diff --git a/README.md b/README.md
index c50c94c..f6cd2bd 100644
--- a/README.md
+++ b/README.md
@@ -1,3 +1,65 @@
 # pysysid
 
  The Drop Bears' robot code for sysid in common mechanism types
+
+## Setup
+
+### Install dependencies
+
+We use `uv` to manage our dependencies in our development environments.
+This includes the Python version, and any Python packages such as `wpilib`.
+
+Install `uv` by following the [`uv` docs](https://docs.astral.sh/uv/).
+
+After installing `uv`, use it to create a virtual environment and install our dependencies.
+
+```sh
+uv sync
+```
+
+Then, download the roboRIO dependencies.
+
+```sh
+uv run python -m ensurepip
+uv run robotpy --main <SYSID_PROJECT> sync --no-install
+```
+
+### pre-commit
+
+[pre-commit][] is configured to run our formatters and linters.
+These are enforced for all code committed to this project.
+
+To use pre-commit, you must install it outside of this project's virtual environment.
+Either use your system package manager, or use `uv tool`:
+
+```sh
+uv tool install pre-commit
+```
+
+You can then set up the pre-commit hooks to run on commit:
+
+```sh
+pre-commit install
+```
+
+## Run
+
+### Simulation
+
+``` bash
+uv run robotpy --main <SYSID_PROJECT> sim
+```
+
+### Deploy to Robot
+
+Once on robots network
+
+``` bash
+uv run robotpy --main <SYSID_PROJECT> deploy
+```
+
+### Test
+
+``` bash
+uv run robotpy --main <SYSID_PROJECT> test
+```
diff --git a/flywheel/robot.py b/flywheel/robot.py
index cc722b4..4d1c131 100644
--- a/flywheel/robot.py
+++ b/flywheel/robot.py
@@ -5,7 +5,6 @@
 # the WPILib BSD license file in the root directory of this project.
 
 from commands2 import CommandScheduler, TimedCommandRobot
-
 from sysidroutinebot import SysIdRoutineBot
 
 
diff --git a/flywheel/subsystems/flywheel.py b/flywheel/subsystems/flywheel.py
index f976663..4687a08 100644
--- a/flywheel/subsystems/flywheel.py
+++ b/flywheel/subsystems/flywheel.py
@@ -4,19 +4,15 @@
 #
 
 import phoenix6
-
 from commands2 import Command, Subsystem
 from commands2.sysid import SysIdRoutine
-from wpilib import sysid
-
 from phoenix6 import SignalLogger
 from phoenix6.configs import FeedbackConfigs, MotorOutputConfigs
 from phoenix6.controls import Follower, VoltageOut
 from phoenix6.signals import NeutralModeValue
-
+from wpilib import sysid
 from wpimath.units import volts
 
-
 FollowerDescriptor = tuple[phoenix6.hardware.TalonFX, bool]
 
 
diff --git a/flywheel/sysidroutinebot.py b/flywheel/sysidroutinebot.py
index 0170e1e..57617fd 100644
--- a/flywheel/sysidroutinebot.py
+++ b/flywheel/sysidroutinebot.py
@@ -6,10 +6,8 @@
 from commands2 import Command
 from commands2.button import CommandXboxController
 from commands2.sysid import SysIdRoutine
-
-from subsystems.flywheel import Flywheel
-
 from constants import OIConstants, TalonIds
+from subsystems.flywheel import Flywheel
 
 
 class SysIdRoutineBot:
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-requires_python = ">=3.8"
-summary = "Binary wrapper for FRC wpinet library"
-groups = ["default"]
-dependencies = [
-    "robotpy-wpiutil==2024.3.1.0",
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-requires_python = ">=3.8"
-summary = "Binary wrapper for FRC WPIUtil library"
-groups = ["default"]
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-summary = "Easily download, build, install, upgrade, and uninstall Python packages"
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-version = "2024.3.1.0"
-requires_python = ">=3.8"
-summary = "Binary wrapper for FRC WPILib"
-groups = ["default"]
-dependencies = [
-    "pyntcore==2024.3.1.0",
-    "robotpy-cli~=2024.0b",
-    "robotpy-hal==2024.3.1.0",
-    "robotpy-wpimath==2024.3.1.0",
-    "robotpy-wpiutil==2024.3.1.0",
-]
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-]
diff --git a/pyproject.toml b/pyproject.toml
index 4ac1a34..040823f 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -1,5 +1,6 @@
 [tool.coverage.run]
 branch = true
+omit = ["config.py", "config-3.py"]
 
 [tool.coverage.report]
 exclude_lines = [
@@ -16,6 +17,19 @@ warn_unused_ignores = true
 warn_unreachable = true
 strict_equality = true
 
+[[tool.mypy.overrides]]
+module = "choreo.*"
+ignore_missing_imports = true
+
+[tool.pyright]
+exclude = [
+    "ctre_sim",
+    "logs",
+    # Default excludes
+    "**/__pycache__",
+    "**/.*",
+]
+
 [tool.pytest.ini_options]
 addopts = "--strict-markers -v --maxfail=2"
 pythonpath = "."
@@ -23,7 +37,7 @@ testpaths = ["tests"]
 xfail_strict = true
 
 [tool.ruff]
-target-version = "py39"
+target-version = "py311"
 
 [tool.ruff.lint]
 select = [
@@ -33,6 +47,8 @@ select = [
     "F",
     # flake8-bugbear
     "B",
+    # isort
+    "I",
     # pyupgrade
     "UP",
     # flake8-comprehensions
@@ -46,20 +62,19 @@ select = [
     # perflint
     "PERF",
 ]
-ignore = ["E501"]
-
-[tool.pdm]
-package-type = "application"
-
-[tool.pdm.scripts]
-deploy = "robotpy --main {args}/robot.py deploy"
-download = "robotpy sync --no-install"
-sim = "robotpy --main {args}/robot.py sim"
-test = "robotpy --main {args}/robot.py test --"
+ignore = [
+    "E501", # long lines
+    "B905", # zip() without strict=
+]
 
-[tool.pdm.dev-dependencies]
-dev = ["hypothesis", "pytest>=7.2.0", "pytest-integration>=0.2.3"]
-typing = ["mypy>=1.8.0"]
+[tool.uv]
+dev-dependencies = [
+    "hypothesis>=6.112.1",
+    "mypy>=1.8.0",
+    "pytest>=7.2.0",
+    "pytest-integration>=0.2.3",
+]
+prerelease = "allow"
 
 [project]
 name = "pysysid"
@@ -68,27 +83,24 @@ description = "The Drop Bears' ongoing system identification code"
 authors = [{ name = "The Drop Bears", email = "enquiries@thedropbears.org.au" }]
 readme = "README.md"
 license = { text = "MIT" }
-requires-python = ">=3.10,<3.13"
+requires-python = ">=3.12,<3.14"
 
 dependencies = [
-    "phoenix6~=24.2.0",
-    "robotpy==2024.3.1.0",
-    "robotpy-commands-v2~=2024.3.1",
-    "robotpy-navx~=2024.1.0",
-    "robotpy-rev~=2024.2.1",
-    "robotpy-urcl~=2024.0.1",
+    "phoenix6~=25.1.0",
+    "robotpy==2025.2.1.0",
+    "robotpy-commands-v2~=2025.1.1",
+    "robotpy-rev~=2025.0.1",
+    "robotpy-urcl~=2025.0.0",
 ]
 
 [tool.robotpy]
 requires = [
-    "phoenix6~=24.2.0",
-    "robotpy-commands-v2~=2023.3.1",
-    "robotpy-navx~=2024.1.0",
-    "robotpy-rev~=2024.2.1",
-    "robotpy-urcl~=2024.0.1",
+    "phoenix6~=25.1.0",
+    "robotpy-commands-v2~=2025.1.1",
+    "robotpy-rev~=2025.0.1",
+    "robotpy-urcl~=2025.0.0",
     # Not needed for these routines, but keep them on the robot for production.
     "numpy",
     "photonlibpy",
 ]
-robotpy_version = "2024.3.1.0"
-robotpy_extras = ["apriltag"]
+robotpy_version = "2025.2.1.0"
diff --git a/swerve_drive/robot.py b/swerve_drive/robot.py
index cc722b4..4d1c131 100644
--- a/swerve_drive/robot.py
+++ b/swerve_drive/robot.py
@@ -5,7 +5,6 @@
 # the WPILib BSD license file in the root directory of this project.
 
 from commands2 import CommandScheduler, TimedCommandRobot
-
 from sysidroutinebot import SysIdRoutineBot
 
 
diff --git a/swerve_drive/subsystems/drive.py b/swerve_drive/subsystems/drive.py
index e07bd4a..2948a61 100644
--- a/swerve_drive/subsystems/drive.py
+++ b/swerve_drive/subsystems/drive.py
@@ -7,21 +7,21 @@
 
 from commands2 import Command, Subsystem
 from commands2.sysid import SysIdRoutine
-from wpilib import sysid
-
+from constants import TalonIds
 from phoenix6 import SignalLogger
-from phoenix6.hardware import TalonFX
 from phoenix6.configs import FeedbackConfigs, MotorOutputConfigs
 from phoenix6.configs.config_groups import NeutralModeValue
 from phoenix6.controls import VoltageOut
-
+from phoenix6.hardware import TalonFX
+from wpilib import sysid
 from wpimath.units import volts
 
-from constants import TalonIds
-
 
 class Drive(Subsystem):
-    DRIVE_GEAR_RATIO = (14.0 / 50.0) * (25.0 / 19.0) * (15.0 / 45.0)
+    L1_DRIVE_GEAR_RATIO = (14.0 / 50.0) * (25.0 / 19.0) * (15.0 / 45.0)
+    L2_DRIVE_GEAR_RATIO = (14.0 / 50.0) * (27.0 / 17.0) * (15.0 / 45.0)
+
+    DRIVE_GEAR_RATIO = L1_DRIVE_GEAR_RATIO
     WHEEL_CIRCUMFERENCE = 4 * 2.54 / 100 * math.pi
 
     DRIVE_MOTOR_REV_TO_METRES = WHEEL_CIRCUMFERENCE * DRIVE_GEAR_RATIO
diff --git a/swerve_drive/sysidroutinebot.py b/swerve_drive/sysidroutinebot.py
index 5a4891f..b2e6a05 100644
--- a/swerve_drive/sysidroutinebot.py
+++ b/swerve_drive/sysidroutinebot.py
@@ -5,10 +5,8 @@
 from commands2 import Command
 from commands2.button import CommandXboxController
 from commands2.sysid import SysIdRoutine
-
-from subsystems.drive import Drive
-
 from constants import OIConstants
+from subsystems.drive import Drive
 
 
 class SysIdRoutineBot:
diff --git a/uv.lock b/uv.lock
new file mode 100644
index 0000000..59a3bd9
--- /dev/null
+++ b/uv.lock
@@ -0,0 +1,701 @@
+version = 1
+requires-python = ">=3.12, <3.14"
+
+[options]
+prerelease-mode = "allow"
+
+[[package]]
+name = "attrs"
+version = "24.3.0"
+source = { registry = "https://pypi.org/simple" }
+sdist = { url = "https://files.pythonhosted.org/packages/48/c8/6260f8ccc11f0917360fc0da435c5c9c7504e3db174d5a12a1494887b045/attrs-24.3.0.tar.gz", hash = "sha256:8f5c07333d543103541ba7be0e2ce16eeee8130cb0b3f9238ab904ce1e85baff", size = 805984 }
+wheels = [
+    { url = "https://files.pythonhosted.org/packages/89/aa/ab0f7891a01eeb2d2e338ae8fecbe57fcebea1a24dbb64d45801bfab481d/attrs-24.3.0-py3-none-any.whl", hash = "sha256:ac96cd038792094f438ad1f6ff80837353805ac950cd2aa0e0625ef19850c308", size = 63397 },
+]
+
+[[package]]
+name = "bcrypt"
+version = "4.2.1"
+source = { registry = "https://pypi.org/simple" }
+sdist = { url = "https://files.pythonhosted.org/packages/56/8c/dd696962612e4cd83c40a9e6b3db77bfe65a830f4b9af44098708584686c/bcrypt-4.2.1.tar.gz", hash = "sha256:6765386e3ab87f569b276988742039baab087b2cdb01e809d74e74503c2faafe", size = 24427 }
+wheels = [
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