src/test/java/net/TimeSyncTest.java
@@ -33,7 +33,7 @@ public static void load() throws IOException {
         LibraryLoader.loadWpiLibraries();
         RuntimeLoader.loadLibrary("photontargetingJNI");
 
-        HAL.initialize(1000, 0);
+        HAL.initialize();
     }
 
     @AfterAll
diff --git a/photon-targeting/src/test/native/cpp/CasadiWrapperTest.cpp b/photon-targeting/src/test/native/cpp/CasadiWrapperTest.cpp
index a8fe9d8d1d..e7abedcdf1 100644
--- a/photon-targeting/src/test/native/cpp/CasadiWrapperTest.cpp
+++ b/photon-targeting/src/test/native/cpp/CasadiWrapperTest.cpp
@@ -15,7 +15,7 @@
  * along with this program.  If not, see <https://www.gnu.org/licenses/>.
  */
 
-#include <gtest/gtest.h>
+#include <catch2/catch_test_macros.hpp>
 #include <wpi/math/fmt/Eigen.hpp>
 #include <wpi/util/print.hpp>
 #include <wpi/util/timestamp.h>
@@ -180,4 +180,6 @@ void print_cost(casadi_real robot_x, casadi_real robot_y,
   }
 }
 
-TEST(CasadiWrapperTest, smoketest) { print_cost(0.1, 0.1, 0.0); }
+TEST_CASE("CasadiWrapperTest smoketest", "[casadi]") {
+  print_cost(0.1, 0.1, 0.0);
+}
diff --git a/photon-targeting/src/test/native/cpp/PacketTest.cpp b/photon-targeting/src/test/native/cpp/PacketTest.cpp
index 923d19713c..de5e3ff8e9 100644
--- a/photon-targeting/src/test/native/cpp/PacketTest.cpp
+++ b/photon-targeting/src/test/native/cpp/PacketTest.cpp
@@ -20,10 +20,10 @@
 #include <chrono>
 #include <vector>
 
+#include <catch2/catch_test_macros.hpp>
 #include <wpi/units/angle.hpp>
 #include <wpi/util/print.hpp>
 
-#include "gtest/gtest.h"
 #include "photon/targeting/MultiTargetPNPResult.h"
 #include "photon/targeting/PhotonPipelineResult.h"
 #include "photon/targeting/PhotonTrackedTarget.h"
@@ -31,7 +31,7 @@
 
 using namespace photon;
 
-TEST(PacketTest, PnpResult) {
+TEST_CASE("PacketTest PnpResult", "[packet]") {
   PnpResult result{};
 
   result.best = {1_m, 2_m, 3_m, wpi::math::Rotation3d{6_deg, 7_deg, 12_deg}};
@@ -46,7 +46,7 @@ TEST(PacketTest, PnpResult) {
 
   PnpResult b = p.Unpack<PnpResult>();
 
-  EXPECT_EQ(result, b);
+  CHECK(result == b);
 }
 
 // TEST(PacketTest, MultiTargetPNPResult) {
@@ -86,14 +86,14 @@ TEST(PacketTest, PnpResult) {
 //   EXPECT_EQ(target, b);
 // }
 
-TEST(PacketTest, PhotonPipelineResult) {
+TEST_CASE("PacketTest PhotonPipelineResult", "[packet]") {
   PhotonPipelineResult result(PhotonPipelineMetadata(0, 0, 1, 2),
                               std::vector<PhotonTrackedTarget>{}, std::nullopt);
 
   Packet p;
   p.Pack<decltype(result)>(result);
   auto b = p.Unpack<decltype(result)>();
-  EXPECT_EQ(result, b);
+  CHECK(result == b);
 
   std::vector<PhotonTrackedTarget> targets{
       PhotonTrackedTarget{
@@ -141,7 +141,7 @@ TEST(PacketTest, PhotonPipelineResult) {
   auto t2 = std::chrono::steady_clock::now();
   auto b2 = p2.Unpack<decltype(result2)>();
   auto t3 = std::chrono::steady_clock::now();
-  EXPECT_EQ(result2, b2);
+  CHECK(result2 == b2);
 
   wpi::util::println(
       "Pack {} unpack {} packet length {}",
diff --git a/photon-targeting/src/test/native/cpp/main.cpp b/photon-targeting/src/test/native/cpp/main.cpp
index 89d0cd5c16..9e5b7b3222 100644
--- a/photon-targeting/src/test/native/cpp/main.cpp
+++ b/photon-targeting/src/test/native/cpp/main.cpp
@@ -15,14 +15,34 @@
  * along with this program.  If not, see <https://www.gnu.org/licenses/>.
  */
 
+#include <string_view>
+
+#include <catch2/catch_session.hpp>
+#include <catch2/catch_test_macros.hpp>
 #include <wpi/hal/HAL.h>
 
-#include "gtest/gtest.h"
+namespace {
+
+bool IsCatchListCommand(int argc, char** argv) {
+  for (int i = 1; i < argc; ++i) {
+    std::string_view arg{argv[i]};
+    if (arg == "--list-tests" || arg == "--list-tags" ||
+        arg == "--list-reporters" || arg == "--list-listeners") {
+      return true;
+    }
+  }
+  return false;
+}
+
+}  // namespace
 
 int main(int argc, char** argv) {
-  HAL_Initialize(500, 0);
-  ::testing::InitGoogleTest(&argc, argv);
-  int ret = RUN_ALL_TESTS();
-  HAL_Shutdown();
+  if (!IsCatchListCommand(argc, argv)) {
+    HAL_Initialize();
+  }
+  int ret = Catch::Session().run(argc, argv);
+  if (!IsCatchListCommand(argc, argv)) {
+    HAL_Shutdown();
+  }
   return ret;
 }
diff --git a/photon-targeting/src/test/native/cpp/net/TimeSyncTest.cpp b/photon-targeting/src/test/native/cpp/net/TimeSyncTest.cpp
index 4d550607b8..e7f3842db4 100644
--- a/photon-targeting/src/test/native/cpp/net/TimeSyncTest.cpp
+++ b/photon-targeting/src/test/native/cpp/net/TimeSyncTest.cpp
@@ -15,13 +15,13 @@
  * along with this program.  If not, see <https://www.gnu.org/licenses/>.
  */
 
-#include <gtest/gtest.h>
+#include <catch2/catch_test_macros.hpp>
 #include <net/TimeSyncClient.h>
 #include <net/TimeSyncServer.h>
 #include <wpi/hal/HAL.h>
 #include <wpi/util/print.hpp>
 
-TEST(TimeSyncProtocolTest, Smoketest) {
+TEST_CASE("TimeSyncProtocolTest Smoketest", "[timesync]") {
   using namespace wpi::tsp;
   using namespace std::chrono_literals;
 
@@ -40,7 +40,7 @@ TEST(TimeSyncProtocolTest, Smoketest) {
   server.Stop();
 }
 
-TEST(TimeSyncClientTest, CalculateZero) {
+TEST_CASE("TimeSyncClientTest CalculateZero", "[timesync]") {
   using namespace wpi::tsp;
   using namespace std::chrono_literals;
 
@@ -61,13 +61,13 @@ TEST(TimeSyncClientTest, CalculateZero) {
   client.UpdateStatistics(pong_client_time, ping, pong);
 
   // THEN the statistics will reflect no delay
-  EXPECT_EQ(0, client.GetMetadata().offset);
-  EXPECT_EQ(0, client.GetMetadata().rtt2);
-  EXPECT_EQ(1u, client.GetMetadata().pongsReceived);
-  EXPECT_EQ(pong_client_time, client.GetMetadata().lastPongTime);
+  CHECK(0 == client.GetMetadata().offset);
+  CHECK(0 == client.GetMetadata().rtt2);
+  CHECK(1u == client.GetMetadata().pongsReceived);
+  CHECK(pong_client_time == client.GetMetadata().lastPongTime);
 }
 
-TEST(TimeSyncClientTest, CalculateZeroOffset) {
+TEST_CASE("TimeSyncClientTest CalculateZeroOffset", "[timesync]") {
   using namespace wpi::tsp;
   using namespace std::chrono_literals;
 
@@ -89,13 +89,13 @@ TEST(TimeSyncClientTest, CalculateZeroOffset) {
 
   // THEN the statistics will reflect no offset, and the expected rtt2
   // (client-to-client) latency
-  EXPECT_EQ(0, client.GetMetadata().offset);
-  EXPECT_EQ(20, client.GetMetadata().rtt2);
-  EXPECT_EQ(1u, client.GetMetadata().pongsReceived);
-  EXPECT_EQ(pong_client_time, client.GetMetadata().lastPongTime);
+  CHECK(0 == client.GetMetadata().offset);
+  CHECK(20 == client.GetMetadata().rtt2);
+  CHECK(1u == client.GetMetadata().pongsReceived);
+  CHECK(pong_client_time == client.GetMetadata().lastPongTime);
 }
 
-TEST(TimeSyncClientTest, CalculateZeroRtt) {
+TEST_CASE("TimeSyncClientTest CalculateZeroRtt", "[timesync]") {
   using namespace wpi::tsp;
   using namespace std::chrono_literals;
 
@@ -116,13 +116,13 @@ TEST(TimeSyncClientTest, CalculateZeroRtt) {
   client.UpdateStatistics(pong_client_time, ping, pong);
 
   // THEN the statistics will reflect the expected 23ms offset
-  EXPECT_EQ(23, client.GetMetadata().offset);
-  EXPECT_EQ(0, client.GetMetadata().rtt2);
-  EXPECT_EQ(1u, client.GetMetadata().pongsReceived);
-  EXPECT_EQ(pong_client_time, client.GetMetadata().lastPongTime);
+  CHECK(23 == client.GetMetadata().offset);
+  CHECK(0 == client.GetMetadata().rtt2);
+  CHECK(1u == client.GetMetadata().pongsReceived);
+  CHECK(pong_client_time == client.GetMetadata().lastPongTime);
 }
 
-TEST(TimeSyncClientTest, CalculateBoth) {
+TEST_CASE("TimeSyncClientTest CalculateBoth", "[timesync]") {
   using namespace wpi::tsp;
   using namespace std::chrono_literals;
 
@@ -146,8 +146,8 @@ TEST(TimeSyncClientTest, CalculateBoth) {
   client.UpdateStatistics(pong_client_time, ping, pong);
 
   // THEN the statistics will reflect the expected latency and RTT
-  EXPECT_EQ(offset, client.GetMetadata().offset);
-  EXPECT_EQ(network_latency * 2, client.GetMetadata().rtt2);
-  EXPECT_EQ(1u, client.GetMetadata().pongsReceived);
-  EXPECT_EQ(pong_client_time, client.GetMetadata().lastPongTime);
+  CHECK(offset == client.GetMetadata().offset);
+  CHECK(network_latency * 2 == client.GetMetadata().rtt2);
+  CHECK(1u == client.GetMetadata().pongsReceived);
+  CHECK(pong_client_time == client.GetMetadata().lastPongTime);
 }
diff --git a/photonlib-cpp-examples/aimandrange/src/main/include/Constants.h b/photonlib-cpp-examples/aimandrange/src/main/include/Constants.h
index d55d4fa7ea..fb3e011e8e 100644
--- a/photonlib-cpp-examples/aimandrange/src/main/include/Constants.h
+++ b/photonlib-cpp-examples/aimandrange/src/main/include/Constants.h
@@ -26,7 +26,6 @@
 
 #include <numbers>
 
-#include <wpi/apriltag/AprilTagFieldLayout.hpp>
 #include <wpi/apriltag/AprilTagFields.hpp>
 #include <wpi/math/controller/SimpleMotorFeedforward.hpp>
 #include <wpi/math/geometry/Transform3d.hpp>
diff --git a/photonlib-cpp-examples/aimandrange/src/main/include/VisionSim.h b/photonlib-cpp-examples/aimandrange/src/main/include/VisionSim.h
index fffc5b1d3b..4cc1fd8e80 100644
--- a/photonlib-cpp-examples/aimandrange/src/main/include/VisionSim.h
+++ b/photonlib-cpp-examples/aimandrange/src/main/include/VisionSim.h
@@ -33,7 +33,6 @@
 #include <photon/simulation/VisionSystemSim.h>
 #include <photon/simulation/VisionTargetSim.h>
 #include <photon/targeting/PhotonPipelineResult.h>
-#include <wpi/apriltag/AprilTagFieldLayout.hpp>
 #include <wpi/apriltag/AprilTagFields.hpp>
 
 #include "Constants.h"
diff --git a/photonlib-cpp-examples/aimandrange/src/test/cpp/main.cpp b/photonlib-cpp-examples/aimandrange/src/test/cpp/main.cpp
index 4fcf3fefd8..e5d3b8660a 100644
--- a/photonlib-cpp-examples/aimandrange/src/test/cpp/main.cpp
+++ b/photonlib-cpp-examples/aimandrange/src/test/cpp/main.cpp
@@ -27,7 +27,7 @@
 #include "gtest/gtest.h"
 
 int main(int argc, char** argv) {
-  HAL_Initialize(500, 0);
+  HAL_Initialize();
   ::testing::InitGoogleTest(&argc, argv);
   int ret = RUN_ALL_TESTS();
   return ret;
diff --git a/photonlib-cpp-examples/aimattarget/src/main/include/Constants.h b/photonlib-cpp-examples/aimattarget/src/main/include/Constants.h
index d55d4fa7ea..fb3e011e8e 100644
--- a/photonlib-cpp-examples/aimattarget/src/main/include/Constants.h
+++ b/photonlib-cpp-examples/aimattarget/src/main/include/Constants.h
@@ -26,7 +26,6 @@
 
 #include <numbers>
 
-#include <wpi/apriltag/AprilTagFieldLayout.hpp>
 #include <wpi/apriltag/AprilTagFields.hpp>
 #include <wpi/math/controller/SimpleMotorFeedforward.hpp>
 #include <wpi/math/geometry/Transform3d.hpp>
diff --git a/photonlib-cpp-examples/aimattarget/src/main/include/VisionSim.h b/photonlib-cpp-examples/aimattarget/src/main/include/VisionSim.h
index fffc5b1d3b..4cc1fd8e80 100644
--- a/photonlib-cpp-examples/aimattarget/src/main/include/VisionSim.h
+++ b/photonlib-cpp-examples/aimattarget/src/main/include/VisionSim.h
@@ -33,7 +33,6 @@
 #include <photon/simulation/VisionSystemSim.h>
 #include <photon/simulation/VisionTargetSim.h>
 #include <photon/targeting/PhotonPipelineResult.h>
-#include <wpi/apriltag/AprilTagFieldLayout.hpp>
 #include <wpi/apriltag/AprilTagFields.hpp>
 
 #include "Constants.h"
diff --git a/photonlib-cpp-examples/aimattarget/src/test/cpp/main.cpp b/photonlib-cpp-examples/aimattarget/src/test/cpp/main.cpp
index 4fcf3fefd8..e5d3b8660a 100644
--- a/photonlib-cpp-examples/aimattarget/src/test/cpp/main.cpp
+++ b/photonlib-cpp-examples/aimattarget/src/test/cpp/main.cpp
@@ -27,7 +27,7 @@
 #include "gtest/gtest.h"
 
 int main(int argc, char** argv) {
-  HAL_Initialize(500, 0);
+  HAL_Initialize();
   ::testing::InitGoogleTest(&argc, argv);
   int ret = RUN_ALL_TESTS();
   return ret;
diff --git a/photonlib-cpp-examples/poseest/src/main/include/Constants.h b/photonlib-cpp-examples/poseest/src/main/include/Constants.h
index d55d4fa7ea..fb3e011e8e 100644
--- a/photonlib-cpp-examples/poseest/src/main/include/Constants.h
+++ b/photonlib-cpp-examples/poseest/src/main/include/Constants.h
@@ -26,7 +26,6 @@
 
 #include <numbers>
 
-#include <wpi/apriltag/AprilTagFieldLayout.hpp>
 #include <wpi/apriltag/AprilTagFields.hpp>
 #include <wpi/math/controller/SimpleMotorFeedforward.hpp>
 #include <wpi/math/geometry/Transform3d.hpp>
diff --git a/photonlib-cpp-examples/poseest/src/main/include/Vision.h b/photonlib-cpp-examples/poseest/src/main/include/Vision.h
index ba2fa80803..14f0cff82b 100644
--- a/photonlib-cpp-examples/poseest/src/main/include/Vision.h
+++ b/photonlib-cpp-examples/poseest/src/main/include/Vision.h
@@ -34,7 +34,6 @@
 #include <photon/simulation/VisionSystemSim.h>
 #include <photon/simulation/VisionTargetSim.h>
 #include <photon/targeting/PhotonPipelineResult.h>
-#include <wpi/apriltag/AprilTagFieldLayout.hpp>
 #include <wpi/apriltag/AprilTagFields.hpp>
 
 #include "Constants.h"
diff --git a/photonlib-cpp-examples/poseest/src/test/cpp/main.cpp b/photonlib-cpp-examples/poseest/src/test/cpp/main.cpp
index 6b8949b2f2..4c88755f73 100644
--- a/photonlib-cpp-examples/poseest/src/test/cpp/main.cpp
+++ b/photonlib-cpp-examples/poseest/src/test/cpp/main.cpp
@@ -27,7 +27,7 @@
 #include "gtest/gtest.h"
 
 int main(int argc, char** argv) {
-  HAL_Initialize(500, 0);
+  HAL_Initialize();
   ::testing::InitGoogleTest(&argc, argv);
   int ret = RUN_ALL_TESTS();
   HAL_Shutdown();
diff --git a/shared/common.gradle b/shared/common.gradle
index 52ade2e6f9..7fd65fb607 100644
--- a/shared/common.gradle
+++ b/shared/common.gradle
@@ -31,6 +31,7 @@ dependencies {
     implementation "org.wpilib.hal:hal-java:$wpilibVersion"
     implementation "org.wpilib.wpilibj:wpilibj-java:$wpilibVersion"
     implementation "org.wpilib.apriltag:apriltag-java:$wpilibVersion"
+    implementation "org.wpilib.fields:fields-java:$wpilibVersion"
     implementation "org.wpilib.wpiunits:wpiunits-java:$wpilibVersion"
     implementation wpilibTools.deps.wpilibOpenCvJava(openCVversion)
 
diff --git a/shared/config.gradle b/shared/config.gradle
index 977252691f..5a89a5b825 100644
--- a/shared/config.gradle
+++ b/shared/config.gradle
@@ -7,6 +7,7 @@ nativeUtils.withCrossSystemCore()
 nativeUtils.wpi.configureDependencies {
     wpiVersion = wpilibVersion
     opencvVersion = openCVversion
+    mrcLibVersion = mrclibVersion
 }
 
 // Configure warnings and errors
diff --git a/shared/javacommon.gradle b/shared/javacommon.gradle
index 2ac23cd1a0..b7782b22b5 100644
--- a/shared/javacommon.gradle
+++ b/shared/javacommon.gradle
@@ -147,6 +147,7 @@ dependencies {
     implementation "org.wpilib.hal:hal-java:$wpilibVersion"
     implementation "org.wpilib.wpilibj:wpilibj-java:$wpilibVersion"
     implementation "org.wpilib.apriltag:apriltag-java:$wpilibVersion"
+    implementation "org.wpilib.fields:fields-java:$wpilibVersion"
     implementation "org.wpilib.wpiunits:wpiunits-java:$wpilibVersion"
     implementation wpilibTools.deps.wpilibOpenCvJava(openCVversion)