From 9ebcc740e78e1c776cddefc627353789c0f035a7 Mon Sep 17 00:00:00 2001
From: Lewis <mcclelll@icloud.com>
Date: Fri, 25 Apr 2025 15:29:37 -0700
Subject: [PATCH 01/14] feat: set up a plugin for autogenerating bindings

---
 .idea/gradle.xml                              | 28 ++++++++-
 .idea/kotlinc.xml                             |  2 +-
 bindings-generator/build.gradle.kts           | 63 +++++++++++++++++++
 .../BindingsGeneratorPluginFunctionalTest.kt  | 43 +++++++++++++
 .../org/example/BindingsGeneratorPlugin.kt    | 21 +++++++
 .../example/BindingsGeneratorPluginTest.kt    | 22 +++++++
 build.gradle.kts                              |  4 +-
 examples/build.gradle.kts                     |  6 --
 examples/clawbot-kotlin/build.gradle.kts      |  4 +-
 examples/clawbot-kotlin/settings.gradle.kts   |  7 +++
 gradle-plugin/build.gradle.kts                |  2 +-
 gradle-plugin/settings.gradle.kts             |  8 +++
 gradle.properties                             |  2 +
 gradle/libs.versions.toml                     |  9 +++
 gradle/wrapper/gradle-wrapper.properties      |  2 +-
 settings.gradle.kts                           | 16 +++--
 16 files changed, 219 insertions(+), 20 deletions(-)
 create mode 100644 bindings-generator/build.gradle.kts
 create mode 100644 bindings-generator/src/functionalTest/kotlin/org/example/BindingsGeneratorPluginFunctionalTest.kt
 create mode 100644 bindings-generator/src/main/kotlin/org/example/BindingsGeneratorPlugin.kt
 create mode 100644 bindings-generator/src/test/kotlin/org/example/BindingsGeneratorPluginTest.kt
 delete mode 100644 examples/build.gradle.kts
 create mode 100644 examples/clawbot-kotlin/settings.gradle.kts
 create mode 100644 gradle.properties
 create mode 100644 gradle/libs.versions.toml

diff --git a/.idea/gradle.xml b/.idea/gradle.xml
index a451d16..c7cfdca 100644
--- a/.idea/gradle.xml
+++ b/.idea/gradle.xml
@@ -7,6 +7,31 @@
         <compositeConfiguration>
           <compositeBuild compositeDefinitionSource="SCRIPT">
             <builds>
+              <build path="$PROJECT_DIR$/bindings-generator" name="bindings-generator">
+                <projects>
+                  <project path="$PROJECT_DIR$/bindings-generator" />
+                </projects>
+              </build>
+              <build path="$PROJECT_DIR$/examples/build" name="build">
+                <projects>
+                  <project path="$PROJECT_DIR$/examples/build" />
+                </projects>
+              </build>
+              <build path="$PROJECT_DIR$/examples/clawbot" name="clawbot">
+                <projects>
+                  <project path="$PROJECT_DIR$/examples/clawbot" />
+                </projects>
+              </build>
+              <build path="$PROJECT_DIR$/examples/clawbot-kotlin" name="clawbot-kotlin">
+                <projects>
+                  <project path="$PROJECT_DIR$/examples/clawbot-kotlin" />
+                </projects>
+              </build>
+              <build path="$PROJECT_DIR$/examples/screen" name="screen">
+                <projects>
+                  <project path="$PROJECT_DIR$/examples/screen" />
+                </projects>
+              </build>
               <build path="$PROJECT_DIR$/gradle-plugin" name="hydrozoa">
                 <projects>
                   <project path="$PROJECT_DIR$/gradle-plugin" />
@@ -19,7 +44,8 @@
         <option name="modules">
           <set>
             <option value="$PROJECT_DIR$" />
-            <option value="$PROJECT_DIR$/examples" />
+            <option value="$PROJECT_DIR$/bindings-generator" />
+            <option value="$PROJECT_DIR$/examples/build" />
             <option value="$PROJECT_DIR$/examples/clawbot" />
             <option value="$PROJECT_DIR$/examples/clawbot-kotlin" />
             <option value="$PROJECT_DIR$/examples/screen" />
diff --git a/.idea/kotlinc.xml b/.idea/kotlinc.xml
index d4b7acc..131e44d 100644
--- a/.idea/kotlinc.xml
+++ b/.idea/kotlinc.xml
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <project version="4">
   <component name="KotlinJpsPluginSettings">
-    <option name="version" value="2.0.20" />
+    <option name="version" value="2.1.20" />
   </component>
 </project>
\ No newline at end of file
diff --git a/bindings-generator/build.gradle.kts b/bindings-generator/build.gradle.kts
new file mode 100644
index 0000000..7d30f64
--- /dev/null
+++ b/bindings-generator/build.gradle.kts
@@ -0,0 +1,63 @@
+/*
+ * This file was generated by the Gradle 'init' task.
+ *
+ * This generated file contains a sample Gradle plugin project to get you started.
+ * For more details on writing Custom Plugins, please refer to https://docs.gradle.org/8.10/userguide/custom_plugins.html in the Gradle documentation.
+ * This project uses @Incubating APIs which are subject to change.
+ */
+
+plugins {
+    // Apply the Java Gradle plugin development plugin to add support for developing Gradle plugins
+    `java-gradle-plugin`
+
+//    // Apply the Kotlin JVM plugin to add support for Kotlin.
+//    alias(libs.plugins.kotlin.jvm)
+}
+
+repositories {
+    // Use Maven Central for resolving dependencies.
+    mavenCentral()
+}
+
+testing {
+    suites {
+        // Configure the built-in test suite
+        val test by getting(JvmTestSuite::class) {
+            // Use Kotlin Test test framework
+            useKotlinTest("2.0.0")
+        }
+
+        // Create a new test suite
+        val functionalTest by registering(JvmTestSuite::class) {
+            // Use Kotlin Test test framework
+            useKotlinTest("2.0.0")
+
+            dependencies {
+                // functionalTest test suite depends on the production code in tests
+                implementation(project())
+            }
+
+            targets {
+                all {
+                    // This test suite should run after the built-in test suite has run its tests
+                    testTask.configure { shouldRunAfter(test) } 
+                }
+            }
+        }
+    }
+}
+
+gradlePlugin {
+    // Define the plugin
+    val greeting by plugins.creating {
+        id = "org.example.greeting"
+        implementationClass = "org.example.BindingsGeneratorPlugin"
+    }
+}
+
+gradlePlugin.testSourceSets.add(sourceSets["functionalTest"])
+
+tasks.named<Task>("check") {
+    // Include functionalTest as part of the check lifecycle
+    dependsOn(testing.suites.named("functionalTest"))
+}
diff --git a/bindings-generator/src/functionalTest/kotlin/org/example/BindingsGeneratorPluginFunctionalTest.kt b/bindings-generator/src/functionalTest/kotlin/org/example/BindingsGeneratorPluginFunctionalTest.kt
new file mode 100644
index 0000000..d0477c0
--- /dev/null
+++ b/bindings-generator/src/functionalTest/kotlin/org/example/BindingsGeneratorPluginFunctionalTest.kt
@@ -0,0 +1,43 @@
+/*
+ * This source file was generated by the Gradle 'init' task
+ */
+package org.example
+
+import java.io.File
+import kotlin.test.assertTrue
+import kotlin.test.Test
+import org.gradle.testkit.runner.GradleRunner
+import org.junit.jupiter.api.io.TempDir
+
+/**
+ * A simple functional test for the 'org.example.greeting' plugin.
+ */
+class BindingsGeneratorPluginFunctionalTest {
+
+    @field:TempDir
+    lateinit var projectDir: File
+
+    private val buildFile by lazy { projectDir.resolve("build.gradle") }
+    private val settingsFile by lazy { projectDir.resolve("settings.gradle") }
+
+    @Test fun `can run task`() {
+        // Set up the test build
+        settingsFile.writeText("")
+        buildFile.writeText("""
+            plugins {
+                id('org.example.greeting')
+            }
+        """.trimIndent())
+
+        // Run the build
+        val runner = GradleRunner.create()
+        runner.forwardOutput()
+        runner.withPluginClasspath()
+        runner.withArguments("greeting")
+        runner.withProjectDir(projectDir)
+        val result = runner.build()
+
+        // Verify the result
+        assertTrue(result.output.contains("Hello from plugin 'org.example.greeting'"))
+    }
+}
diff --git a/bindings-generator/src/main/kotlin/org/example/BindingsGeneratorPlugin.kt b/bindings-generator/src/main/kotlin/org/example/BindingsGeneratorPlugin.kt
new file mode 100644
index 0000000..65e65da
--- /dev/null
+++ b/bindings-generator/src/main/kotlin/org/example/BindingsGeneratorPlugin.kt
@@ -0,0 +1,21 @@
+/*
+ * This source file was generated by the Gradle 'init' task
+ */
+package org.example
+
+import org.gradle.api.Project
+import org.gradle.api.Plugin
+
+/**
+ * A simple 'hello world' plugin.
+ */
+class BindingsGeneratorPlugin: Plugin<Project> {
+    override fun apply(project: Project) {
+        // Register a task
+        project.tasks.register("greeting") { task ->
+            task.doLast {
+                println("Hello from plugin 'org.example.greeting'")
+            }
+        }
+    }
+}
diff --git a/bindings-generator/src/test/kotlin/org/example/BindingsGeneratorPluginTest.kt b/bindings-generator/src/test/kotlin/org/example/BindingsGeneratorPluginTest.kt
new file mode 100644
index 0000000..6c6a0e6
--- /dev/null
+++ b/bindings-generator/src/test/kotlin/org/example/BindingsGeneratorPluginTest.kt
@@ -0,0 +1,22 @@
+/*
+ * This source file was generated by the Gradle 'init' task
+ */
+package org.example
+
+import org.gradle.testfixtures.ProjectBuilder
+import kotlin.test.Test
+import kotlin.test.assertNotNull
+
+/**
+ * A simple unit test for the 'org.example.greeting' plugin.
+ */
+class BindingsGeneratorPluginTest {
+    @Test fun `plugin registers task`() {
+        // Create a test project and apply the plugin
+        val project = ProjectBuilder.builder().build()
+        project.plugins.apply("org.example.greeting")
+
+        // Verify the result
+        assertNotNull(project.tasks.findByName("greeting"))
+    }
+}
diff --git a/build.gradle.kts b/build.gradle.kts
index b04941a..48e20fe 100644
--- a/build.gradle.kts
+++ b/build.gradle.kts
@@ -3,9 +3,9 @@ plugins {
     `maven-publish`
     idea
 
-    id("org.teavm.library").version("0.10.2")
+    alias(libs.plugins.teavm)
+    alias(libs.plugins.jreleaser)
     id("dev.vexide.hydrozoa").apply(false)
-    id("org.jreleaser") version "1.15.0"
 }
 
 group = "dev.vexide"
diff --git a/examples/build.gradle.kts b/examples/build.gradle.kts
deleted file mode 100644
index 6efc6d2..0000000
--- a/examples/build.gradle.kts
+++ /dev/null
@@ -1,6 +0,0 @@
-subprojects {
-    dependencies {
-        // Add Hydrozoa SDK from project root
-        implementation(project(":"))
-    }
-}
diff --git a/examples/clawbot-kotlin/build.gradle.kts b/examples/clawbot-kotlin/build.gradle.kts
index 4a102ef..9d620e3 100644
--- a/examples/clawbot-kotlin/build.gradle.kts
+++ b/examples/clawbot-kotlin/build.gradle.kts
@@ -1,6 +1,6 @@
 plugins {
-    kotlin("jvm") version "2.0.20"
-        id("dev.vexide.hydrozoa")
+    kotlin("jvm") version libs.versions.kotlin
+    id("dev.vexide.hydrozoa")
 }
 
 hydrozoa {
diff --git a/examples/clawbot-kotlin/settings.gradle.kts b/examples/clawbot-kotlin/settings.gradle.kts
new file mode 100644
index 0000000..eaf86e3
--- /dev/null
+++ b/examples/clawbot-kotlin/settings.gradle.kts
@@ -0,0 +1,7 @@
+dependencyResolutionManagement {
+    versionCatalogs {
+        create("libs") {
+            from(files("../../gradle/libs.versions.toml"))
+        }
+    }
+}
\ No newline at end of file
diff --git a/gradle-plugin/build.gradle.kts b/gradle-plugin/build.gradle.kts
index d1691a5..000ac8f 100644
--- a/gradle-plugin/build.gradle.kts
+++ b/gradle-plugin/build.gradle.kts
@@ -1,6 +1,6 @@
 plugins {
     `kotlin-dsl`
-    id("com.gradle.plugin-publish") version "1.2.1"
+    alias(libs.plugins.publish)
 }
 
 group = "dev.vexide"
diff --git a/gradle-plugin/settings.gradle.kts b/gradle-plugin/settings.gradle.kts
index 3e17473..5ff2f2f 100644
--- a/gradle-plugin/settings.gradle.kts
+++ b/gradle-plugin/settings.gradle.kts
@@ -1 +1,9 @@
 rootProject.name = "hydrozoa"
+
+dependencyResolutionManagement {
+    versionCatalogs {
+        create("libs") {
+            from(files("../gradle/libs.versions.toml"))
+        }
+    }
+}
\ No newline at end of file
diff --git a/gradle.properties b/gradle.properties
new file mode 100644
index 0000000..54e4993
--- /dev/null
+++ b/gradle.properties
@@ -0,0 +1,2 @@
+org.gradle.parallel=true
+org.gradle.caching=true
\ No newline at end of file
diff --git a/gradle/libs.versions.toml b/gradle/libs.versions.toml
new file mode 100644
index 0000000..2d0b192
--- /dev/null
+++ b/gradle/libs.versions.toml
@@ -0,0 +1,9 @@
+[libraries]
+
+[plugins]
+teavm = { id = "org.teavm", version = "0.10.2" }
+jreleaser = { id = "org.jreleaser", version = "1.15.0" }
+publish = { id = "com.gradle.plugin-publish", version = "1.2.1" }
+
+[versions]
+kotlin = "2.1.20"
\ No newline at end of file
diff --git a/gradle/wrapper/gradle-wrapper.properties b/gradle/wrapper/gradle-wrapper.properties
index 9355b41..ca025c8 100644
--- a/gradle/wrapper/gradle-wrapper.properties
+++ b/gradle/wrapper/gradle-wrapper.properties
@@ -1,6 +1,6 @@
 distributionBase=GRADLE_USER_HOME
 distributionPath=wrapper/dists
-distributionUrl=https\://services.gradle.org/distributions/gradle-8.10-bin.zip
+distributionUrl=https\://services.gradle.org/distributions/gradle-8.14-bin.zip
 networkTimeout=10000
 validateDistributionUrl=true
 zipStoreBase=GRADLE_USER_HOME
diff --git a/settings.gradle.kts b/settings.gradle.kts
index 9c1e694..ecd4932 100644
--- a/settings.gradle.kts
+++ b/settings.gradle.kts
@@ -4,13 +4,17 @@ plugins {
 rootProject.name = "hydrozoa"
 
 includeBuild("gradle-plugin")
+includeBuild("bindings-generator")
 
 include("vex-sdk")
 findProject("vex-sdk")?.name = "vex-sdk"
 
-include("examples:clawbot")
-findProject(":examples:clawbot")?.name = "clawbot"
-include("examples:clawbot-kotlin")
-findProject(":examples:clawbot-kotlin")?.name = "clawbot-kotlin"
-include("examples:screen")
-findProject(":examples:screen")?.name = "screen"
+val examples = file("examples").listFiles()
+for (exampleFile in examples) {
+    includeBuild(exampleFile) {
+        name = "examples.${exampleFile.name}"
+        dependencySubstitution {
+            substitute(module("dev.vexide.hydrozoa:hydrozoa")).using(project(":"))
+        }
+    }
+}

From c33367cee19483e1e0a59c4c30ccc27d1d97ba11 Mon Sep 17 00:00:00 2001
From: Lewis <mcclelll@icloud.com>
Date: Tue, 29 Apr 2025 15:21:38 -0700
Subject: [PATCH 02/14] feat: add logic for generating methods

---
 bindings-generator/build.gradle.kts           |   13 +-
 bindings-generator/settings.gradle.kts        |    7 +
 .../bindings/BindingsGeneratorPlugin.kt       |  148 ++
 .../org/example/BindingsGeneratorPlugin.kt    |   21 -
 hydrozoa_api.json                             | 1491 +++++++++++++++++
 5 files changed, 1656 insertions(+), 24 deletions(-)
 create mode 100644 bindings-generator/settings.gradle.kts
 create mode 100644 bindings-generator/src/main/kotlin/dev/vexide/hydrozoa/plugin/bindings/BindingsGeneratorPlugin.kt
 delete mode 100644 bindings-generator/src/main/kotlin/org/example/BindingsGeneratorPlugin.kt
 create mode 100644 hydrozoa_api.json

diff --git a/bindings-generator/build.gradle.kts b/bindings-generator/build.gradle.kts
index 7d30f64..b711c22 100644
--- a/bindings-generator/build.gradle.kts
+++ b/bindings-generator/build.gradle.kts
@@ -11,7 +11,8 @@ plugins {
     `java-gradle-plugin`
 
 //    // Apply the Kotlin JVM plugin to add support for Kotlin.
-//    alias(libs.plugins.kotlin.jvm)
+    kotlin("jvm") version libs.versions.kotlin
+    kotlin("plugin.serialization") version libs.versions.kotlin
 }
 
 repositories {
@@ -19,6 +20,12 @@ repositories {
     mavenCentral()
 }
 
+dependencies {
+    implementation("com.github.javaparser:javaparser-core:3.26.4")
+    implementation("org.jetbrains.kotlinx:kotlinx-serialization-json:1.8.1")
+    implementation("com.google.guava:guava:33.4.8-jre")
+}
+
 testing {
     suites {
         // Configure the built-in test suite
@@ -50,8 +57,8 @@ testing {
 gradlePlugin {
     // Define the plugin
     val greeting by plugins.creating {
-        id = "org.example.greeting"
-        implementationClass = "org.example.BindingsGeneratorPlugin"
+        id = "dev.vexide.hydrozoa.plugin.bindings"
+        implementationClass = "dev.vexide.hydrozoa.BindingsGeneratorPlugin"
     }
 }
 
diff --git a/bindings-generator/settings.gradle.kts b/bindings-generator/settings.gradle.kts
new file mode 100644
index 0000000..fa8bc74
--- /dev/null
+++ b/bindings-generator/settings.gradle.kts
@@ -0,0 +1,7 @@
+dependencyResolutionManagement {
+    versionCatalogs {
+        create("libs") {
+            from(files("../gradle/libs.versions.toml"))
+        }
+    }
+}
\ No newline at end of file
diff --git a/bindings-generator/src/main/kotlin/dev/vexide/hydrozoa/plugin/bindings/BindingsGeneratorPlugin.kt b/bindings-generator/src/main/kotlin/dev/vexide/hydrozoa/plugin/bindings/BindingsGeneratorPlugin.kt
new file mode 100644
index 0000000..a9faa95
--- /dev/null
+++ b/bindings-generator/src/main/kotlin/dev/vexide/hydrozoa/plugin/bindings/BindingsGeneratorPlugin.kt
@@ -0,0 +1,148 @@
+/*
+ * This source file was generated by the Gradle 'init' task
+ */
+package dev.vexide.hydrozoa.plugin.bindings
+
+import com.github.javaparser.StaticJavaParser
+import com.github.javaparser.ast.CompilationUnit
+import com.github.javaparser.ast.Modifier.Keyword
+import com.github.javaparser.ast.type.Type
+import com.github.javaparser.ast.body.ClassOrInterfaceDeclaration
+import com.github.javaparser.ast.expr.StringLiteralExpr
+import com.github.javaparser.ast.type.PrimitiveType
+import com.github.javaparser.ast.type.PrimitiveType.Primitive
+import com.github.javaparser.ast.type.VoidType
+import com.google.common.base.CaseFormat
+import kotlinx.serialization.SerialName
+import kotlinx.serialization.Serializable
+import kotlinx.serialization.json.Json
+import org.gradle.api.DefaultTask
+import org.gradle.api.Project
+import org.gradle.api.Plugin
+import org.gradle.api.file.DirectoryProperty
+import org.gradle.api.file.RegularFileProperty
+import org.gradle.api.tasks.InputFile
+import org.gradle.api.tasks.OutputDirectory
+import org.gradle.api.tasks.TaskAction
+
+/**
+ * A simple 'hello world' plugin.
+ */
+class BindingsGeneratorPlugin: Plugin<Project> {
+
+    override fun apply(project: Project) {
+        // Register a task
+        project.tasks.register("greeting") { task ->
+            task.doLast {
+                println("Hello from plugin 'org.example.greeting'")
+
+            }
+        }
+    }
+}
+
+@Serializable
+data class SdkModule(
+    val name: String,
+    val items: List<SdkItem>,
+    val enums: List<SdkEnum>,
+)
+
+@Serializable
+data class SdkItem(
+    val name: String,
+    val params: List<Param>,
+    val returns: Type?,
+) {
+    @Serializable
+    data class Param(
+        val name: String,
+        val type: Type,
+    )
+
+    @Serializable
+    sealed class Type {
+        @Serializable @SerialName("Bool")
+        object Bool: Type()
+
+        @Serializable @SerialName("Int")
+        object Int: Type()
+
+        @Serializable @SerialName("Long")
+        object Long: Type()
+
+        @Serializable @SerialName("Float")
+        object Float: Type()
+
+        @Serializable @SerialName("Double")
+        object Double: Type()
+
+        @Serializable @SerialName("StringPtr")
+        object StringPtr: Type()
+
+        @Serializable @SerialName("Named")
+        data class Named(val name: String): Type()
+    }
+}
+
+@Serializable
+data class SdkEnum(
+    val name: String,
+    @SerialName("underlying_type")
+    val underlyingType: SdkItem.Type,
+    val variants: Map<String, Double>,
+)
+
+abstract class GenerateBindingsTask : DefaultTask() {
+    @get:InputFile
+    abstract val apiFile: RegularFileProperty
+
+    @get:OutputDirectory
+    abstract val outputDirectory: DirectoryProperty
+
+    @TaskAction
+    fun generateBindings() {
+        val apiFile = apiFile.asFile.get()
+        val api = Json.decodeFromString<SdkModule>(apiFile.readText())
+    }
+}
+
+class JavaSdkModule(val sdk: SdkModule) {
+    fun generate(): CompilationUnit {
+        val cu = CompilationUnit("dev.vexide.hydrozoa.sdk.generated")
+
+        var className = CaseFormat.LOWER_UNDERSCORE.to(CaseFormat.UPPER_CAMEL, sdk.name) + "Sdk"
+        val bindingsClass = cu.addClass(className, Keyword.PUBLIC, Keyword.STATIC, Keyword.FINAL)
+            .addSingleMemberAnnotation(
+                javax.annotation.processing.Generated::class.java,
+                StringLiteralExpr("dev.vexide.hydrozoa.plugin.bindings.BindingsGeneratorPlugin"))
+            .addAnnotation("org.teavm.interop.StaticInit")
+
+        for (item in sdk.items) {
+            JavaSdkItem(item).generate(bindingsClass)
+        }
+
+        return cu
+    }
+}
+
+class JavaSdkItem(val sdk: SdkItem) {
+    fun generate(bindingsClass: ClassOrInterfaceDeclaration) {
+        bindingsClass
+            .addMethod(sdk.name, Keyword.PUBLIC, Keyword.STATIC)
+            .setType(rawTypeFor(sdk.returns))
+    }
+
+    private fun rawTypeFor(type: SdkItem.Type?): Type {
+        return when (type) {
+            null -> VoidType()
+            is SdkItem.Type.Bool -> PrimitiveType(Primitive.BOOLEAN)
+            is SdkItem.Type.Int -> PrimitiveType(Primitive.INT)
+            is SdkItem.Type.Long -> PrimitiveType(Primitive.LONG)
+            is SdkItem.Type.Float -> PrimitiveType(Primitive.FLOAT)
+            is SdkItem.Type.Double -> PrimitiveType(Primitive.DOUBLE)
+            is SdkItem.Type.StringPtr -> StaticJavaParser.parseClassOrInterfaceType("String")
+            is SdkItem.Type.Named -> StaticJavaParser.parseClassOrInterfaceType(type.name)
+        }
+    }
+}
diff --git a/bindings-generator/src/main/kotlin/org/example/BindingsGeneratorPlugin.kt b/bindings-generator/src/main/kotlin/org/example/BindingsGeneratorPlugin.kt
deleted file mode 100644
index 65e65da..0000000
--- a/bindings-generator/src/main/kotlin/org/example/BindingsGeneratorPlugin.kt
+++ /dev/null
@@ -1,21 +0,0 @@
-/*
- * This source file was generated by the Gradle 'init' task
- */
-package org.example
-
-import org.gradle.api.Project
-import org.gradle.api.Plugin
-
-/**
- * A simple 'hello world' plugin.
- */
-class BindingsGeneratorPlugin: Plugin<Project> {
-    override fun apply(project: Project) {
-        // Register a task
-        project.tasks.register("greeting") { task ->
-            task.doLast {
-                println("Hello from plugin 'org.example.greeting'")
-            }
-        }
-    }
-}
diff --git a/hydrozoa_api.json b/hydrozoa_api.json
new file mode 100644
index 0000000..d236a61
--- /dev/null
+++ b/hydrozoa_api.json
@@ -0,0 +1,1491 @@
+{
+  "name": "vex",
+  "items": [
+    {
+      "name": "vexDisplayForegroundColor",
+      "params": [
+        {
+          "name": "col",
+          "type": {
+            "type": "Int"
+          }
+        }
+      ],
+      "returns": null
+    },
+    {
+      "name": "vexDisplayBackgroundColor",
+      "params": [
+        {
+          "name": "col",
+          "type": {
+            "type": "Int"
+          }
+        }
+      ],
+      "returns": null
+    },
+    {
+      "name": "vexDisplayErase",
+      "params": [],
+      "returns": null
+    },
+    {
+      "name": "vexDisplayScroll",
+      "params": [
+        {
+          "name": "nStartLine",
+          "type": {
+            "type": "Int"
+          }
+        },
+        {
+          "name": "nLines",
+          "type": {
+            "type": "Int"
+          }
+        }
+      ],
+      "returns": null
+    },
+    {
+      "name": "vexDisplayScrollRect",
+      "params": [
+        {
+          "name": "x1",
+          "type": {
+            "type": "Int"
+          }
+        },
+        {
+          "name": "y1",
+          "type": {
+            "type": "Int"
+          }
+        },
+        {
+          "name": "x2",
+          "type": {
+            "type": "Int"
+          }
+        },
+        {
+          "name": "y2",
+          "type": {
+            "type": "Int"
+          }
+        },
+        {
+          "name": "nLines",
+          "type": {
+            "type": "Int"
+          }
+        }
+      ],
+      "returns": null
+    },
+    {
+      "name": "vexDisplayPixelSet",
+      "params": [
+        {
+          "name": "x",
+          "type": {
+            "type": "Int"
+          }
+        },
+        {
+          "name": "y",
+          "type": {
+            "type": "Int"
+          }
+        }
+      ],
+      "returns": null
+    },
+    {
+      "name": "vexDisplayPixelClear",
+      "params": [
+        {
+          "name": "x",
+          "type": {
+            "type": "Int"
+          }
+        },
+        {
+          "name": "y",
+          "type": {
+            "type": "Int"
+          }
+        }
+      ],
+      "returns": null
+    },
+    {
+      "name": "vexDisplayLineDraw",
+      "params": [
+        {
+          "name": "x1",
+          "type": {
+            "type": "Int"
+          }
+        },
+        {
+          "name": "y1",
+          "type": {
+            "type": "Int"
+          }
+        },
+        {
+          "name": "x2",
+          "type": {
+            "type": "Int"
+          }
+        },
+        {
+          "name": "y2",
+          "type": {
+            "type": "Int"
+          }
+        }
+      ],
+      "returns": null
+    },
+    {
+      "name": "vexDisplayLineClear",
+      "params": [
+        {
+          "name": "x1",
+          "type": {
+            "type": "Int"
+          }
+        },
+        {
+          "name": "y1",
+          "type": {
+            "type": "Int"
+          }
+        },
+        {
+          "name": "x2",
+          "type": {
+            "type": "Int"
+          }
+        },
+        {
+          "name": "y2",
+          "type": {
+            "type": "Int"
+          }
+        }
+      ],
+      "returns": null
+    },
+    {
+      "name": "vexDisplayRectDraw",
+      "params": [
+        {
+          "name": "x1",
+          "type": {
+            "type": "Int"
+          }
+        },
+        {
+          "name": "y1",
+          "type": {
+            "type": "Int"
+          }
+        },
+        {
+          "name": "x2",
+          "type": {
+            "type": "Int"
+          }
+        },
+        {
+          "name": "y2",
+          "type": {
+            "type": "Int"
+          }
+        }
+      ],
+      "returns": null
+    },
+    {
+      "name": "vexDisplayRectClear",
+      "params": [
+        {
+          "name": "x1",
+          "type": {
+            "type": "Int"
+          }
+        },
+        {
+          "name": "y1",
+          "type": {
+            "type": "Int"
+          }
+        },
+        {
+          "name": "x2",
+          "type": {
+            "type": "Int"
+          }
+        },
+        {
+          "name": "y2",
+          "type": {
+            "type": "Int"
+          }
+        }
+      ],
+      "returns": null
+    },
+    {
+      "name": "vexDisplayRectFill",
+      "params": [
+        {
+          "name": "x1",
+          "type": {
+            "type": "Int"
+          }
+        },
+        {
+          "name": "y1",
+          "type": {
+            "type": "Int"
+          }
+        },
+        {
+          "name": "x2",
+          "type": {
+            "type": "Int"
+          }
+        },
+        {
+          "name": "y2",
+          "type": {
+            "type": "Int"
+          }
+        }
+      ],
+      "returns": null
+    },
+    {
+      "name": "vexDisplayCircleDraw",
+      "params": [
+        {
+          "name": "xc",
+          "type": {
+            "type": "Int"
+          }
+        },
+        {
+          "name": "yc",
+          "type": {
+            "type": "Int"
+          }
+        },
+        {
+          "name": "radius",
+          "type": {
+            "type": "Int"
+          }
+        }
+      ],
+      "returns": null
+    },
+    {
+      "name": "vexDisplayCircleClear",
+      "params": [
+        {
+          "name": "xc",
+          "type": {
+            "type": "Int"
+          }
+        },
+        {
+          "name": "yc",
+          "type": {
+            "type": "Int"
+          }
+        },
+        {
+          "name": "radius",
+          "type": {
+            "type": "Int"
+          }
+        }
+      ],
+      "returns": null
+    },
+    {
+      "name": "vexDisplayCircleFill",
+      "params": [
+        {
+          "name": "xc",
+          "type": {
+            "type": "Int"
+          }
+        },
+        {
+          "name": "yc",
+          "type": {
+            "type": "Int"
+          }
+        },
+        {
+          "name": "radius",
+          "type": {
+            "type": "Int"
+          }
+        }
+      ],
+      "returns": null
+    },
+    {
+      "name": "vexDisplayTextSize",
+      "params": [
+        {
+          "name": "n",
+          "type": {
+            "type": "Int"
+          }
+        },
+        {
+          "name": "d",
+          "type": {
+            "type": "Int"
+          }
+        }
+      ],
+      "returns": null
+    },
+    {
+      "name": "vexDisplayForegroundColorGet",
+      "params": [],
+      "returns": {
+        "type": "Int"
+      }
+    },
+    {
+      "name": "vexDisplayBackgroundColorGet",
+      "params": [],
+      "returns": {
+        "type": "Int"
+      }
+    },
+    {
+      "name": "vexDisplayClipRegionSet",
+      "params": [
+        {
+          "name": "x1",
+          "type": {
+            "type": "Int"
+          }
+        },
+        {
+          "name": "y1",
+          "type": {
+            "type": "Int"
+          }
+        },
+        {
+          "name": "x2",
+          "type": {
+            "type": "Int"
+          }
+        },
+        {
+          "name": "y2",
+          "type": {
+            "type": "Int"
+          }
+        }
+      ],
+      "returns": null
+    },
+    {
+      "name": "vexDisplayRender",
+      "params": [
+        {
+          "name": "bVsyncWait",
+          "type": {
+            "type": "Bool"
+          }
+        },
+        {
+          "name": "bRunScheduler",
+          "type": {
+            "type": "Bool"
+          }
+        }
+      ],
+      "returns": null
+    },
+    {
+      "name": "vexDisplayDoubleBufferDisable",
+      "params": [],
+      "returns": null
+    },
+    {
+      "name": "vexDisplayClipRegionSetWithIndex",
+      "params": [
+        {
+          "name": "index",
+          "type": {
+            "type": "Int"
+          }
+        },
+        {
+          "name": "x1",
+          "type": {
+            "type": "Int"
+          }
+        },
+        {
+          "name": "y1",
+          "type": {
+            "type": "Int"
+          }
+        },
+        {
+          "name": "x2",
+          "type": {
+            "type": "Int"
+          }
+        },
+        {
+          "name": "y2",
+          "type": {
+            "type": "Int"
+          }
+        }
+      ],
+      "returns": null
+    },
+    {
+      "name": "vexDisplayPrintf",
+      "params": [
+        {
+          "name": "xpos",
+          "type": {
+            "type": "Int"
+          }
+        },
+        {
+          "name": "ypos",
+          "type": {
+            "type": "Int"
+          }
+        },
+        {
+          "name": "bOpaque",
+          "type": {
+            "type": "Int"
+          }
+        },
+        {
+          "name": "string",
+          "type": {
+            "type": "StringPtr"
+          }
+        }
+      ],
+      "returns": null
+    },
+    {
+      "name": "vexDisplayString",
+      "params": [
+        {
+          "name": "nLineNumber",
+          "type": {
+            "type": "Int"
+          }
+        },
+        {
+          "name": "string",
+          "type": {
+            "type": "StringPtr"
+          }
+        }
+      ],
+      "returns": null
+    },
+    {
+      "name": "vexDisplayStringAt",
+      "params": [
+        {
+          "name": "xpos",
+          "type": {
+            "type": "Int"
+          }
+        },
+        {
+          "name": "ypos",
+          "type": {
+            "type": "Int"
+          }
+        },
+        {
+          "name": "string",
+          "type": {
+            "type": "StringPtr"
+          }
+        }
+      ],
+      "returns": null
+    },
+    {
+      "name": "vexDisplayBigString",
+      "params": [
+        {
+          "name": "nLineNumber",
+          "type": {
+            "type": "Int"
+          }
+        },
+        {
+          "name": "string",
+          "type": {
+            "type": "StringPtr"
+          }
+        }
+      ],
+      "returns": null
+    },
+    {
+      "name": "vexDisplayBigStringAt",
+      "params": [
+        {
+          "name": "xpos",
+          "type": {
+            "type": "Int"
+          }
+        },
+        {
+          "name": "ypos",
+          "type": {
+            "type": "Int"
+          }
+        },
+        {
+          "name": "string",
+          "type": {
+            "type": "StringPtr"
+          }
+        }
+      ],
+      "returns": null
+    },
+    {
+      "name": "vexDisplaySmallStringAt",
+      "params": [
+        {
+          "name": "xpos",
+          "type": {
+            "type": "Int"
+          }
+        },
+        {
+          "name": "ypos",
+          "type": {
+            "type": "Int"
+          }
+        },
+        {
+          "name": "string",
+          "type": {
+            "type": "StringPtr"
+          }
+        }
+      ],
+      "returns": null
+    },
+    {
+      "name": "vexDisplayCenteredString",
+      "params": [
+        {
+          "name": "nLineNumber",
+          "type": {
+            "type": "Int"
+          }
+        },
+        {
+          "name": "string",
+          "type": {
+            "type": "StringPtr"
+          }
+        }
+      ],
+      "returns": null
+    },
+    {
+      "name": "vexDisplayBigCenteredString",
+      "params": [
+        {
+          "name": "nLineNumber",
+          "type": {
+            "type": "Int"
+          }
+        },
+        {
+          "name": "string",
+          "type": {
+            "type": "StringPtr"
+          }
+        }
+      ],
+      "returns": null
+    },
+    {
+      "name": "vexControllerGet",
+      "params": [
+        {
+          "name": "id",
+          "type": {
+            "type": "Named",
+            "name": "V5_ControllerId"
+          }
+        },
+        {
+          "name": "index",
+          "type": {
+            "type": "Named",
+            "name": "V5_ControllerIndex"
+          }
+        }
+      ],
+      "returns": {
+        "type": "Int"
+      }
+    },
+    {
+      "name": "vexControllerConnectionStatusGet",
+      "params": [
+        {
+          "name": "id",
+          "type": {
+            "type": "Named",
+            "name": "V5_ControllerId"
+          }
+        }
+      ],
+      "returns": {
+        "type": "Named",
+        "name": "V5_ControllerStatus"
+      }
+    },
+    {
+      "name": "vexDeviceGetByIndex",
+      "params": [
+        {
+          "name": "index",
+          "type": {
+            "type": "Int"
+          }
+        }
+      ],
+      "returns": {
+        "type": "Int"
+      }
+    },
+    {
+      "name": "vexDeviceMotorVelocitySet",
+      "params": [
+        {
+          "name": "device",
+          "type": {
+            "type": "Int"
+          }
+        },
+        {
+          "name": "velocity",
+          "type": {
+            "type": "Int"
+          }
+        }
+      ],
+      "returns": null
+    },
+    {
+      "name": "vexDeviceMotorVelocityGet",
+      "params": [
+        {
+          "name": "device",
+          "type": {
+            "type": "Int"
+          }
+        }
+      ],
+      "returns": {
+        "type": "Int"
+      }
+    },
+    {
+      "name": "vexDeviceMotorActualVelocityGet",
+      "params": [
+        {
+          "name": "device",
+          "type": {
+            "type": "Int"
+          }
+        }
+      ],
+      "returns": {
+        "type": "Double"
+      }
+    },
+    {
+      "name": "vexDeviceMotorDirectionGet",
+      "params": [
+        {
+          "name": "device",
+          "type": {
+            "type": "Int"
+          }
+        }
+      ],
+      "returns": {
+        "type": "Int"
+      }
+    },
+    {
+      "name": "vexDeviceMotorModeSet",
+      "params": [
+        {
+          "name": "device",
+          "type": {
+            "type": "Int"
+          }
+        },
+        {
+          "name": "mode",
+          "type": {
+            "type": "Named",
+            "name": "V5MotorControlMode"
+          }
+        }
+      ],
+      "returns": null
+    },
+    {
+      "name": "vexDeviceMotorModeGet",
+      "params": [
+        {
+          "name": "device",
+          "type": {
+            "type": "Int"
+          }
+        }
+      ],
+      "returns": {
+        "type": "Named",
+        "name": "V5MotorControlMode"
+      }
+    },
+    {
+      "name": "vexDeviceMotorPwmSet",
+      "params": [
+        {
+          "name": "device",
+          "type": {
+            "type": "Int"
+          }
+        },
+        {
+          "name": "pwm",
+          "type": {
+            "type": "Int"
+          }
+        }
+      ],
+      "returns": null
+    },
+    {
+      "name": "vexDeviceMotorPwmGet",
+      "params": [
+        {
+          "name": "device",
+          "type": {
+            "type": "Int"
+          }
+        }
+      ],
+      "returns": {
+        "type": "Int"
+      }
+    },
+    {
+      "name": "vexDeviceMotorCurrentLimitSet",
+      "params": [
+        {
+          "name": "device",
+          "type": {
+            "type": "Int"
+          }
+        },
+        {
+          "name": "limit",
+          "type": {
+            "type": "Int"
+          }
+        }
+      ],
+      "returns": null
+    },
+    {
+      "name": "vexDeviceMotorCurrentLimitGet",
+      "params": [
+        {
+          "name": "device",
+          "type": {
+            "type": "Int"
+          }
+        }
+      ],
+      "returns": {
+        "type": "Int"
+      }
+    },
+    {
+      "name": "vexDeviceMotorCurrentGet",
+      "params": [
+        {
+          "name": "device",
+          "type": {
+            "type": "Int"
+          }
+        }
+      ],
+      "returns": {
+        "type": "Int"
+      }
+    },
+    {
+      "name": "vexDeviceMotorPowerGet",
+      "params": [
+        {
+          "name": "device",
+          "type": {
+            "type": "Int"
+          }
+        }
+      ],
+      "returns": {
+        "type": "Double"
+      }
+    },
+    {
+      "name": "vexDeviceMotorTorqueGet",
+      "params": [
+        {
+          "name": "device",
+          "type": {
+            "type": "Int"
+          }
+        }
+      ],
+      "returns": {
+        "type": "Double"
+      }
+    },
+    {
+      "name": "vexDeviceMotorEfficiencyGet",
+      "params": [
+        {
+          "name": "device",
+          "type": {
+            "type": "Int"
+          }
+        }
+      ],
+      "returns": {
+        "type": "Double"
+      }
+    },
+    {
+      "name": "vexDeviceMotorTemperatureGet",
+      "params": [
+        {
+          "name": "device",
+          "type": {
+            "type": "Int"
+          }
+        }
+      ],
+      "returns": {
+        "type": "Double"
+      }
+    },
+    {
+      "name": "vexDeviceMotorOverTempFlagGet",
+      "params": [
+        {
+          "name": "device",
+          "type": {
+            "type": "Int"
+          }
+        }
+      ],
+      "returns": {
+        "type": "Bool"
+      }
+    },
+    {
+      "name": "vexDeviceMotorCurrentLimitFlagGet",
+      "params": [
+        {
+          "name": "device",
+          "type": {
+            "type": "Int"
+          }
+        }
+      ],
+      "returns": {
+        "type": "Bool"
+      }
+    },
+    {
+      "name": "vexDeviceMotorZeroVelocityFlagGet",
+      "params": [
+        {
+          "name": "device",
+          "type": {
+            "type": "Int"
+          }
+        }
+      ],
+      "returns": {
+        "type": "Bool"
+      }
+    },
+    {
+      "name": "vexDeviceMotorZeroPositionFlagGet",
+      "params": [
+        {
+          "name": "device",
+          "type": {
+            "type": "Int"
+          }
+        }
+      ],
+      "returns": {
+        "type": "Bool"
+      }
+    },
+    {
+      "name": "vexDeviceMotorReverseFlagSet",
+      "params": [
+        {
+          "name": "device",
+          "type": {
+            "type": "Int"
+          }
+        },
+        {
+          "name": "reverse",
+          "type": {
+            "type": "Bool"
+          }
+        }
+      ],
+      "returns": null
+    },
+    {
+      "name": "vexDeviceMotorReverseFlagGet",
+      "params": [
+        {
+          "name": "device",
+          "type": {
+            "type": "Int"
+          }
+        }
+      ],
+      "returns": {
+        "type": "Bool"
+      }
+    },
+    {
+      "name": "vexDeviceMotorEncoderUnitsSet",
+      "params": [
+        {
+          "name": "device",
+          "type": {
+            "type": "Int"
+          }
+        },
+        {
+          "name": "units",
+          "type": {
+            "type": "Named",
+            "name": "V5MotorEncoderUnits"
+          }
+        }
+      ],
+      "returns": null
+    },
+    {
+      "name": "vexDeviceMotorEncoderUnitsGet",
+      "params": [
+        {
+          "name": "device",
+          "type": {
+            "type": "Int"
+          }
+        }
+      ],
+      "returns": {
+        "type": "Named",
+        "name": "V5MotorEncoderUnits"
+      }
+    },
+    {
+      "name": "vexDeviceMotorBrakeModeSet",
+      "params": [
+        {
+          "name": "device",
+          "type": {
+            "type": "Int"
+          }
+        },
+        {
+          "name": "mode",
+          "type": {
+            "type": "Named",
+            "name": "V5MotorBrakeMode"
+          }
+        }
+      ],
+      "returns": null
+    },
+    {
+      "name": "vexDeviceMotorBrakeModeGet",
+      "params": [
+        {
+          "name": "device",
+          "type": {
+            "type": "Int"
+          }
+        }
+      ],
+      "returns": {
+        "type": "Named",
+        "name": "V5MotorBrakeMode"
+      }
+    },
+    {
+      "name": "vexDeviceMotorPositionSet",
+      "params": [
+        {
+          "name": "device",
+          "type": {
+            "type": "Int"
+          }
+        },
+        {
+          "name": "position",
+          "type": {
+            "type": "Double"
+          }
+        }
+      ],
+      "returns": null
+    },
+    {
+      "name": "vexDeviceMotorPositionGet",
+      "params": [
+        {
+          "name": "device",
+          "type": {
+            "type": "Int"
+          }
+        }
+      ],
+      "returns": {
+        "type": "Double"
+      }
+    },
+    {
+      "name": "vexDeviceMotorPositionReset",
+      "params": [
+        {
+          "name": "device",
+          "type": {
+            "type": "Int"
+          }
+        }
+      ],
+      "returns": null
+    },
+    {
+      "name": "vexDeviceMotorTargetGet",
+      "params": [
+        {
+          "name": "device",
+          "type": {
+            "type": "Int"
+          }
+        }
+      ],
+      "returns": {
+        "type": "Double"
+      }
+    },
+    {
+      "name": "vexDeviceMotorServoTargetSet",
+      "params": [
+        {
+          "name": "device",
+          "type": {
+            "type": "Int"
+          }
+        },
+        {
+          "name": "position",
+          "type": {
+            "type": "Double"
+          }
+        }
+      ],
+      "returns": null
+    },
+    {
+      "name": "vexDeviceMotorAbsoluteTargetSet",
+      "params": [
+        {
+          "name": "device",
+          "type": {
+            "type": "Int"
+          }
+        },
+        {
+          "name": "position",
+          "type": {
+            "type": "Double"
+          }
+        },
+        {
+          "name": "veloctiy",
+          "type": {
+            "type": "Int"
+          }
+        }
+      ],
+      "returns": null
+    },
+    {
+      "name": "vexDeviceMotorRelativeTargetSet",
+      "params": [
+        {
+          "name": "device",
+          "type": {
+            "type": "Int"
+          }
+        },
+        {
+          "name": "position",
+          "type": {
+            "type": "Double"
+          }
+        },
+        {
+          "name": "velocity",
+          "type": {
+            "type": "Int"
+          }
+        }
+      ],
+      "returns": null
+    },
+    {
+      "name": "vexDeviceMotorFaultsGet",
+      "params": [
+        {
+          "name": "device",
+          "type": {
+            "type": "Int"
+          }
+        }
+      ],
+      "returns": {
+        "type": "Int"
+      }
+    },
+    {
+      "name": "vexDeviceMotorFlagsGet",
+      "params": [
+        {
+          "name": "device",
+          "type": {
+            "type": "Int"
+          }
+        }
+      ],
+      "returns": {
+        "type": "Int"
+      }
+    },
+    {
+      "name": "vexDeviceMotorVoltageSet",
+      "params": [
+        {
+          "name": "device",
+          "type": {
+            "type": "Int"
+          }
+        },
+        {
+          "name": "voltage",
+          "type": {
+            "type": "Int"
+          }
+        }
+      ],
+      "returns": null
+    },
+    {
+      "name": "vexDeviceMotorVoltageGet",
+      "params": [
+        {
+          "name": "device",
+          "type": {
+            "type": "Int"
+          }
+        }
+      ],
+      "returns": {
+        "type": "Int"
+      }
+    },
+    {
+      "name": "vexDeviceMotorGearingSet",
+      "params": [
+        {
+          "name": "device",
+          "type": {
+            "type": "Int"
+          }
+        },
+        {
+          "name": "gearset",
+          "type": {
+            "type": "Named",
+            "name": "V5MotorGearset"
+          }
+        }
+      ],
+      "returns": null
+    },
+    {
+      "name": "vexDeviceMotorGearingGet",
+      "params": [
+        {
+          "name": "device",
+          "type": {
+            "type": "Int"
+          }
+        }
+      ],
+      "returns": {
+        "type": "Named",
+        "name": "V5MotorGearset"
+      }
+    },
+    {
+      "name": "vexDeviceMotorVoltageLimitSet",
+      "params": [
+        {
+          "name": "device",
+          "type": {
+            "type": "Int"
+          }
+        },
+        {
+          "name": "limit",
+          "type": {
+            "type": "Int"
+          }
+        }
+      ],
+      "returns": null
+    },
+    {
+      "name": "vexDeviceMotorVoltageLimitGet",
+      "params": [
+        {
+          "name": "device",
+          "type": {
+            "type": "Int"
+          }
+        }
+      ],
+      "returns": {
+        "type": "Int"
+      }
+    },
+    {
+      "name": "vexDeviceMotorVelocityUpdate",
+      "params": [
+        {
+          "name": "device",
+          "type": {
+            "type": "Int"
+          }
+        },
+        {
+          "name": "velocity",
+          "type": {
+            "type": "Int"
+          }
+        }
+      ],
+      "returns": null
+    },
+    {
+      "name": "vexDeviceMotorExternalProfileSet",
+      "params": [
+        {
+          "name": "device",
+          "type": {
+            "type": "Int"
+          }
+        },
+        {
+          "name": "position",
+          "type": {
+            "type": "Double"
+          }
+        },
+        {
+          "name": "velocity",
+          "type": {
+            "type": "Int"
+          }
+        }
+      ],
+      "returns": null
+    },
+    {
+      "name": "vexSerialWriteChar",
+      "params": [
+        {
+          "name": "channel",
+          "type": {
+            "type": "Int"
+          }
+        },
+        {
+          "name": "c",
+          "type": {
+            "type": "Int"
+          }
+        }
+      ],
+      "returns": {
+        "type": "Int"
+      }
+    },
+    {
+      "name": "vexSerialReadChar",
+      "params": [
+        {
+          "name": "channel",
+          "type": {
+            "type": "Int"
+          }
+        }
+      ],
+      "returns": {
+        "type": "Int"
+      }
+    },
+    {
+      "name": "vexSerialPeekChar",
+      "params": [
+        {
+          "name": "channel",
+          "type": {
+            "type": "Int"
+          }
+        }
+      ],
+      "returns": {
+        "type": "Int"
+      }
+    },
+    {
+      "name": "vexSerialWriteFree",
+      "params": [
+        {
+          "name": "channel",
+          "type": {
+            "type": "Int"
+          }
+        }
+      ],
+      "returns": {
+        "type": "Int"
+      }
+    },
+    {
+      "name": "vexSystemTimeGet",
+      "params": [],
+      "returns": {
+        "type": "Int"
+      }
+    },
+    {
+      "name": "vexSystemExitRequest",
+      "params": [],
+      "returns": null
+    },
+    {
+      "name": "vexSystemHighResTimeGet",
+      "params": [],
+      "returns": {
+        "type": "Long"
+      }
+    },
+    {
+      "name": "vexSystemPowerupTimeGet",
+      "params": [],
+      "returns": {
+        "type": "Long"
+      }
+    },
+    {
+      "name": "vexSystemLinkAddrGet",
+      "params": [],
+      "returns": {
+        "type": "Int"
+      }
+    },
+    {
+      "name": "vexSystemVersion",
+      "params": [],
+      "returns": {
+        "type": "Int"
+      }
+    },
+    {
+      "name": "vexStdlibVersion",
+      "params": [],
+      "returns": {
+        "type": "Int"
+      }
+    },
+    {
+      "name": "vexTasksRun",
+      "params": [],
+      "returns": null
+    },
+    {
+      "name": "vexCompetitionStatus",
+      "params": [],
+      "returns": {
+        "type": "Int"
+      }
+    }
+  ],
+  "enums": []
+}
\ No newline at end of file

From d6668f691468f09be9820002404ac05efcf94112 Mon Sep 17 00:00:00 2001
From: Lewis <mcclelll@icloud.com>
Date: Thu, 1 May 2025 15:26:56 -0700
Subject: [PATCH 03/14] feat: generate files on build

---
 bindings-generator/build.gradle.kts           |   2 +-
 .../bindings/BindingsGeneratorPlugin.kt       | 100 +++++++++++++++---
 vex-sdk/build.gradle.kts                      |  17 ++-
 3 files changed, 105 insertions(+), 14 deletions(-)

diff --git a/bindings-generator/build.gradle.kts b/bindings-generator/build.gradle.kts
index b711c22..4aeda6d 100644
--- a/bindings-generator/build.gradle.kts
+++ b/bindings-generator/build.gradle.kts
@@ -58,7 +58,7 @@ gradlePlugin {
     // Define the plugin
     val greeting by plugins.creating {
         id = "dev.vexide.hydrozoa.plugin.bindings"
-        implementationClass = "dev.vexide.hydrozoa.BindingsGeneratorPlugin"
+        implementationClass = "dev.vexide.hydrozoa.plugin.bindings.BindingsGeneratorPlugin"
     }
 }
 
diff --git a/bindings-generator/src/main/kotlin/dev/vexide/hydrozoa/plugin/bindings/BindingsGeneratorPlugin.kt b/bindings-generator/src/main/kotlin/dev/vexide/hydrozoa/plugin/bindings/BindingsGeneratorPlugin.kt
index a9faa95..6c737ba 100644
--- a/bindings-generator/src/main/kotlin/dev/vexide/hydrozoa/plugin/bindings/BindingsGeneratorPlugin.kt
+++ b/bindings-generator/src/main/kotlin/dev/vexide/hydrozoa/plugin/bindings/BindingsGeneratorPlugin.kt
@@ -5,13 +5,17 @@ package dev.vexide.hydrozoa.plugin.bindings
 
 import com.github.javaparser.StaticJavaParser
 import com.github.javaparser.ast.CompilationUnit
+import com.github.javaparser.ast.Modifier
 import com.github.javaparser.ast.Modifier.Keyword
 import com.github.javaparser.ast.type.Type
 import com.github.javaparser.ast.body.ClassOrInterfaceDeclaration
+import com.github.javaparser.ast.expr.AnnotationExpr
+import com.github.javaparser.ast.expr.SimpleName
 import com.github.javaparser.ast.expr.StringLiteralExpr
 import com.github.javaparser.ast.type.PrimitiveType
 import com.github.javaparser.ast.type.PrimitiveType.Primitive
 import com.github.javaparser.ast.type.VoidType
+import com.github.javaparser.utils.SourceRoot
 import com.google.common.base.CaseFormat
 import kotlinx.serialization.SerialName
 import kotlinx.serialization.Serializable
@@ -24,18 +28,20 @@ import org.gradle.api.file.RegularFileProperty
 import org.gradle.api.tasks.InputFile
 import org.gradle.api.tasks.OutputDirectory
 import org.gradle.api.tasks.TaskAction
+import java.nio.file.Path
+import kotlin.jvm.optionals.getOrNull
 
 /**
  * A simple 'hello world' plugin.
  */
 class BindingsGeneratorPlugin: Plugin<Project> {
-
     override fun apply(project: Project) {
         // Register a task
-        project.tasks.register("greeting") { task ->
-            task.doLast {
+        project.tasks.register("generateBindings", GenerateBindingsTask::class.java) { task ->
+            task.group = "build"
+            task.description = "Generates bindings for the Hydrozoa SDK"
+            task.doFirst {
                 println("Hello from plugin 'org.example.greeting'")
-
             }
         }
     }
@@ -104,33 +110,103 @@ abstract class GenerateBindingsTask : DefaultTask() {
     fun generateBindings() {
         val apiFile = apiFile.asFile.get()
         val api = Json.decodeFromString<SdkModule>(apiFile.readText())
+
+        var outDir = outputDirectory.asFile.get().toPath()
+        print("Out dir: $outDir")
+
+        var sourceRoot = SourceRoot(outDir)
+        sourceRoot.add(JavaSdkModule(api).generate(outDir))
+        sourceRoot.saveAll()
     }
 }
 
+fun ClassOrInterfaceDeclaration.addStaticInitAnnotation(): ClassOrInterfaceDeclaration {
+    return this.addAnnotation("org.teavm.interop.StaticInit")
+}
+
+fun ClassOrInterfaceDeclaration.addPrivateConstructor(): ClassOrInterfaceDeclaration {
+    this.addConstructor(Keyword.PRIVATE)
+    return this
+}
+
 class JavaSdkModule(val sdk: SdkModule) {
-    fun generate(): CompilationUnit {
-        val cu = CompilationUnit("dev.vexide.hydrozoa.sdk.generated")
+    fun generate(sourcesDir: Path): CompilationUnit {
+        val className = CaseFormat.LOWER_UNDERSCORE.to(CaseFormat.UPPER_CAMEL, sdk.name) + "Sdk"
+
+        var filename = sourcesDir
+        val packageName = "dev.vexide.hydrozoa.sdk.generated"
+        for (component in packageName.split(".")) {
+            filename = filename.resolve(component)
+        }
+
+        val cu = CompilationUnit(packageName)
+            .setStorage(filename.resolve("$className.java"))
+        print("Filename: ${cu.storage.getOrNull()?.path}")
 
-        var className = CaseFormat.LOWER_UNDERSCORE.to(CaseFormat.UPPER_CAMEL, sdk.name) + "Sdk"
         val bindingsClass = cu.addClass(className, Keyword.PUBLIC, Keyword.STATIC, Keyword.FINAL)
             .addSingleMemberAnnotation(
                 javax.annotation.processing.Generated::class.java,
                 StringLiteralExpr("dev.vexide.hydrozoa.plugin.bindings.BindingsGeneratorPlugin"))
-            .addAnnotation("org.teavm.interop.StaticInit")
+            .addStaticInitAnnotation()
+            .addPrivateConstructor()
+
+        var submodules = mutableMapOf<String, JavaSdkSubmodule>()
 
         for (item in sdk.items) {
-            JavaSdkItem(item).generate(bindingsClass)
+            var nameComponents = CaseFormat.LOWER_CAMEL
+                .to(CaseFormat.LOWER_UNDERSCORE, item.name)
+                .removePrefix(sdk.name + "_")
+                .split('_')
+                .toMutableList()
+
+            var submoduleName = CaseFormat.LOWER_UNDERSCORE
+                .to(CaseFormat.UPPER_CAMEL, nameComponents.removeAt(0))
+            var trimmedMethodName = CaseFormat.LOWER_UNDERSCORE
+                .to(CaseFormat.LOWER_CAMEL, nameComponents.joinToString("_"))
+
+            var submodule = submodules.getOrPut(submoduleName) {
+                JavaSdkSubmodule(submoduleName)
+            }
+            submodule.items.add(JavaSdkItem(item, trimmedMethodName))
+        }
+
+        for (submodule in submodules.values) {
+            submodule.generate(bindingsClass)
         }
 
         return cu
     }
 }
 
-class JavaSdkItem(val sdk: SdkItem) {
+class JavaSdkSubmodule(var submoduleName: String) {
+    var items = mutableListOf<JavaSdkItem>()
+
+    fun generate(parentClass: ClassOrInterfaceDeclaration) {
+        var submoduleClass = ClassOrInterfaceDeclaration(
+            Modifier.createModifierList(Keyword.PUBLIC, Keyword.STATIC, Keyword.FINAL),
+            false,
+            submoduleName
+        )
+            .addStaticInitAnnotation()
+            .addPrivateConstructor()
+
+        parentClass.addMember(submoduleClass)
+
+        for (item in items) {
+            item.generate(submoduleClass)
+        }
+    }
+}
+
+class JavaSdkItem(val sdk: SdkItem, val moduleName: String) {
     fun generate(bindingsClass: ClassOrInterfaceDeclaration) {
-        bindingsClass
-            .addMethod(sdk.name, Keyword.PUBLIC, Keyword.STATIC)
+        val rawMethod = bindingsClass
+            .addMethod(sdk.name + "_raw", Keyword.PRIVATE, Keyword.STATIC, Keyword.NATIVE)
             .setType(rawTypeFor(sdk.returns))
+
+        rawMethod.addAndGetAnnotation("org.teavm.interop.Import")
+            .addPair("module", StringLiteralExpr(moduleName))
+            .addPair("name", StringLiteralExpr(sdk.name))
     }
 
     private fun rawTypeFor(type: SdkItem.Type?): Type {
diff --git a/vex-sdk/build.gradle.kts b/vex-sdk/build.gradle.kts
index 1752bb9..c067420 100644
--- a/vex-sdk/build.gradle.kts
+++ b/vex-sdk/build.gradle.kts
@@ -2,9 +2,9 @@ plugins {
     `java-library`
     `maven-publish`
     id("org.teavm.library")
+    id("dev.vexide.hydrozoa.plugin.bindings")
 }
 
-
 tasks.jar {
     manifest {
         attributes("Automatic-Module-Name" to "dev.vexide.hydrozoa.sdk")
@@ -52,3 +52,18 @@ dependencies {
 tasks.javadoc {
     title = "VEX SDK"
 }
+
+tasks.generateBindings {
+    apiFile = rootProject.projectDir.resolve("hydrozoa_api.json")
+    outputDirectory = layout.buildDirectory.dir("generated/sources/bindings")
+}
+
+tasks.assemble {
+    dependsOn(tasks.generateBindings)
+}
+
+sourceSets.main {
+    java {
+        srcDir { tasks.generateBindings.get().outputDirectory }
+    }
+}

From 2b9016e2cec963342a10df1d30818359d5ac2211 Mon Sep 17 00:00:00 2001
From: Lewis <mcclelll@icloud.com>
Date: Mon, 5 May 2025 15:11:44 -0700
Subject: [PATCH 04/14] feat(autogen): implement primitive-only methods

---
 .../bindings/BindingsGeneratorPlugin.kt       | 193 ++++++++++++++----
 1 file changed, 157 insertions(+), 36 deletions(-)

diff --git a/bindings-generator/src/main/kotlin/dev/vexide/hydrozoa/plugin/bindings/BindingsGeneratorPlugin.kt b/bindings-generator/src/main/kotlin/dev/vexide/hydrozoa/plugin/bindings/BindingsGeneratorPlugin.kt
index 6c737ba..4d26cf0 100644
--- a/bindings-generator/src/main/kotlin/dev/vexide/hydrozoa/plugin/bindings/BindingsGeneratorPlugin.kt
+++ b/bindings-generator/src/main/kotlin/dev/vexide/hydrozoa/plugin/bindings/BindingsGeneratorPlugin.kt
@@ -7,11 +7,18 @@ import com.github.javaparser.StaticJavaParser
 import com.github.javaparser.ast.CompilationUnit
 import com.github.javaparser.ast.Modifier
 import com.github.javaparser.ast.Modifier.Keyword
+import com.github.javaparser.ast.Node
+import com.github.javaparser.ast.NodeList
 import com.github.javaparser.ast.type.Type
 import com.github.javaparser.ast.body.ClassOrInterfaceDeclaration
-import com.github.javaparser.ast.expr.AnnotationExpr
-import com.github.javaparser.ast.expr.SimpleName
+import com.github.javaparser.ast.body.MethodDeclaration
+import com.github.javaparser.ast.expr.Expression
+import com.github.javaparser.ast.expr.MethodCallExpr
+import com.github.javaparser.ast.expr.NameExpr
 import com.github.javaparser.ast.expr.StringLiteralExpr
+import com.github.javaparser.ast.expr.TypeExpr
+import com.github.javaparser.ast.stmt.ExpressionStmt
+import com.github.javaparser.ast.stmt.ReturnStmt
 import com.github.javaparser.ast.type.PrimitiveType
 import com.github.javaparser.ast.type.PrimitiveType.Primitive
 import com.github.javaparser.ast.type.VoidType
@@ -34,7 +41,7 @@ import kotlin.jvm.optionals.getOrNull
 /**
  * A simple 'hello world' plugin.
  */
-class BindingsGeneratorPlugin: Plugin<Project> {
+class BindingsGeneratorPlugin : Plugin<Project> {
     override fun apply(project: Project) {
         // Register a task
         project.tasks.register("generateBindings", GenerateBindingsTask::class.java) { task ->
@@ -68,26 +75,33 @@ data class SdkItem(
 
     @Serializable
     sealed class Type {
-        @Serializable @SerialName("Bool")
-        object Bool: Type()
+        @Serializable
+        @SerialName("Bool")
+        object Bool : Type()
 
-        @Serializable @SerialName("Int")
-        object Int: Type()
+        @Serializable
+        @SerialName("Int")
+        object Int : Type()
 
-        @Serializable @SerialName("Long")
-        object Long: Type()
+        @Serializable
+        @SerialName("Long")
+        object Long : Type()
 
-        @Serializable @SerialName("Float")
-        object Float: Type()
+        @Serializable
+        @SerialName("Float")
+        object Float : Type()
 
-        @Serializable @SerialName("Double")
-        object Double: Type()
+        @Serializable
+        @SerialName("Double")
+        object Double : Type()
 
-        @Serializable @SerialName("StringPtr")
-        object StringPtr: Type()
+        @Serializable
+        @SerialName("StringPtr")
+        object StringPtr : Type()
 
-        @Serializable @SerialName("Named")
-        data class Named(val name: String): Type()
+        @Serializable
+        @SerialName("Named")
+        data class Named(val name: String) : Type()
     }
 }
 
@@ -121,7 +135,7 @@ abstract class GenerateBindingsTask : DefaultTask() {
 }
 
 fun ClassOrInterfaceDeclaration.addStaticInitAnnotation(): ClassOrInterfaceDeclaration {
-    return this.addAnnotation("org.teavm.interop.StaticInit")
+    return this.addMarkerAnnotation("org.teavm.interop.StaticInit")
 }
 
 fun ClassOrInterfaceDeclaration.addPrivateConstructor(): ClassOrInterfaceDeclaration {
@@ -129,7 +143,13 @@ fun ClassOrInterfaceDeclaration.addPrivateConstructor(): ClassOrInterfaceDeclara
     return this
 }
 
+fun<T: Node> nodeListOf(vararg items: T): NodeList<T> {
+    return NodeList.nodeList(*items)
+}
+
 class JavaSdkModule(val sdk: SdkModule) {
+    var enums: Map<String, SdkEnum> = sdk.enums.associateBy { it.name }
+
     fun generate(sourcesDir: Path): CompilationUnit {
         val className = CaseFormat.LOWER_UNDERSCORE.to(CaseFormat.UPPER_CAMEL, sdk.name) + "Sdk"
 
@@ -143,31 +163,25 @@ class JavaSdkModule(val sdk: SdkModule) {
             .setStorage(filename.resolve("$className.java"))
         print("Filename: ${cu.storage.getOrNull()?.path}")
 
-        val bindingsClass = cu.addClass(className, Keyword.PUBLIC, Keyword.STATIC, Keyword.FINAL)
+        cu.setLineComment(" This file was automatically @generated by the Hydrozoa bindings generator. Do not edit this manually!")
+
+        val bindingsClass = cu.addClass(className, Keyword.PUBLIC, Keyword.FINAL)
             .addSingleMemberAnnotation(
                 javax.annotation.processing.Generated::class.java,
-                StringLiteralExpr("dev.vexide.hydrozoa.plugin.bindings.BindingsGeneratorPlugin"))
+                StringLiteralExpr("dev.vexide.hydrozoa.plugin.bindings.BindingsGeneratorPlugin")
+            )
             .addStaticInitAnnotation()
             .addPrivateConstructor()
 
         var submodules = mutableMapOf<String, JavaSdkSubmodule>()
 
         for (item in sdk.items) {
-            var nameComponents = CaseFormat.LOWER_CAMEL
-                .to(CaseFormat.LOWER_UNDERSCORE, item.name)
-                .removePrefix(sdk.name + "_")
-                .split('_')
-                .toMutableList()
-
-            var submoduleName = CaseFormat.LOWER_UNDERSCORE
-                .to(CaseFormat.UPPER_CAMEL, nameComponents.removeAt(0))
-            var trimmedMethodName = CaseFormat.LOWER_UNDERSCORE
-                .to(CaseFormat.LOWER_CAMEL, nameComponents.joinToString("_"))
+            var (submoduleName, trimmedMethodName) = JavaSdkItem.generateMethodName(item, sdk)
 
             var submodule = submodules.getOrPut(submoduleName) {
                 JavaSdkSubmodule(submoduleName)
             }
-            submodule.items.add(JavaSdkItem(item, trimmedMethodName))
+            submodule.items.add(JavaSdkItem(item, module = this, methodName = trimmedMethodName))
         }
 
         for (submodule in submodules.values) {
@@ -176,6 +190,14 @@ class JavaSdkModule(val sdk: SdkModule) {
 
         return cu
     }
+
+    fun hasRawType(type: SdkItem.Type): Boolean {
+        return when (type) {
+//            is SdkItem.Type.Named -> enums[type.name]?.underlyingType != null
+            is SdkItem.Type.Named -> true
+            else -> false
+        }
+    }
 }
 
 class JavaSdkSubmodule(var submoduleName: String) {
@@ -198,18 +220,69 @@ class JavaSdkSubmodule(var submoduleName: String) {
     }
 }
 
-class JavaSdkItem(val sdk: SdkItem, val moduleName: String) {
+class JavaSdkItem(val sdk: SdkItem, val module: JavaSdkModule, val methodName: String = sdk.name) {
     fun generate(bindingsClass: ClassOrInterfaceDeclaration) {
         val rawMethod = bindingsClass
             .addMethod(sdk.name + "_raw", Keyword.PRIVATE, Keyword.STATIC, Keyword.NATIVE)
-            .setType(rawTypeFor(sdk.returns))
+            .setType(javaTypeFor(sdk.returns, useRawTypes = true, annotations = true))
+            .removeBody()
 
         rawMethod.addAndGetAnnotation("org.teavm.interop.Import")
-            .addPair("module", StringLiteralExpr(moduleName))
+            .addPair("module", StringLiteralExpr(module.sdk.name))
             .addPair("name", StringLiteralExpr(sdk.name))
+
+        generateParams(sdk.params, rawMethod, true)
+
+        var method = bindingsClass
+            .addMethod(methodName, Keyword.PUBLIC, Keyword.STATIC)
+            .setType(javaTypeFor(sdk.returns, annotations = true))
+
+        generateParams(sdk.params, method)
+        generateBody(method, rawMethod)
+    }
+
+    private fun generateParams(
+        params: Iterable<SdkItem.Param>,
+        method: MethodDeclaration,
+        useUnderlyingTypes: Boolean = false
+    ) {
+        for (param in params) {
+            var paramType = javaTypeFor(param.type, useUnderlyingTypes)
+            var methodParam = method.addAndGetParameter(paramType, param.name)
+        }
+    }
+
+    private fun generateBody(method: MethodDeclaration, rawMethod: MethodDeclaration) {
+        var body = method.createBody()
+
+        val nativeMethodCall = MethodCallExpr(null, rawMethod.name)
+        for (param in sdk.params) {
+            var arg: Expression = NameExpr(param.name)
+
+            if (module.hasRawType(param.type)) {
+                arg = MethodCallExpr(arg, "getRawValue")
+            }
+
+            nativeMethodCall.addArgument(arg)
+        }
+
+        var expr: Expression = nativeMethodCall
+
+        if (sdk.returns != null && module.hasRawType(sdk.returns)) {
+            var wrapper = TypeExpr(javaTypeFor(sdk.returns))
+            expr = MethodCallExpr(wrapper, "fromRawValue", nodeListOf(nativeMethodCall))
+        }
+
+        body.addStatement(
+            if (method.type.isVoidType) {
+                ExpressionStmt(expr)
+            } else {
+                ReturnStmt(expr)
+            }
+        )
     }
 
-    private fun rawTypeFor(type: SdkItem.Type?): Type {
+    private fun javaTypeFor(type: SdkItem.Type?, useRawTypes: Boolean = false, annotations: Boolean = false): Type {
         return when (type) {
             null -> VoidType()
             is SdkItem.Type.Bool -> PrimitiveType(Primitive.BOOLEAN)
@@ -218,7 +291,55 @@ class JavaSdkItem(val sdk: SdkItem, val moduleName: String) {
             is SdkItem.Type.Float -> PrimitiveType(Primitive.FLOAT)
             is SdkItem.Type.Double -> PrimitiveType(Primitive.DOUBLE)
             is SdkItem.Type.StringPtr -> StaticJavaParser.parseClassOrInterfaceType("String")
-            is SdkItem.Type.Named -> StaticJavaParser.parseClassOrInterfaceType(type.name)
+                .apply {
+                    if (annotations) {
+                        addMarkerAnnotation("org.jetbrains.annotations.NotNull")
+                    }
+                }
+            is SdkItem.Type.Named -> {
+                if (useRawTypes) {
+//                    var underlyingType = module.enums[type.name]?.underlyingType
+                    var underlyingType = SdkItem.Type.Int
+                    if (underlyingType != null) return javaTypeFor(underlyingType)
+                }
+
+                StaticJavaParser
+                    .parseClassOrInterfaceType(type.name)
+                    .apply {
+                        if (annotations) {
+                            addMarkerAnnotation("org.jetbrains.annotations.NotNull")
+                        }
+                    }
+            }
+        }
+    }
+
+    companion object {
+        private var actionVerbs =
+            setOf("get", "set", "request", "update", "reset", "fill", "draw", "clear", "disable", "enable")
+
+        fun generateMethodName(item: SdkItem, module: SdkModule): Pair<String, String> {
+            var nameComponents = ArrayDeque(
+                CaseFormat.LOWER_CAMEL
+                    .to(CaseFormat.LOWER_UNDERSCORE, item.name)
+                    .removePrefix(module.name + "_")
+                    .split('_')
+            )
+
+            var moduleName = nameComponents.removeFirst()
+
+            // Move verbs to front of method name
+            var lastComponent = nameComponents.lastOrNull()
+            if (actionVerbs.contains(lastComponent)) {
+                nameComponents.add(0, nameComponents.removeLast())
+            }
+
+            var submoduleName = CaseFormat.LOWER_UNDERSCORE
+                .to(CaseFormat.UPPER_CAMEL, moduleName)
+            var trimmedMethodName = CaseFormat.LOWER_UNDERSCORE
+                .to(CaseFormat.LOWER_CAMEL, nameComponents.joinToString("_"))
+
+            return Pair(submoduleName, trimmedMethodName)
         }
     }
 }

From 8d5ad8c59d8d6d3cd8bf7ad6f9ac75984225148e Mon Sep 17 00:00:00 2001
From: Lewis <mcclelll@icloud.com>
Date: Fri, 9 May 2025 15:18:30 -0700
Subject: [PATCH 05/14] feat(autogen): implement record generation

---
 .../bindings/BindingsGeneratorPlugin.kt       | 241 +++++++++++++-----
 hydrozoa_api.json                             | 103 +++++++-
 2 files changed, 283 insertions(+), 61 deletions(-)

diff --git a/bindings-generator/src/main/kotlin/dev/vexide/hydrozoa/plugin/bindings/BindingsGeneratorPlugin.kt b/bindings-generator/src/main/kotlin/dev/vexide/hydrozoa/plugin/bindings/BindingsGeneratorPlugin.kt
index 4d26cf0..6f2062f 100644
--- a/bindings-generator/src/main/kotlin/dev/vexide/hydrozoa/plugin/bindings/BindingsGeneratorPlugin.kt
+++ b/bindings-generator/src/main/kotlin/dev/vexide/hydrozoa/plugin/bindings/BindingsGeneratorPlugin.kt
@@ -12,13 +12,20 @@ import com.github.javaparser.ast.NodeList
 import com.github.javaparser.ast.type.Type
 import com.github.javaparser.ast.body.ClassOrInterfaceDeclaration
 import com.github.javaparser.ast.body.MethodDeclaration
+import com.github.javaparser.ast.body.RecordDeclaration
+import com.github.javaparser.ast.expr.CastExpr
+import com.github.javaparser.ast.expr.DoubleLiteralExpr
 import com.github.javaparser.ast.expr.Expression
+import com.github.javaparser.ast.expr.IntegerLiteralExpr
 import com.github.javaparser.ast.expr.MethodCallExpr
 import com.github.javaparser.ast.expr.NameExpr
+import com.github.javaparser.ast.expr.ObjectCreationExpr
 import com.github.javaparser.ast.expr.StringLiteralExpr
-import com.github.javaparser.ast.expr.TypeExpr
+import com.github.javaparser.ast.nodeTypes.NodeWithAnnotations
+import com.github.javaparser.ast.stmt.BlockStmt
 import com.github.javaparser.ast.stmt.ExpressionStmt
 import com.github.javaparser.ast.stmt.ReturnStmt
+import com.github.javaparser.ast.type.ClassOrInterfaceType
 import com.github.javaparser.ast.type.PrimitiveType
 import com.github.javaparser.ast.type.PrimitiveType.Primitive
 import com.github.javaparser.ast.type.VoidType
@@ -35,7 +42,9 @@ import org.gradle.api.file.RegularFileProperty
 import org.gradle.api.tasks.InputFile
 import org.gradle.api.tasks.OutputDirectory
 import org.gradle.api.tasks.TaskAction
-import java.nio.file.Path
+import kotlin.io.path.ExperimentalPathApi
+import kotlin.io.path.createDirectory
+import kotlin.io.path.deleteRecursively
 import kotlin.jvm.optionals.getOrNull
 
 /**
@@ -120,6 +129,7 @@ abstract class GenerateBindingsTask : DefaultTask() {
     @get:OutputDirectory
     abstract val outputDirectory: DirectoryProperty
 
+    @OptIn(ExperimentalPathApi::class)
     @TaskAction
     fun generateBindings() {
         val apiFile = apiFile.asFile.get()
@@ -128,12 +138,28 @@ abstract class GenerateBindingsTask : DefaultTask() {
         var outDir = outputDirectory.asFile.get().toPath()
         print("Out dir: $outDir")
 
+        outDir.deleteRecursively()
+        outDir.createDirectory()
+
         var sourceRoot = SourceRoot(outDir)
-        sourceRoot.add(JavaSdkModule(api).generate(outDir))
+        JavaSdkModule(api).generate(sourceRoot)
         sourceRoot.saveAll()
     }
 }
 
+fun CompilationUnit.addHydrozoaGeneratedComment(): CompilationUnit {
+    this.setBlockComment(" This file was automatically @generated by the Hydrozoa bindings generator. Do not edit this manually!\n"
+            + "   Instead, update the Hydrozoa SDK at <https://github.com/vexide/hydrozoa> and re-run the generator. ")
+    return this
+}
+
+fun<N: Node> NodeWithAnnotations<N>.addHydrozoaGeneratedAnnotation(): N {
+    return this.addSingleMemberAnnotation(
+        javax.annotation.processing.Generated::class.java,
+        StringLiteralExpr("dev.vexide.hydrozoa.plugin.bindings.BindingsGeneratorPlugin")
+    )
+}
+
 fun ClassOrInterfaceDeclaration.addStaticInitAnnotation(): ClassOrInterfaceDeclaration {
     return this.addMarkerAnnotation("org.teavm.interop.StaticInit")
 }
@@ -147,29 +173,37 @@ fun<T: Node> nodeListOf(vararg items: T): NodeList<T> {
     return NodeList.nodeList(*items)
 }
 
+fun modifierListOf(vararg modifiers: Keyword): NodeList<Modifier> {
+    return Modifier.createModifierList(*modifiers)
+}
+
+const val PACKAGE_NAME = "dev.vexide.hydrozoa.sdk.generated"
+fun makeCompilationUnit(className: String, sourceRoot: SourceRoot): CompilationUnit {
+    var filename = sourceRoot.root
+    for (component in PACKAGE_NAME.split(".")) {
+        filename = filename.resolve(component)
+    }
+
+    val cu = CompilationUnit(PACKAGE_NAME)
+        .setStorage(filename.resolve("$className.java"))
+    print("Filename: ${cu.storage.getOrNull()?.path}")
+
+    sourceRoot.add(cu)
+
+    return cu
+}
+
 class JavaSdkModule(val sdk: SdkModule) {
     var enums: Map<String, SdkEnum> = sdk.enums.associateBy { it.name }
 
-    fun generate(sourcesDir: Path): CompilationUnit {
+    fun generate(sourceRoot: SourceRoot): CompilationUnit {
         val className = CaseFormat.LOWER_UNDERSCORE.to(CaseFormat.UPPER_CAMEL, sdk.name) + "Sdk"
 
-        var filename = sourcesDir
-        val packageName = "dev.vexide.hydrozoa.sdk.generated"
-        for (component in packageName.split(".")) {
-            filename = filename.resolve(component)
-        }
-
-        val cu = CompilationUnit(packageName)
-            .setStorage(filename.resolve("$className.java"))
-        print("Filename: ${cu.storage.getOrNull()?.path}")
-
-        cu.setLineComment(" This file was automatically @generated by the Hydrozoa bindings generator. Do not edit this manually!")
+        val cu = makeCompilationUnit(className, sourceRoot)
+            .addHydrozoaGeneratedComment()
 
         val bindingsClass = cu.addClass(className, Keyword.PUBLIC, Keyword.FINAL)
-            .addSingleMemberAnnotation(
-                javax.annotation.processing.Generated::class.java,
-                StringLiteralExpr("dev.vexide.hydrozoa.plugin.bindings.BindingsGeneratorPlugin")
-            )
+            .addHydrozoaGeneratedAnnotation()
             .addStaticInitAnnotation()
             .addPrivateConstructor()
 
@@ -188,13 +222,47 @@ class JavaSdkModule(val sdk: SdkModule) {
             submodule.generate(bindingsClass)
         }
 
+        for (enum in sdk.enums) {
+            JavaSdkEnum(enum, module = this)
+                .generate(sourceRoot)
+        }
+
         return cu
     }
 
+    fun javaTypeFor(type: SdkItem.Type?, useRawTypes: Boolean = false, annotations: Boolean = false): Type {
+        return when (type) {
+            null -> VoidType()
+            is SdkItem.Type.Bool -> PrimitiveType(Primitive.BOOLEAN)
+            is SdkItem.Type.Int -> PrimitiveType(Primitive.INT)
+            is SdkItem.Type.Long -> PrimitiveType(Primitive.LONG)
+            is SdkItem.Type.Float -> PrimitiveType(Primitive.FLOAT)
+            is SdkItem.Type.Double -> PrimitiveType(Primitive.DOUBLE)
+            is SdkItem.Type.StringPtr -> StaticJavaParser.parseClassOrInterfaceType("String")
+                .apply {
+                    if (annotations) {
+                        addMarkerAnnotation("org.jetbrains.annotations.NotNull")
+                    }
+                }
+            is SdkItem.Type.Named -> {
+                if (useRawTypes) {
+                    var underlyingType = enums[type.name]?.underlyingType
+                    if (underlyingType != null) return javaTypeFor(underlyingType)
+                }
+
+                ClassOrInterfaceType(null, JavaSdkEnum.generateEnumName(type.name))
+                    .apply {
+                        if (annotations) {
+                            addMarkerAnnotation("org.jetbrains.annotations.NotNull")
+                        }
+                    }
+            }
+        }
+    }
+
     fun hasRawType(type: SdkItem.Type): Boolean {
         return when (type) {
-//            is SdkItem.Type.Named -> enums[type.name]?.underlyingType != null
-            is SdkItem.Type.Named -> true
+            is SdkItem.Type.Named -> enums[type.name]?.underlyingType != null
             else -> false
         }
     }
@@ -205,7 +273,7 @@ class JavaSdkSubmodule(var submoduleName: String) {
 
     fun generate(parentClass: ClassOrInterfaceDeclaration) {
         var submoduleClass = ClassOrInterfaceDeclaration(
-            Modifier.createModifierList(Keyword.PUBLIC, Keyword.STATIC, Keyword.FINAL),
+            modifierListOf(Keyword.PUBLIC, Keyword.STATIC, Keyword.FINAL),
             false,
             submoduleName
         )
@@ -224,7 +292,7 @@ class JavaSdkItem(val sdk: SdkItem, val module: JavaSdkModule, val methodName: S
     fun generate(bindingsClass: ClassOrInterfaceDeclaration) {
         val rawMethod = bindingsClass
             .addMethod(sdk.name + "_raw", Keyword.PRIVATE, Keyword.STATIC, Keyword.NATIVE)
-            .setType(javaTypeFor(sdk.returns, useRawTypes = true, annotations = true))
+            .setType(module.javaTypeFor(sdk.returns, useRawTypes = true, annotations = true))
             .removeBody()
 
         rawMethod.addAndGetAnnotation("org.teavm.interop.Import")
@@ -235,7 +303,7 @@ class JavaSdkItem(val sdk: SdkItem, val module: JavaSdkModule, val methodName: S
 
         var method = bindingsClass
             .addMethod(methodName, Keyword.PUBLIC, Keyword.STATIC)
-            .setType(javaTypeFor(sdk.returns, annotations = true))
+            .setType(module.javaTypeFor(sdk.returns, annotations = true))
 
         generateParams(sdk.params, method)
         generateBody(method, rawMethod)
@@ -247,8 +315,8 @@ class JavaSdkItem(val sdk: SdkItem, val module: JavaSdkModule, val methodName: S
         useUnderlyingTypes: Boolean = false
     ) {
         for (param in params) {
-            var paramType = javaTypeFor(param.type, useUnderlyingTypes)
-            var methodParam = method.addAndGetParameter(paramType, param.name)
+            var paramType = module.javaTypeFor(param.type, useUnderlyingTypes)
+            method.addAndGetParameter(paramType, param.name)
         }
     }
 
@@ -269,8 +337,8 @@ class JavaSdkItem(val sdk: SdkItem, val module: JavaSdkModule, val methodName: S
         var expr: Expression = nativeMethodCall
 
         if (sdk.returns != null && module.hasRawType(sdk.returns)) {
-            var wrapper = TypeExpr(javaTypeFor(sdk.returns))
-            expr = MethodCallExpr(wrapper, "fromRawValue", nodeListOf(nativeMethodCall))
+            var wrapper = module.javaTypeFor(sdk.returns) as ClassOrInterfaceType
+            expr = ObjectCreationExpr(null, wrapper, nodeListOf(nativeMethodCall))
         }
 
         body.addStatement(
@@ -282,38 +350,6 @@ class JavaSdkItem(val sdk: SdkItem, val module: JavaSdkModule, val methodName: S
         )
     }
 
-    private fun javaTypeFor(type: SdkItem.Type?, useRawTypes: Boolean = false, annotations: Boolean = false): Type {
-        return when (type) {
-            null -> VoidType()
-            is SdkItem.Type.Bool -> PrimitiveType(Primitive.BOOLEAN)
-            is SdkItem.Type.Int -> PrimitiveType(Primitive.INT)
-            is SdkItem.Type.Long -> PrimitiveType(Primitive.LONG)
-            is SdkItem.Type.Float -> PrimitiveType(Primitive.FLOAT)
-            is SdkItem.Type.Double -> PrimitiveType(Primitive.DOUBLE)
-            is SdkItem.Type.StringPtr -> StaticJavaParser.parseClassOrInterfaceType("String")
-                .apply {
-                    if (annotations) {
-                        addMarkerAnnotation("org.jetbrains.annotations.NotNull")
-                    }
-                }
-            is SdkItem.Type.Named -> {
-                if (useRawTypes) {
-//                    var underlyingType = module.enums[type.name]?.underlyingType
-                    var underlyingType = SdkItem.Type.Int
-                    if (underlyingType != null) return javaTypeFor(underlyingType)
-                }
-
-                StaticJavaParser
-                    .parseClassOrInterfaceType(type.name)
-                    .apply {
-                        if (annotations) {
-                            addMarkerAnnotation("org.jetbrains.annotations.NotNull")
-                        }
-                    }
-            }
-        }
-    }
-
     companion object {
         private var actionVerbs =
             setOf("get", "set", "request", "update", "reset", "fill", "draw", "clear", "disable", "enable")
@@ -343,3 +379,88 @@ class JavaSdkItem(val sdk: SdkItem, val module: JavaSdkModule, val methodName: S
         }
     }
 }
+
+class JavaSdkEnum(val sdk: SdkEnum, val module: JavaSdkModule) {
+    fun generate(sourceRoot: SourceRoot) {
+        val name = generateEnumName(sdk.name)
+
+        val cu = makeCompilationUnit(name, sourceRoot)
+            .addHydrozoaGeneratedComment()
+
+        val underlyingType = module.javaTypeFor(sdk.underlyingType)
+        val record = RecordDeclaration(
+            modifierListOf(Keyword.PUBLIC),
+            name,
+        )
+            .apply { cu.addType(this) }
+            .addHydrozoaGeneratedAnnotation()
+            .setJavadocComment(sdk.name)
+            .addParameter(underlyingType, "value")
+
+        val recordType = ClassOrInterfaceType(null, record.name, null)
+
+        for ((variantName, variantValue) in sdk.variants) {
+            val literal: Expression = if (variantValue % 1.0 == 0.0) {
+                IntegerLiteralExpr(variantValue.toInt().toString())
+            } else {
+                DoubleLiteralExpr(variantValue)
+            }
+
+            record
+                .addFieldWithInitializer(
+                    recordType,
+                    generateMemberName(variantName, name),
+                    ObjectCreationExpr(null, recordType, nodeListOf(
+                        CastExpr(underlyingType, literal)
+                    )),
+                    Keyword.PUBLIC,
+                    Keyword.STATIC,
+                    Keyword.FINAL,
+                )
+                .setJavadocComment(variantName)
+        }
+
+        record.addMethod("getRawValue", Keyword.PUBLIC)
+            .setType(underlyingType)
+            .setBody(
+                BlockStmt(
+                    nodeListOf(ReturnStmt(NameExpr("value")))
+                )
+            )
+    }
+
+    companion object {
+        fun generateEnumName(name: String): String =
+            name
+                .removePrefix("V5_")
+                .removePrefix("V5")
+
+        fun generateMemberName(name: String, enumName: String): String {
+            val components = ArrayDeque(CaseFormat.LOWER_CAMEL
+                .to(CaseFormat.LOWER_UNDERSCORE, name)
+                .split('_'))
+            val enumComponents = ArrayDeque(CaseFormat.LOWER_CAMEL
+                .to(CaseFormat.LOWER_UNDERSCORE, enumName)
+                .split('_'))
+
+            for (redundantComponent in arrayOf("k", "v5")) {
+                if (components.firstOrNull() == redundantComponent) {
+                    components.removeFirst()
+                } else {
+                    break
+                }
+            }
+
+            for (typeNameComponent in enumComponents) {
+                if (components.firstOrNull() == typeNameComponent) {
+                    components.removeFirst()
+                } else {
+                    break
+                }
+            }
+
+            return CaseFormat.LOWER_UNDERSCORE
+                .to(CaseFormat.UPPER_CAMEL, components.joinToString("_"))
+        }
+    }
+}
diff --git a/hydrozoa_api.json b/hydrozoa_api.json
index d236a61..f6cc6c4 100644
--- a/hydrozoa_api.json
+++ b/hydrozoa_api.json
@@ -1487,5 +1487,106 @@
       }
     }
   ],
-  "enums": []
+  "enums": [
+    {
+      "name": "V5_ControllerId",
+      "underlying_type": {
+        "type": "Int"
+      },
+      "variants": {
+        "kControllerMaster": 0,
+        "kControllerPartner": 1
+      }
+    },
+    {
+      "name": "V5_ControllerStatus",
+      "underlying_type": {
+        "type": "Int"
+      },
+      "variants": {
+        "kV5ControllerOffline": 0,
+        "kV5ControllerTethered": 1,
+        "kV5ControllerVexnet": 2
+      }
+    },
+    {
+      "name": "V5_ControllerIndex",
+      "underlying_type": {
+        "type": "Int"
+      },
+      "variants": {
+        "Button8U": 14,
+        "AnaLeftY": 1,
+        "Button7L": 12,
+        "AnaSpare2": 5,
+        "AnaRightX": 2,
+        "AnaRightY": 3,
+        "Button6D": 9,
+        "ButtonAll": 20,
+        "Button5U": 6,
+        "Button6U": 8,
+        "AnaLeftX": 0,
+        "Button5D": 7,
+        "Button8D": 15,
+        "Button7R": 13,
+        "ButtonSEL": 18,
+        "Button7U": 10,
+        "BatteryLevel": 19,
+        "AnaSpare1": 4,
+        "Button7D": 11,
+        "Button8L": 16,
+        "BatteryCapacity": 22,
+        "Button8R": 17,
+        "Flags": 21
+      }
+    },
+    {
+      "name": "V5MotorBrakeMode",
+      "underlying_type": {
+        "type": "Int"
+      },
+      "variants": {
+        "kV5MotorBrakeModeHold": 2,
+        "kV5MotorBrakeModeBrake": 1,
+        "kV5MotorBrakeModeCoast": 0
+      }
+    },
+    {
+      "name": "V5MotorControlMode",
+      "underlying_type": {
+        "type": "Int"
+      },
+      "variants": {
+        "kMotorControlModeSERVO": 3,
+        "kMotorControlModePROFILE": 4,
+        "kMotorControlModeUNDEFINED": 6,
+        "kMotorControlModeVELOCITY": 5,
+        "kMotorControlModeBRAKE": 1,
+        "kMotorControlModeOFF": 0,
+        "kMotorControlModeHOLD": 2
+      }
+    },
+    {
+      "name": "V5MotorEncoderUnits",
+      "underlying_type": {
+        "type": "Int"
+      },
+      "variants": {
+        "kMotorEncoderCounts": 2,
+        "kMotorEncoderRotations": 1,
+        "kMotorEncoderDegrees": 0
+      }
+    },
+    {
+      "name": "V5MotorGearset",
+      "underlying_type": {
+        "type": "Int"
+      },
+      "variants": {
+        "kMotorGearSet_36": 0,
+        "kMotorGearSet_06": 2,
+        "kMotorGearSet_18": 1
+      }
+    }
+  ]
 }
\ No newline at end of file

From 736a8b97ab6e625aa65b0c76cc37716a95cda4b7 Mon Sep 17 00:00:00 2001
From: Lewis <mcclelll@icloud.com>
Date: Fri, 9 May 2025 15:20:15 -0700
Subject: [PATCH 06/14] feat(autogen): add original method names to javadoc

---
 .../vexide/hydrozoa/plugin/bindings/BindingsGeneratorPlugin.kt   | 1 +
 1 file changed, 1 insertion(+)

diff --git a/bindings-generator/src/main/kotlin/dev/vexide/hydrozoa/plugin/bindings/BindingsGeneratorPlugin.kt b/bindings-generator/src/main/kotlin/dev/vexide/hydrozoa/plugin/bindings/BindingsGeneratorPlugin.kt
index 6f2062f..484370f 100644
--- a/bindings-generator/src/main/kotlin/dev/vexide/hydrozoa/plugin/bindings/BindingsGeneratorPlugin.kt
+++ b/bindings-generator/src/main/kotlin/dev/vexide/hydrozoa/plugin/bindings/BindingsGeneratorPlugin.kt
@@ -304,6 +304,7 @@ class JavaSdkItem(val sdk: SdkItem, val module: JavaSdkModule, val methodName: S
         var method = bindingsClass
             .addMethod(methodName, Keyword.PUBLIC, Keyword.STATIC)
             .setType(module.javaTypeFor(sdk.returns, annotations = true))
+            .setJavadocComment(sdk.name)
 
         generateParams(sdk.params, method)
         generateBody(method, rawMethod)

From 8e1e49da26327a67e5940f66e1da2a233de63d69 Mon Sep 17 00:00:00 2001
From: Lewis <mcclelll@icloud.com>
Date: Fri, 9 May 2025 15:28:31 -0700
Subject: [PATCH 07/14] feat: start using new apis

---
 .../bindings/BindingsGeneratorPlugin.kt       |   2 +-
 .../vexide/hydrozoa/CompetitionRuntime.java   |   4 +-
 .../java/dev/vexide/hydrozoa/Platform.java    |   2 +-
 .../vexide/hydrozoa/devices/smart/Motor.java  |  12 +-
 .../dev/vexide/hydrozoa/display/Circle.java   |   6 +-
 .../dev/vexide/hydrozoa/display/Display.java  |   4 +-
 .../dev/vexide/hydrozoa/display/Font.java     |   4 +-
 .../dev/vexide/hydrozoa/display/Rect.java     |   6 +-
 .../dev/vexide/hydrozoa/display/Text.java     |  10 +-
 .../vexide/hydrozoa/sdk/V5MotorBrakeMode.java |  13 -
 .../hydrozoa/sdk/V5MotorControlMode.java      |  19 -
 .../hydrozoa/sdk/V5MotorEncoderUnits.java     |  13 -
 .../vexide/hydrozoa/sdk/V5MotorGearset.java   |  11 -
 .../vexide/hydrozoa/sdk/V5_ControllerId.java  |   7 -
 .../hydrozoa/sdk/V5_ControllerIndex.java      |  44 --
 .../hydrozoa/sdk/V5_ControllerStatus.java     |   8 -
 .../dev/vexide/hydrozoa/sdk/V5_Device.java    |   4 -
 .../vexide/hydrozoa/sdk/V5_DeviceType.java    |  92 ----
 .../java/dev/vexide/hydrozoa/sdk/VexSdk.java  | 443 ------------------
 19 files changed, 25 insertions(+), 679 deletions(-)
 delete mode 100644 vex-sdk/src/main/java/dev/vexide/hydrozoa/sdk/V5MotorBrakeMode.java
 delete mode 100644 vex-sdk/src/main/java/dev/vexide/hydrozoa/sdk/V5MotorControlMode.java
 delete mode 100644 vex-sdk/src/main/java/dev/vexide/hydrozoa/sdk/V5MotorEncoderUnits.java
 delete mode 100644 vex-sdk/src/main/java/dev/vexide/hydrozoa/sdk/V5MotorGearset.java
 delete mode 100644 vex-sdk/src/main/java/dev/vexide/hydrozoa/sdk/V5_ControllerId.java
 delete mode 100644 vex-sdk/src/main/java/dev/vexide/hydrozoa/sdk/V5_ControllerIndex.java
 delete mode 100644 vex-sdk/src/main/java/dev/vexide/hydrozoa/sdk/V5_ControllerStatus.java
 delete mode 100644 vex-sdk/src/main/java/dev/vexide/hydrozoa/sdk/V5_Device.java
 delete mode 100644 vex-sdk/src/main/java/dev/vexide/hydrozoa/sdk/V5_DeviceType.java
 delete mode 100644 vex-sdk/src/main/java/dev/vexide/hydrozoa/sdk/VexSdk.java

diff --git a/bindings-generator/src/main/kotlin/dev/vexide/hydrozoa/plugin/bindings/BindingsGeneratorPlugin.kt b/bindings-generator/src/main/kotlin/dev/vexide/hydrozoa/plugin/bindings/BindingsGeneratorPlugin.kt
index 484370f..9c4408e 100644
--- a/bindings-generator/src/main/kotlin/dev/vexide/hydrozoa/plugin/bindings/BindingsGeneratorPlugin.kt
+++ b/bindings-generator/src/main/kotlin/dev/vexide/hydrozoa/plugin/bindings/BindingsGeneratorPlugin.kt
@@ -177,7 +177,7 @@ fun modifierListOf(vararg modifiers: Keyword): NodeList<Modifier> {
     return Modifier.createModifierList(*modifiers)
 }
 
-const val PACKAGE_NAME = "dev.vexide.hydrozoa.sdk.generated"
+const val PACKAGE_NAME = "dev.vexide.hydrozoa.sdk"
 fun makeCompilationUnit(className: String, sourceRoot: SourceRoot): CompilationUnit {
     var filename = sourceRoot.root
     for (component in PACKAGE_NAME.split(".")) {
diff --git a/src/main/java/dev/vexide/hydrozoa/CompetitionRuntime.java b/src/main/java/dev/vexide/hydrozoa/CompetitionRuntime.java
index 0421d17..cb39fc2 100644
--- a/src/main/java/dev/vexide/hydrozoa/CompetitionRuntime.java
+++ b/src/main/java/dev/vexide/hydrozoa/CompetitionRuntime.java
@@ -55,7 +55,7 @@ public static void start(@NotNull Function<@NotNull Peripherals, @NotNull Compet
             while (true) {
                 var begin = Instant.now();
 
-                VexSdk.vexTasksRun();
+                VexSdk.Tasks.run();
 
                 var status = status();
 
@@ -106,7 +106,7 @@ public static void start(@NotNull Function<@NotNull Peripherals, @NotNull Compet
      */
     @Contract(value = "-> new", pure = true)
     public static @NotNull Status status() {
-        return Status.fromBitflags(VexSdk.vexCompetitionStatus());
+        return Status.fromBitflags(VexSdk.Competition.status());
     }
 
     /**
diff --git a/src/main/java/dev/vexide/hydrozoa/Platform.java b/src/main/java/dev/vexide/hydrozoa/Platform.java
index 673b2fe..19a510c 100644
--- a/src/main/java/dev/vexide/hydrozoa/Platform.java
+++ b/src/main/java/dev/vexide/hydrozoa/Platform.java
@@ -25,7 +25,7 @@ private Platform() {
      * flushed.
      */
     public static void yield() {
-        VexSdk.vexTasksRun();
+        VexSdk.Tasks.run();
     }
     private static final Duration FLUSH_TIMEOUT = Duration.ofMillis(15);
 
diff --git a/src/main/java/dev/vexide/hydrozoa/devices/smart/Motor.java b/src/main/java/dev/vexide/hydrozoa/devices/smart/Motor.java
index 33510ac..a053df1 100644
--- a/src/main/java/dev/vexide/hydrozoa/devices/smart/Motor.java
+++ b/src/main/java/dev/vexide/hydrozoa/devices/smart/Motor.java
@@ -2,9 +2,9 @@
 
 import dev.vexide.hydrozoa.CompetitionRuntime;
 import dev.vexide.hydrozoa.DeviceException;
-import dev.vexide.hydrozoa.sdk.V5MotorBrakeMode;
-import dev.vexide.hydrozoa.sdk.V5MotorEncoderUnits;
-import dev.vexide.hydrozoa.sdk.V5MotorGearset;
+import dev.vexide.hydrozoa.sdk.MotorBrakeMode;
+import dev.vexide.hydrozoa.sdk.MotorEncoderUnits;
+import dev.vexide.hydrozoa.sdk.MotorGearset;
 import dev.vexide.hydrozoa.sdk.VexSdk;
 import org.jetbrains.annotations.Contract;
 import org.jetbrains.annotations.NotNull;
@@ -35,9 +35,9 @@ public Motor(@NotNull SmartPort port, @NotNull Gearset gearset, @NotNull Directi
         this.direction = direction;
 
         var handle = this.port.deviceHandle();
-        VexSdk.Motor.vexDeviceMotorEncoderUnitsSet(handle, V5MotorEncoderUnits.Counts);
-        VexSdk.Motor.vexDeviceMotorReverseFlagSet(handle, direction.equals(Direction.REVERSE));
-        VexSdk.Motor.vexDeviceMotorGearingSet(handle, gearset.getRaw());
+        VexSdk.Device.setMotorEncoderUnits(handle, MotorEncoderUnits.Counts);
+        VexSdk.Device.setMotorReverseFlag(handle, direction.equals(Direction.REVERSE));
+        VexSdk.Device.setMotorGearing(handle, gearset.getRaw());
     }
 
     @Override
diff --git a/src/main/java/dev/vexide/hydrozoa/display/Circle.java b/src/main/java/dev/vexide/hydrozoa/display/Circle.java
index e8cde31..1a5a867 100644
--- a/src/main/java/dev/vexide/hydrozoa/display/Circle.java
+++ b/src/main/java/dev/vexide/hydrozoa/display/Circle.java
@@ -27,11 +27,11 @@ public record Circle(int x, int y, int radius) implements Shape {
 
     @Override
     public void draw(@NotNull Display display, @NotNull Color color, boolean fill) {
-        VexSdk.Display.vexDisplayForegroundColor(color.raw());
+        VexSdk.Display.foregroundColor(color.raw());
         if (fill) {
-            VexSdk.Display.vexDisplayCircleFill(x, y + Display.HEADER_HEIGHT, radius);
+            VexSdk.Display.fillCircle(x, y + Display.HEADER_HEIGHT, radius);
         } else {
-            VexSdk.Display.vexDisplayCircleDraw(x, y + Display.HEADER_HEIGHT, radius);
+            VexSdk.Display.drawCircle(x, y + Display.HEADER_HEIGHT, radius);
         }
     }
 }
diff --git a/src/main/java/dev/vexide/hydrozoa/display/Display.java b/src/main/java/dev/vexide/hydrozoa/display/Display.java
index 9d1ad24..802275b 100644
--- a/src/main/java/dev/vexide/hydrozoa/display/Display.java
+++ b/src/main/java/dev/vexide/hydrozoa/display/Display.java
@@ -56,8 +56,8 @@ public Display(@NotNull Peripherals.Key ignoredKey) {
      */
     public void setRenderMode(@NotNull RenderMode renderMode) {
         switch (renderMode) {
-            case IMMEDIATE -> VexSdk.Display.vexDisplayDoubleBufferDisable();
-            case DOUBLE_BUFFERED -> VexSdk.Display.vexDisplayRender(false, false);
+            case IMMEDIATE -> VexSdk.Display.disableDoubleBuffer();
+            case DOUBLE_BUFFERED -> VexSdk.Display.render(false, false);
         }
         this.renderMode = renderMode;
     }
diff --git a/src/main/java/dev/vexide/hydrozoa/display/Font.java b/src/main/java/dev/vexide/hydrozoa/display/Font.java
index 805c0c8..7415261 100644
--- a/src/main/java/dev/vexide/hydrozoa/display/Font.java
+++ b/src/main/java/dev/vexide/hydrozoa/display/Font.java
@@ -18,8 +18,8 @@ public record Font(@NotNull Size size, @NotNull Family family) {
     public static final Font DEFAULT = new Font(Size.MEDIUM, Family.MONOSPACE);
 
     void apply() {
-        VexSdk.Display.vexDisplayFontNamedSet(family.fontName());
-        VexSdk.Display.vexDisplayTextSize(size.numerator(), size.denominator());
+        VexSdk.Display.setFontNamed(family.fontName());
+        VexSdk.Display.textSize(size.numerator(), size.denominator());
     }
 
     /**
diff --git a/src/main/java/dev/vexide/hydrozoa/display/Rect.java b/src/main/java/dev/vexide/hydrozoa/display/Rect.java
index ab2ce54..1d38f6d 100644
--- a/src/main/java/dev/vexide/hydrozoa/display/Rect.java
+++ b/src/main/java/dev/vexide/hydrozoa/display/Rect.java
@@ -43,11 +43,11 @@ public record Rect(int x1, int y1, int x2, int y2) implements Shape {
 
     @Override
     public void draw(@NotNull Display display, @NotNull Color color, boolean fill) {
-        VexSdk.Display.vexDisplayForegroundColor(color.raw());
+        VexSdk.Display.foregroundColor(color.raw());
         if (fill) {
-            VexSdk.Display.vexDisplayRectFill(x1, y1 + Display.HEADER_HEIGHT, x2, y2 + Display.HEADER_HEIGHT);
+            VexSdk.Display.fillRect(x1, y1 + Display.HEADER_HEIGHT, x2, y2 + Display.HEADER_HEIGHT);
         } else {
-            VexSdk.Display.vexDisplayRectDraw(x1, y1 + Display.HEADER_HEIGHT, x2, y2 + Display.HEADER_HEIGHT);
+            VexSdk.Display.drawRect(x1, y1 + Display.HEADER_HEIGHT, x2, y2 + Display.HEADER_HEIGHT);
         }
     }
 }
diff --git a/src/main/java/dev/vexide/hydrozoa/display/Text.java b/src/main/java/dev/vexide/hydrozoa/display/Text.java
index 3b4f835..c6a310d 100644
--- a/src/main/java/dev/vexide/hydrozoa/display/Text.java
+++ b/src/main/java/dev/vexide/hydrozoa/display/Text.java
@@ -71,7 +71,7 @@ public Text(@NotNull String text, int x, int y) {
     @Contract(pure = true)
     public int height() {
         font.apply();
-        return VexSdk.Display.vexDisplayStringHeightGet(text);
+        return VexSdk.Display.getStringHeight(text);
     }
 
     /**
@@ -81,7 +81,7 @@ public int height() {
     @Contract(pure = true)
     public int width() {
         font.apply();
-        return VexSdk.Display.vexDisplayStringWidthGet(text);
+        return VexSdk.Display.getStringWidth(text);
     }
 
     /**
@@ -92,9 +92,9 @@ public int width() {
      * @param bgColor the color to draw the text's background in, or {@code null} for transparency
      */
     public void draw(@NotNull Display display, @NotNull Color fgColor, @Nullable Color bgColor) {
-        VexSdk.Display.vexDisplayForegroundColor(fgColor.raw());
+        VexSdk.Display.foregroundColor(fgColor.raw());
         if (bgColor != null) {
-            VexSdk.Display.vexDisplayBackgroundColor(bgColor.raw());
+            VexSdk.Display.backgroundColor(bgColor.raw());
         }
 
         var x = switch (hAlign) {
@@ -110,7 +110,7 @@ public void draw(@NotNull Display display, @NotNull Color fgColor, @Nullable Col
         } + Display.HEADER_HEIGHT;
 
         font.apply();
-        VexSdk.Display.vexDisplayPrintf(x, y, bgColor != null, text);
+        VexSdk.Display.printf(x, y, bgColor != null, text);
     }
 
     /**
diff --git a/vex-sdk/src/main/java/dev/vexide/hydrozoa/sdk/V5MotorBrakeMode.java b/vex-sdk/src/main/java/dev/vexide/hydrozoa/sdk/V5MotorBrakeMode.java
deleted file mode 100644
index 501e078..0000000
--- a/vex-sdk/src/main/java/dev/vexide/hydrozoa/sdk/V5MotorBrakeMode.java
+++ /dev/null
@@ -1,13 +0,0 @@
-package dev.vexide.hydrozoa.sdk;
-
-@SuppressWarnings("HungarianNotationConstants")
-public record V5MotorBrakeMode(byte value) {
-    public static final byte kV5MotorBrakeModeCoast = 0;
-    public static final V5MotorBrakeMode Coast = new V5MotorBrakeMode(kV5MotorBrakeModeCoast);
-
-    public static final byte kV5MotorBrakeModeBrake = 1;
-    public static final V5MotorBrakeMode Brake = new V5MotorBrakeMode(kV5MotorBrakeModeBrake);
-
-    public static final byte kV5MotorBrakeModeHold = 2;
-    public static final V5MotorBrakeMode Hold = new V5MotorBrakeMode(kV5MotorBrakeModeHold);
-}
diff --git a/vex-sdk/src/main/java/dev/vexide/hydrozoa/sdk/V5MotorControlMode.java b/vex-sdk/src/main/java/dev/vexide/hydrozoa/sdk/V5MotorControlMode.java
deleted file mode 100644
index 16f30cf..0000000
--- a/vex-sdk/src/main/java/dev/vexide/hydrozoa/sdk/V5MotorControlMode.java
+++ /dev/null
@@ -1,19 +0,0 @@
-package dev.vexide.hydrozoa.sdk;
-
-@SuppressWarnings("HungarianNotationConstants")
-public record V5MotorControlMode(byte value) {
-    public static final byte kMotorControlModeOFF = 0;
-    public static final V5MotorControlMode OFF = new V5MotorControlMode(kMotorControlModeOFF);
-    public static final byte kMotorControlModeBRAKE = 1;
-    public static final V5MotorControlMode BRAKE = new V5MotorControlMode(kMotorControlModeBRAKE);
-    public static final byte kMotorControlModeHOLD = 2;
-    public static final V5MotorControlMode HOLD = new V5MotorControlMode(kMotorControlModeHOLD);
-    public static final byte kMotorControlModeSERVO = 3;
-    public static final V5MotorControlMode SERVO = new V5MotorControlMode(kMotorControlModeSERVO);
-    public static final byte kMotorControlModePROFILE = 4;
-    public static final V5MotorControlMode PROFILE = new V5MotorControlMode(kMotorControlModePROFILE);
-    public static final byte kMotorControlModeVELOCITY = 5;
-    public static final V5MotorControlMode VELOCITY = new V5MotorControlMode(kMotorControlModeVELOCITY);
-    public static final byte kMotorControlModeUNDEFINED = 6;
-    public static final V5MotorControlMode UNDEFINED = new V5MotorControlMode(kMotorControlModeUNDEFINED);
-}
diff --git a/vex-sdk/src/main/java/dev/vexide/hydrozoa/sdk/V5MotorEncoderUnits.java b/vex-sdk/src/main/java/dev/vexide/hydrozoa/sdk/V5MotorEncoderUnits.java
deleted file mode 100644
index c3c6f0f..0000000
--- a/vex-sdk/src/main/java/dev/vexide/hydrozoa/sdk/V5MotorEncoderUnits.java
+++ /dev/null
@@ -1,13 +0,0 @@
-package dev.vexide.hydrozoa.sdk;
-
-@SuppressWarnings("HungarianNotationConstants")
-public record V5MotorEncoderUnits(byte value) {
-    public static final byte kMotorEncoderDegrees = 0;
-    public static final V5MotorEncoderUnits Degrees = new V5MotorEncoderUnits(kMotorEncoderDegrees);
-
-    public static final byte kMotorEncoderRotations = 1;
-    public static final V5MotorEncoderUnits Rotations = new V5MotorEncoderUnits(kMotorEncoderRotations);
-
-    public static final byte kMotorEncoderCounts = 2;
-    public static final V5MotorEncoderUnits Counts = new V5MotorEncoderUnits(kMotorEncoderCounts);
-}
diff --git a/vex-sdk/src/main/java/dev/vexide/hydrozoa/sdk/V5MotorGearset.java b/vex-sdk/src/main/java/dev/vexide/hydrozoa/sdk/V5MotorGearset.java
deleted file mode 100644
index 29005e2..0000000
--- a/vex-sdk/src/main/java/dev/vexide/hydrozoa/sdk/V5MotorGearset.java
+++ /dev/null
@@ -1,11 +0,0 @@
-package dev.vexide.hydrozoa.sdk;
-
-@SuppressWarnings("HungarianNotationConstants")
-public record V5MotorGearset(byte value) {
-    public static final byte kMotorGearSet_36 = 0;
-    public static final byte kMotorGearSet_18 = 1;
-    public static final byte kMotorGearSet_06 = 2;
-    public static final V5MotorGearset GearSet_36 = new V5MotorGearset(kMotorGearSet_36);
-    public static final V5MotorGearset GearSet_18 = new V5MotorGearset(kMotorGearSet_18);
-    public static final V5MotorGearset GearSet_06 = new V5MotorGearset(kMotorGearSet_06);
-}
diff --git a/vex-sdk/src/main/java/dev/vexide/hydrozoa/sdk/V5_ControllerId.java b/vex-sdk/src/main/java/dev/vexide/hydrozoa/sdk/V5_ControllerId.java
deleted file mode 100644
index c81ba8b..0000000
--- a/vex-sdk/src/main/java/dev/vexide/hydrozoa/sdk/V5_ControllerId.java
+++ /dev/null
@@ -1,7 +0,0 @@
-package dev.vexide.hydrozoa.sdk;
-
-@SuppressWarnings("HungarianNotationConstants")
-public record V5_ControllerId(byte value) {
-    public static final V5_ControllerId kControllerMaster = new V5_ControllerId((byte) 0);
-    public static final V5_ControllerId kControllerPartner = new V5_ControllerId((byte) 1);
-}
diff --git a/vex-sdk/src/main/java/dev/vexide/hydrozoa/sdk/V5_ControllerIndex.java b/vex-sdk/src/main/java/dev/vexide/hydrozoa/sdk/V5_ControllerIndex.java
deleted file mode 100644
index 018cbb6..0000000
--- a/vex-sdk/src/main/java/dev/vexide/hydrozoa/sdk/V5_ControllerIndex.java
+++ /dev/null
@@ -1,44 +0,0 @@
-package dev.vexide.hydrozoa.sdk;
-
-public record V5_ControllerIndex(byte value) {
-    public static final V5_ControllerIndex AnaLeftX = new V5_ControllerIndex((byte) 0);
-    public static final V5_ControllerIndex AnaLeftY = new V5_ControllerIndex((byte) 1);
-    public static final V5_ControllerIndex AnaRightX = new V5_ControllerIndex((byte) 2);
-    public static final V5_ControllerIndex AnaRightY = new V5_ControllerIndex((byte) 3);
-    public static final V5_ControllerIndex AnaSpare1 = new V5_ControllerIndex((byte) 4);
-    public static final V5_ControllerIndex AnaSpare2 = new V5_ControllerIndex((byte) 5);
-    public static final V5_ControllerIndex Button5U = new V5_ControllerIndex((byte) 6);
-    public static final V5_ControllerIndex Button5D = new V5_ControllerIndex((byte) 7);
-    public static final V5_ControllerIndex Button6U = new V5_ControllerIndex((byte) 8);
-    public static final V5_ControllerIndex Button6D = new V5_ControllerIndex((byte) 9);
-    public static final V5_ControllerIndex Button7U = new V5_ControllerIndex((byte) 10);
-    public static final V5_ControllerIndex Button7D = new V5_ControllerIndex((byte) 11);
-    public static final V5_ControllerIndex Button7L = new V5_ControllerIndex((byte) 12);
-    public static final V5_ControllerIndex Button7R = new V5_ControllerIndex((byte) 13);
-    public static final V5_ControllerIndex Button8U = new V5_ControllerIndex((byte) 14);
-    public static final V5_ControllerIndex Button8D = new V5_ControllerIndex((byte) 15);
-    public static final V5_ControllerIndex Button8L = new V5_ControllerIndex((byte) 16);
-    public static final V5_ControllerIndex Button8R = new V5_ControllerIndex((byte) 17);
-    public static final V5_ControllerIndex ButtonSEL = new V5_ControllerIndex((byte) 18);
-    public static final V5_ControllerIndex BatteryLevel = new V5_ControllerIndex((byte) 19);
-    public static final V5_ControllerIndex ButtonAll = new V5_ControllerIndex((byte) 20);
-    public static final V5_ControllerIndex Flags = new V5_ControllerIndex((byte) 21);
-    public static final V5_ControllerIndex BatteryCapacity = new V5_ControllerIndex((byte) 22);
-
-    public static final V5_ControllerIndex Axis1 = AnaRightX;
-    public static final V5_ControllerIndex Axis2 = AnaRightY;
-    public static final V5_ControllerIndex Axis3 = AnaLeftY;
-    public static final V5_ControllerIndex Axis4 = AnaLeftX;
-    public static final V5_ControllerIndex ButtonL1 = Button5U;
-    public static final V5_ControllerIndex ButtonL2 = Button5D;
-    public static final V5_ControllerIndex ButtonR1 = Button6U;
-    public static final V5_ControllerIndex ButtonR2 = Button6D;
-    public static final V5_ControllerIndex ButtonUp = Button7U;
-    public static final V5_ControllerIndex ButtonDown = Button7D;
-    public static final V5_ControllerIndex ButtonLeft = Button7L;
-    public static final V5_ControllerIndex ButtonRight = Button7R;
-    public static final V5_ControllerIndex ButtonX = Button8U;
-    public static final V5_ControllerIndex ButtonB = Button8D;
-    public static final V5_ControllerIndex ButtonY = Button8L;
-    public static final V5_ControllerIndex ButtonA = Button8R;
-}
diff --git a/vex-sdk/src/main/java/dev/vexide/hydrozoa/sdk/V5_ControllerStatus.java b/vex-sdk/src/main/java/dev/vexide/hydrozoa/sdk/V5_ControllerStatus.java
deleted file mode 100644
index 5451945..0000000
--- a/vex-sdk/src/main/java/dev/vexide/hydrozoa/sdk/V5_ControllerStatus.java
+++ /dev/null
@@ -1,8 +0,0 @@
-package dev.vexide.hydrozoa.sdk;
-
-@SuppressWarnings("HungarianNotationConstants")
-public record V5_ControllerStatus(byte value) {
-    public static final V5_ControllerStatus kV5ControllerOffline = new V5_ControllerStatus((byte) 0);
-    public static final V5_ControllerStatus kV5ControllerTethered = new V5_ControllerStatus((byte) 1);
-    public static final V5_ControllerStatus kV5ControllerVexnet = new V5_ControllerStatus((byte) 2);
-}
diff --git a/vex-sdk/src/main/java/dev/vexide/hydrozoa/sdk/V5_Device.java b/vex-sdk/src/main/java/dev/vexide/hydrozoa/sdk/V5_Device.java
deleted file mode 100644
index 07be41d..0000000
--- a/vex-sdk/src/main/java/dev/vexide/hydrozoa/sdk/V5_Device.java
+++ /dev/null
@@ -1,4 +0,0 @@
-package dev.vexide.hydrozoa.sdk;
-
-public record V5_Device(int raw) {
-}
diff --git a/vex-sdk/src/main/java/dev/vexide/hydrozoa/sdk/V5_DeviceType.java b/vex-sdk/src/main/java/dev/vexide/hydrozoa/sdk/V5_DeviceType.java
deleted file mode 100644
index 5660276..0000000
--- a/vex-sdk/src/main/java/dev/vexide/hydrozoa/sdk/V5_DeviceType.java
+++ /dev/null
@@ -1,92 +0,0 @@
-package dev.vexide.hydrozoa.sdk;
-
-@SuppressWarnings("HungarianNotationConstants")
-public record V5_DeviceType(byte value) {
-    public static final byte kDeviceTypeNoSensor = 0;
-    public static final V5_DeviceType NoSensor = new V5_DeviceType(kDeviceTypeNoSensor);
-
-    public static final byte kDeviceTypeMotorSensor = 2;
-    public static final V5_DeviceType MotorSensor = new V5_DeviceType(kDeviceTypeMotorSensor);
-
-    public static final byte kDeviceTypeLedSensor = 3;
-    public static final V5_DeviceType LedSensor = new V5_DeviceType(kDeviceTypeLedSensor);
-
-    public static final byte kDeviceTypeAbsEncSensor = 4;
-    public static final V5_DeviceType AbsEncSensor = new V5_DeviceType(kDeviceTypeAbsEncSensor);
-
-    public static final byte kDeviceTypeCrMotorSensor = 5;
-    public static final V5_DeviceType CrMotorSensor = new V5_DeviceType(kDeviceTypeCrMotorSensor);
-
-    public static final byte kDeviceTypeImuSensor = 6;
-    public static final V5_DeviceType ImuSensor = new V5_DeviceType(kDeviceTypeImuSensor);
-
-    public static final byte kDeviceTypeDistanceSensor = 7;
-    public static final V5_DeviceType DistanceSensor = new V5_DeviceType(kDeviceTypeDistanceSensor);
-
-    public static final byte kDeviceTypeRadioSensor = 8;
-    public static final V5_DeviceType RadioSensor = new V5_DeviceType(kDeviceTypeRadioSensor);
-
-    public static final byte kDeviceTypeTetherSensor = 9;
-    public static final V5_DeviceType TetherSensor = new V5_DeviceType(kDeviceTypeTetherSensor);
-
-    public static final byte kDeviceTypeBrainSensor = 10;
-    public static final V5_DeviceType BrainSensor = new V5_DeviceType(kDeviceTypeBrainSensor);
-
-    public static final byte kDeviceTypeVisionSensor = 11;
-    public static final V5_DeviceType VisionSensor = new V5_DeviceType(kDeviceTypeVisionSensor);
-
-    public static final byte kDeviceTypeAdiSensor = 12;
-    public static final V5_DeviceType AdiSensor = new V5_DeviceType(kDeviceTypeAdiSensor);
-
-    public static final byte kDeviceTypeRes1Sensor = 13;
-    public static final V5_DeviceType Res1Sensor = new V5_DeviceType(kDeviceTypeRes1Sensor);
-
-    public static final byte kDeviceTypeRes2Sensor = 14;
-    public static final V5_DeviceType Res2Sensor = new V5_DeviceType(kDeviceTypeRes2Sensor);
-
-    public static final byte kDeviceTypeRes3Sensor = 15;
-    public static final V5_DeviceType Res3Sensor = new V5_DeviceType(kDeviceTypeRes3Sensor);
-
-    public static final byte kDeviceTypeOpticalSensor = 16;
-    public static final V5_DeviceType OpticalSensor = new V5_DeviceType(kDeviceTypeOpticalSensor);
-
-    public static final byte kDeviceTypeMagnetSensor = 17;
-    public static final V5_DeviceType MagnetSensor = new V5_DeviceType(kDeviceTypeMagnetSensor);
-
-    public static final byte kDeviceTypeGpsSensor = 20;
-    public static final V5_DeviceType GpsSensor = new V5_DeviceType(kDeviceTypeGpsSensor);
-
-    public static final byte kDeviceTypeAicameraSensor = 26;
-    public static final V5_DeviceType AicameraSensor = new V5_DeviceType(kDeviceTypeAicameraSensor);
-
-    public static final byte kDeviceTypeLightTowerSensor = 27;
-    public static final V5_DeviceType LightTowerSensor = new V5_DeviceType(kDeviceTypeLightTowerSensor);
-
-    public static final byte kDeviceTypeArmDevice = 28;
-    public static final V5_DeviceType ArmDevice = new V5_DeviceType(kDeviceTypeArmDevice);
-
-    public static final byte kDeviceTypeAiVisionSensor = 29;
-    public static final V5_DeviceType AiVisionSensor = new V5_DeviceType(kDeviceTypeAiVisionSensor);
-
-    public static final byte kDeviceTypePneumaticSensor = 30;
-    public static final V5_DeviceType PneumaticSensor = new V5_DeviceType(kDeviceTypePneumaticSensor);
-
-    public static final byte kDeviceTypeBumperSensor = 0x40;
-    public static final V5_DeviceType BumperSensor = new V5_DeviceType(kDeviceTypeBumperSensor);
-
-    public static final byte kDeviceTypeGyroSensor = 0x46;
-    public static final V5_DeviceType GyroSensor = new V5_DeviceType(kDeviceTypeGyroSensor);
-
-    public static final byte kDeviceTypeSonarSensor = 0x47;
-    public static final V5_DeviceType SonarSensor = new V5_DeviceType(kDeviceTypeSonarSensor);
-
-    public static final byte kDeviceTypeGenericSensor = (byte) 128;
-    public static final V5_DeviceType GenericSensor = new V5_DeviceType(kDeviceTypeGenericSensor);
-
-    public static final byte kDeviceTypeGenericSerial = (byte) 129;
-    public static final V5_DeviceType GenericSerial = new V5_DeviceType(kDeviceTypeGenericSerial);
-
-    public static final byte kDeviceTypeUndefinedSensor = (byte) 255;
-    public static final V5_DeviceType UndefinedSensor = new V5_DeviceType(kDeviceTypeUndefinedSensor);
-
-}
diff --git a/vex-sdk/src/main/java/dev/vexide/hydrozoa/sdk/VexSdk.java b/vex-sdk/src/main/java/dev/vexide/hydrozoa/sdk/VexSdk.java
deleted file mode 100644
index 5725e8f..0000000
--- a/vex-sdk/src/main/java/dev/vexide/hydrozoa/sdk/VexSdk.java
+++ /dev/null
@@ -1,443 +0,0 @@
-package dev.vexide.hydrozoa.sdk;
-
-import org.jetbrains.annotations.Contract;
-import org.jetbrains.annotations.NotNull;
-import org.teavm.interop.Import;
-import org.teavm.interop.StaticInit;
-
-@SuppressWarnings("MissingJavadoc")
-@StaticInit
-public final class VexSdk {
-    private VexSdk() {
-    }
-
-    @Import(module = "vex", name = "vexTasksRun")
-    public static native void vexTasksRun();
-
-    @Import(module = "vex", name = "vexCompetitionStatus")
-    public static native int vexCompetitionStatus();
-
-    @StaticInit
-    public static final class Display {
-        private Display() {
-        }
-
-        @Import(module = "vex", name = "vexDisplayRender")
-        public static native void vexDisplayRender(boolean bVsyncWait, boolean bRunScheduler);
-
-        @Import(module = "vex", name = "vexDisplayDoubleBufferDisable")
-        public static native void vexDisplayDoubleBufferDisable();
-
-        @Import(module = "vex", name = "vexDisplayForegroundColor")
-        public static native void vexDisplayForegroundColor(int color);
-
-        @Import(module = "vex", name = "vexDisplayBackgroundColor")
-        public static native void vexDisplayBackgroundColor(int color);
-
-        @Import(module = "vex", name = "vexDisplayRectFill")
-        public static native void vexDisplayRectFill(int x1, int y1, int x2, int y2);
-
-        @Import(module = "vex", name = "vexDisplayRectDraw")
-        public static native void vexDisplayRectDraw(int x1, int y1, int x2, int y2);
-
-        @Import(module = "vex", name = "vexDisplayCircleFill")
-        public static native void vexDisplayCircleFill(int xc, int yc, int radius);
-
-        @Import(module = "vex", name = "vexDisplayCircleDraw")
-        public static native void vexDisplayCircleDraw(int xc, int yc, int radius);
-
-        // Text functions
-
-        @Import(module = "vex", name = "vexDisplayTextSize")
-        public static native void vexDisplayTextSize(int n, int d);
-
-        @Import(module = "vex", name = "vexDisplayFontNamedSet")
-        public static native void vexDisplayFontNamedSet(@NotNull String pFontName);
-
-        @Import(module = "vex", name = "vexDisplayStringWidthGet")
-        public static native int vexDisplayStringWidthGet(@NotNull String text);
-
-        @Import(module = "vex", name = "vexDisplayStringHeightGet")
-        public static native int vexDisplayStringHeightGet(@NotNull String text);
-
-        @Import(module = "vex", name = "vexDisplayPrintf")
-        public static native void vexDisplayPrintf(int xpos, int ypos, boolean bOpaque, @NotNull String text);
-
-        @Import(module = "vex", name = "vexDisplayString")
-        public static native void vexDisplayString(int nLineNumber, @NotNull String text);
-
-        @Import(module = "vex", name = "vexDisplayStringAt")
-        public static native void vexDisplayStringAt(int xpos, int ypos, @NotNull String text);
-
-        @Import(module = "vex", name = "vexDisplayBigString")
-        public static native void vexDisplayBigString(int nLineNumber, @NotNull String text);
-
-        @Import(module = "vex", name = "vexDisplayBigStringAt")
-        public static native void vexDisplayBigStringAt(int xpos, int ypos, @NotNull String text);
-
-        @Import(module = "vex", name = "vexDisplaySmallStringAt")
-        public static native void vexDisplaySmallStringAt(int xpos, int ypos, @NotNull String text);
-
-        @Import(module = "vex", name = "vexDisplayCenteredString")
-        public static native void vexDisplayCenteredString(int nLineNumber, @NotNull String text);
-
-        @Import(module = "vex", name = "vexDisplayBigCenteredString")
-        public static native void vexDisplayBigCenteredString(int nLineNumber, @NotNull String text);
-    }
-
-    @StaticInit
-    public static final class Controller {
-        private Controller() {
-        }
-
-        /**
-         * Get the value of a controller's data channel.
-         */
-        public static int vexControllerGet(@NotNull V5_ControllerId id, @NotNull V5_ControllerIndex index) {
-            return vexControllerGetRaw(id.value(), index.value());
-        }
-
-        @Import(module = "vex", name = "vexControllerGet")
-        private static native int vexControllerGetRaw(byte id, byte index);
-
-        /**
-         * Returns `1` if the controller on the given ID is connected, or `0` if not.
-         */
-        public static @NotNull V5_ControllerStatus vexControllerConnectionStatusGet(@NotNull V5_ControllerId id) {
-            return new V5_ControllerStatus(vexControllerConnectionStatusGetRaw(id.value()));
-        }
-
-        @Import(module = "vex", name = "vexControllerConnectionStatusGet")
-        private static native byte vexControllerConnectionStatusGetRaw(byte id);
-    }
-
-    @StaticInit
-    public static final class Device {
-        private Device() {
-        }
-
-        public static final int V5_MAX_DEVICE_PORTS = 32;
-
-        @Import(module = "vex", name = "vexControllerConnectionStatusGet")
-        public static native int vexDevicesGetNumber();
-
-        public static int vexDevicesGetNumberByType(@NotNull V5_DeviceType deviceType) {
-            return vexDevicesGetNumberByTypeRaw(deviceType.value());
-        }
-
-        @Import(module = "vex", name = "vexDevicesGetNumberByType")
-        private static native int vexDevicesGetNumberByTypeRaw(int deviceType);
-
-        @Import(module = "vex", name = "vexDeviceGetStatus")
-        public static native int vexDeviceGetStatus(byte[] devices);
-
-        @Contract("_ -> new")
-        public static @NotNull V5_Device vexDeviceGetByIndex(int index) {
-            return new V5_Device(vexDeviceGetByIndexRaw(index));
-        }
-
-        @Import(module = "vex", name = "vexDeviceGetByIndex")
-        private static native int vexDeviceGetByIndexRaw(int index);
-    }
-
-    @StaticInit
-    public static final class Motor {
-        private Motor() {
-        }
-
-        public static void vexDeviceMotorVelocitySet(@NotNull V5_Device device, int velocity) {
-            vexDeviceMotorVelocitySetRaw(device.raw(), velocity);
-        }
-
-        @Import(module = "vex", name = "vexDeviceMotorVelocitySet")
-        private static native void vexDeviceMotorVelocitySetRaw(int device, int velocity);
-
-        public static int vexDeviceMotorVelocityGet(@NotNull V5_Device device) {
-            return vexDeviceMotorVelocityGetRaw(device.raw());
-        }
-
-        @Import(module = "vex", name = "vexDeviceMotorVelocityGet")
-        private static native int vexDeviceMotorVelocityGetRaw(int device);
-
-        public static int vexDeviceMotorActualVelocityGet(@NotNull V5_Device device) {
-            return vexDeviceMotorActualVelocityGetRaw(device.raw());
-        }
-
-        @Import(module = "vex", name = "vexDeviceMotorActualVelocityGet")
-        private static native int vexDeviceMotorActualVelocityGetRaw(int device);
-
-        public static int vexDeviceMotorDirectionGet(@NotNull V5_Device device) {
-            return vexDeviceMotorDirectionGetRaw(device.raw());
-        }
-
-        @Import(module = "vex", name = "vexDeviceMotorDirectionGet")
-        private static native int vexDeviceMotorDirectionGetRaw(int device);
-
-        public static void vexDeviceMotorBrakeModeSet(@NotNull V5_Device device, @NotNull V5MotorBrakeMode mode) {
-            vexDeviceMotorBrakeModeSetRaw(device.raw(), mode.value());
-        }
-        @Import(module = "vex", name = "vexDeviceMotorBrakeModeSet")
-        private static native void vexDeviceMotorBrakeModeSetRaw(int device, byte mode);
-
-        public static void vexDeviceMotorModeSet(@NotNull V5_Device device, @NotNull V5MotorControlMode mode) {
-            vexDeviceMotorModeSetRaw(device.raw(), mode.value());
-        }
-
-        @Import(module = "vex", name = "vexDeviceMotorModeSet")
-        private static native void vexDeviceMotorModeSetRaw(int device, byte mode);
-
-        public static @NotNull V5MotorControlMode vexDeviceMotorModeGet(@NotNull V5_Device device) {
-            return new V5MotorControlMode(vexDeviceMotorModeGetRaw(device.raw()));
-        }
-
-        @Import(module = "vex", name = "vexDeviceMotorModeGet")
-        private static native byte vexDeviceMotorModeGetRaw(int device);
-
-        public static void vexDeviceMotorPwmSet(@NotNull V5_Device device, int pwm) {
-            vexDeviceMotorPwmSetRaw(device.raw(), pwm);
-        }
-
-        @Import(module = "vex", name = "vexDeviceMotorPwmSet")
-        private static native void vexDeviceMotorPwmSetRaw(int device, int pwm);
-
-        public static int vexDeviceMotorPwmGet(@NotNull V5_Device device) {
-            return vexDeviceMotorPwmGetRaw(device.raw());
-        }
-
-        @Import(module = "vex", name = "vexDeviceMotorPwmGet")
-        private static native int vexDeviceMotorPwmGetRaw(int device);
-
-        public static void vexDeviceMotorCurrentLimitSet(@NotNull V5_Device device, int limit) {
-            vexDeviceMotorCurrentLimitSetRaw(device.raw(), limit);
-        }
-
-        @Import(module = "vex", name = "vexDeviceMotorCurrentLimitSet")
-        private static native void vexDeviceMotorCurrentLimitSetRaw(int device, int limit);
-
-        public static int vexDeviceMotorCurrentLimitGet(@NotNull V5_Device device) {
-            return vexDeviceMotorCurrentLimitGetRaw(device.raw());
-        }
-
-        @Import(module = "vex", name = "vexDeviceMotorCurrentLimitGet")
-        private static native int vexDeviceMotorCurrentLimitGetRaw(int device);
-
-        public static int vexDeviceMotorCurrentGet(@NotNull V5_Device device) {
-            return vexDeviceMotorCurrentGetRaw(device.raw());
-        }
-
-        @Import(module = "vex", name = "vexDeviceMotorCurrentGet")
-        private static native int vexDeviceMotorCurrentGetRaw(int device);
-
-        public static double vexDeviceMotorPowerGet(@NotNull V5_Device device) {
-            return vexDeviceMotorPowerGetRaw(device.raw());
-        }
-
-        @Import(module = "vex", name = "vexDeviceMotorPowerGet")
-        private static native double vexDeviceMotorPowerGetRaw(int device);
-
-        public static double vexDeviceMotorTorqueGet(@NotNull V5_Device device) {
-            return vexDeviceMotorTorqueGetRaw(device.raw());
-        }
-
-        @Import(module = "vex", name = "vexDeviceMotorTorqueGet")
-        private static native double vexDeviceMotorTorqueGetRaw(int device);
-
-        public static double vexDeviceMotorEfficiencyGet(@NotNull V5_Device device) {
-            return vexDeviceMotorEfficiencyGetRaw(device.raw());
-        }
-
-        @Import(module = "vex", name = "vexDeviceMotorEfficiencyGet")
-        private static native double vexDeviceMotorEfficiencyGetRaw(int device);
-
-        public static double vexDeviceMotorTemperatureGet(@NotNull V5_Device device) {
-            return vexDeviceMotorTemperatureGetRaw(device.raw());
-        }
-
-        @Import(module = "vex", name = "vexDeviceMotorTemperatureGet")
-        private static native double vexDeviceMotorTemperatureGetRaw(int device);
-
-        public static boolean vexDeviceMotorOverTempFlagGet(@NotNull V5_Device device) {
-            return vexDeviceMotorOverTempFlagGetRaw(device.raw());
-        }
-
-        @Import(module = "vex", name = "vexDeviceMotorOverTempFlagGet")
-        private static native boolean vexDeviceMotorOverTempFlagGetRaw(int device);
-
-        public static boolean vexDeviceMotorCurrentLimitFlagGet(@NotNull V5_Device device) {
-            return vexDeviceMotorCurrentLimitFlagGetRaw(device.raw());
-        }
-
-        @Import(module = "vex", name = "vexDeviceMotorCurrentLimitFlagGet")
-        private static native boolean vexDeviceMotorCurrentLimitFlagGetRaw(int device);
-
-        public static boolean vexDeviceMotorZeroVelocityFlagGet(@NotNull V5_Device device) {
-            return vexDeviceMotorZeroVelocityFlagGetRaw(device.raw());
-        }
-
-        @Import(module = "vex", name = "vexDeviceMotorZeroVelocityFlagGet")
-        private static native boolean vexDeviceMotorZeroVelocityFlagGetRaw(int device);
-
-        public static boolean vexDeviceMotorZeroPositionFlagGet(@NotNull V5_Device device) {
-            return vexDeviceMotorZeroPositionFlagGetRaw(device.raw());
-        }
-
-        @Import(module = "vex", name = "vexDeviceMotorZeroPositionFlagGet")
-        private static native boolean vexDeviceMotorZeroPositionFlagGetRaw(int device);
-
-        public static void vexDeviceMotorGearingSet(@NotNull V5_Device device, @NotNull V5MotorGearset gearset) {
-            vexDeviceMotorGearingSetRaw(device.raw(), gearset.value());
-        }
-
-        @Import(module = "vex", name = "vexDeviceMotorGearingSet")
-        private static native void vexDeviceMotorGearingSetRaw(int device, byte gearset);
-
-        public static void vexDeviceMotorAbsoluteTargetSet(@NotNull V5_Device device, double position, int velocity) {
-            vexDeviceMotorAbsoluteTargetSetRaw(device.raw(), position, velocity);
-        }
-        @Import(module = "vex", name = "vexDeviceMotorAbsoluteTargetSet")
-        private static native void vexDeviceMotorAbsoluteTargetSetRaw(int device, double position, int velocity);
-
-        public static void vexDeviceMotorReverseFlagSet(@NotNull V5_Device device, boolean flag) {
-            vexDeviceMotorReverseFlagSetRaw(device.raw(), flag);
-        }
-
-        @Import(module = "vex", name = "vexDeviceMotorReverseFlagSet")
-        private static native void vexDeviceMotorReverseFlagSetRaw(int device, boolean flag);
-
-        public static void vexDeviceMotorEncoderUnitsSet(@NotNull V5_Device device, @NotNull V5MotorEncoderUnits units) {
-            vexDeviceMotorEncoderUnitsSetRaw(device.raw(), units.value());
-        }
-        @Import(module = "vex", name = "vexDeviceMotorEncoderUnitsSet")
-        private static native void vexDeviceMotorEncoderUnitsSetRaw(int device, byte units);
-
-        public static void vexDeviceMotorVoltageSet(@NotNull V5_Device device, int voltage) {
-            vexDeviceMotorVoltageSetRaw(device.raw(), voltage);
-        }
-
-        @Import(module = "vex", name = "vexDeviceMotorVoltageSet")
-        private static native void vexDeviceMotorVoltageSetRaw(int device, int voltage);
-
-        public static void vexDeviceMotorVoltageGet(@NotNull V5_Device device, int voltage) {
-            vexDeviceMotorVoltageGetRaw(device.raw(), voltage);
-        }
-
-        @Import(module = "vex", name = "vexDeviceMotorVoltageGet")
-        private static native void vexDeviceMotorVoltageGetRaw(int device, int voltage);
-        //    TODO:
-        //    vexDeviceMotorPositionGet(device: V5_DeviceT) -> c_double,
-        //    vexDeviceMotorPositionRawGet(
-        //        device: V5_DeviceT,
-        //        timestamp: *mut u32,
-        //    ) -> i32,
-        //    vexDeviceMotorPositionReset(device: V5_DeviceT),
-        //    vexDeviceMotorTargetGet(device: V5_DeviceT) -> c_double,
-        //    vexDeviceMotorServoTargetSet(device: V5_DeviceT, position: c_double),
-        //    vexDeviceMotorAbsoluteTargetSet(
-        //        device: V5_DeviceT,
-        //        position: c_double,
-        //        veloctiy: i32,
-        //    ),
-        //    vexDeviceMotorRelativeTargetSet(
-        //        device: V5_DeviceT,
-        //        position: c_double,
-        //        velocity: i32,
-        //    ),
-        //    vexDeviceMotorFaultsGet(device: V5_DeviceT) -> u32,
-        //    vexDeviceMotorFlagsGet(device: V5_DeviceT) -> u32,
-        //    vexDeviceMotorVoltageSet(device: V5_DeviceT, voltage: i32),
-        //    vexDeviceMotorVoltageGet(device: V5_DeviceT) -> i32,
-        //    vexDeviceMotorGearingSet(device: V5_DeviceT, gearset: V5MotorGearset),
-        //    vexDeviceMotorGearingGet(device: V5_DeviceT) -> V5MotorGearset,
-        //    vexDeviceMotorVoltageLimitSet(device: V5_DeviceT, limit: i32),
-        //    vexDeviceMotorVoltageLimitGet(device: V5_DeviceT) -> i32,
-        //    vexDeviceMotorVelocityUpdate(device: V5_DeviceT, velocity: i32),
-        //    vexDeviceMotorPositionPidSet(device: V5_DeviceT, pid: *mut V5_DeviceMotorPid),
-        //    vexDeviceMotorVelocityPidSet(device: V5_DeviceT, pid: *mut V5_DeviceMotorPid),
-        //    vexDeviceMotorExternalProfileSet(
-        //        device: V5_DeviceT,
-        //        position: c_double,
-        //        velocity: i32,
-        //    ),
-
-
-        public static boolean vexDeviceMotorReverseFlagGet(@NotNull V5_Device device) {
-            return vexDeviceMotorReverseFlagGetRaw(device.raw());
-        }
-
-        @Import(module = "vex", name = "vexDeviceMotorReverseFlagGet")
-        private static native boolean vexDeviceMotorReverseFlagGetRaw(int device);
-
-        public static @NotNull V5MotorEncoderUnits vexDeviceMotorEncoderUnitsGet(@NotNull V5_Device device) {
-            return new V5MotorEncoderUnits(vexDeviceMotorEncoderUnitsGetRaw(device.raw()));
-        }
-
-        @Import(module = "vex", name = "vexDeviceMotorEncoderUnitsGet")
-        private static native byte vexDeviceMotorEncoderUnitsGetRaw(int device);
-
-        public static @NotNull V5MotorBrakeMode vexDeviceMotorBrakeModeGet(@NotNull V5_Device device) {
-            return new V5MotorBrakeMode(vexDeviceMotorBrakeModeGetRaw(device.raw()));
-        }
-
-        @Import(module = "vex", name = "vexDeviceMotorBrakeModeGet")
-        private static native byte vexDeviceMotorBrakeModeGetRaw(int device);
-
-        public static void vexDeviceMotorPositionSet(@NotNull V5_Device device, double position) {
-            vexDeviceMotorPositionSetRaw(device.raw(), position);
-        }
-
-        @Import(module = "vex", name = "vexDeviceMotorPositionSet")
-        private static native void vexDeviceMotorPositionSetRaw(int device, double position);
-
-        public static double vexDeviceMotorPositionGet(@NotNull V5_Device device) {
-            return vexDeviceMotorPositionGetRaw(device.raw());
-        }
-
-        @Import(module = "vex", name = "vexDeviceMotorPositionGet")
-        private static native double vexDeviceMotorPositionGetRaw(int device);
-    }
-
-    @StaticInit
-    public static final class Serial {
-        private Serial() {
-        }
-
-        @Import(module = "vex", name = "vexSerialWriteChar")
-        public static native int vexSerialWriteChar(int channel, byte c);
-
-        @Import(module = "vex", name = "vexSerialReadChar")
-        public static native int vexSerialReadChar(int channel);
-
-        @Import(module = "vex", name = "vexSerialPeekChar")
-        public static native int vexSerialPeekChar(int channel);
-
-        @Import(module = "vex", name = "vexSerialWriteFree")
-        public static native int vexSerialWriteFree(int channel);
-    }
-
-    @StaticInit
-    public static final class System {
-        private System() {
-        }
-
-        @Import(module = "vex", name = "vexSystemTimeGet")
-        public static native int vexSystemTimeGet();
-
-        @Import(module = "vex", name = "vexSystemExitRequest")
-        public static native void vexSystemExitRequest();
-
-        @Import(module = "vex", name = "vexSystemHighResTimeGet")
-        public static native long vexSystemHighResTimeGet();
-
-        @Import(module = "vex", name = "vexSystemPowerupTimeGet")
-        public static native long vexSystemPowerupTimeGet();
-
-        @Import(module = "vex", name = "vexSystemLinkAddrGet")
-        public static native int vexSystemLinkAddrGet();
-
-        @Import(module = "vex", name = "vexSystemVersion")
-        public static native int vexSystemVersion();
-
-        @Import(module = "vex", name = "vexStdlibVersion")
-        public static native int vexStdlibVersion();
-    }
-}

From 164cde989bc25d84bf15af972b9490c852db7a2a Mon Sep 17 00:00:00 2001
From: Lewis <mcclelll@icloud.com>
Date: Thu, 15 May 2025 15:28:16 -0700
Subject: [PATCH 08/14] feat: use more of the autogenerated types

---
 .idea/misc.xml                                |   2 +-
 .../bindings/BindingsGeneratorPlugin.kt       |  26 +-
 build.gradle.kts                              |   8 +-
 hydrozoa_api.json                             | 241 +++++++++++++-----
 .../vexide/hydrozoa/devices/Controller.java   |  52 +++-
 .../vexide/hydrozoa/devices/smart/Motor.java  |  40 +--
 .../hydrozoa/devices/smart/MotorControl.java  |  18 +-
 .../hydrozoa/devices/smart/SmartDevice.java   |   2 +-
 .../hydrozoa/devices/smart/SmartPort.java     |   7 +-
 .../dev/vexide/hydrozoa/display/Display.java  |   2 +-
 10 files changed, 278 insertions(+), 120 deletions(-)

diff --git a/.idea/misc.xml b/.idea/misc.xml
index d96092b..babdf30 100644
--- a/.idea/misc.xml
+++ b/.idea/misc.xml
@@ -65,7 +65,7 @@
       </profile-state>
     </entry>
   </component>
-  <component name="ProjectRootManager" version="2" languageLevel="JDK_21" default="true" project-jdk-name="21" project-jdk-type="JavaSDK">
+  <component name="ProjectRootManager" version="2" languageLevel="JDK_23" project-jdk-name="corretto-23" project-jdk-type="JavaSDK">
     <output url="file://$PROJECT_DIR$/out" />
   </component>
 </project>
\ No newline at end of file
diff --git a/bindings-generator/src/main/kotlin/dev/vexide/hydrozoa/plugin/bindings/BindingsGeneratorPlugin.kt b/bindings-generator/src/main/kotlin/dev/vexide/hydrozoa/plugin/bindings/BindingsGeneratorPlugin.kt
index 9c4408e..cd08ffe 100644
--- a/bindings-generator/src/main/kotlin/dev/vexide/hydrozoa/plugin/bindings/BindingsGeneratorPlugin.kt
+++ b/bindings-generator/src/main/kotlin/dev/vexide/hydrozoa/plugin/bindings/BindingsGeneratorPlugin.kt
@@ -250,7 +250,7 @@ class JavaSdkModule(val sdk: SdkModule) {
                     if (underlyingType != null) return javaTypeFor(underlyingType)
                 }
 
-                ClassOrInterfaceType(null, JavaSdkEnum.generateEnumName(type.name))
+                ClassOrInterfaceType(null, JavaSdkEnum.generateEnumName(type.name, sdk.name))
                     .apply {
                         if (annotations) {
                             addMarkerAnnotation("org.jetbrains.annotations.NotNull")
@@ -383,7 +383,7 @@ class JavaSdkItem(val sdk: SdkItem, val module: JavaSdkModule, val methodName: S
 
 class JavaSdkEnum(val sdk: SdkEnum, val module: JavaSdkModule) {
     fun generate(sourceRoot: SourceRoot) {
-        val name = generateEnumName(sdk.name)
+        val name = generateEnumName(sdk.name, module.sdk.name)
 
         val cu = makeCompilationUnit(name, sourceRoot)
             .addHydrozoaGeneratedComment()
@@ -431,11 +431,23 @@ class JavaSdkEnum(val sdk: SdkEnum, val module: JavaSdkModule) {
     }
 
     companion object {
-        fun generateEnumName(name: String): String =
-            name
+        fun generateEnumName(name: String, moduleName: String): String {
+            val name = name
                 .removePrefix("V5_")
                 .removePrefix("V5")
 
+            val components = ArrayDeque(
+                CaseFormat.LOWER_CAMEL
+                    .to(CaseFormat.LOWER_UNDERSCORE, name)
+                    .split('_')
+            )
+
+            components.addFirst(moduleName)
+
+            return CaseFormat.LOWER_UNDERSCORE
+                .to(CaseFormat.UPPER_CAMEL, components.joinToString("_"))
+        }
+
         fun generateMemberName(name: String, enumName: String): String {
             val components = ArrayDeque(CaseFormat.LOWER_CAMEL
                 .to(CaseFormat.LOWER_UNDERSCORE, name)
@@ -444,6 +456,9 @@ class JavaSdkEnum(val sdk: SdkEnum, val module: JavaSdkModule) {
                 .to(CaseFormat.LOWER_UNDERSCORE, enumName)
                 .split('_'))
 
+            // Remove module prefix from enum name
+            enumComponents.removeFirst()
+
             for (redundantComponent in arrayOf("k", "v5")) {
                 if (components.firstOrNull() == redundantComponent) {
                     components.removeFirst()
@@ -460,8 +475,7 @@ class JavaSdkEnum(val sdk: SdkEnum, val module: JavaSdkModule) {
                 }
             }
 
-            return CaseFormat.LOWER_UNDERSCORE
-                .to(CaseFormat.UPPER_CAMEL, components.joinToString("_"))
+            return components.joinToString("_").uppercase()
         }
     }
 }
diff --git a/build.gradle.kts b/build.gradle.kts
index 48e20fe..aed3135 100644
--- a/build.gradle.kts
+++ b/build.gradle.kts
@@ -61,7 +61,13 @@ allprojects {
         withSourcesJar()
         withJavadocJar()
 
-        sourceCompatibility = JavaVersion.VERSION_21
+        sourceCompatibility = JavaVersion.VERSION_23
+        targetCompatibility = JavaVersion.VERSION_23
+
+        toolchain {
+            languageVersion.set(JavaLanguageVersion.of(23))
+            vendor.set(JvmVendorSpec.AMAZON)
+        }
     }
 
     repositories {
diff --git a/hydrozoa_api.json b/hydrozoa_api.json
index f6cc6c4..96c441b 100644
--- a/hydrozoa_api.json
+++ b/hydrozoa_api.json
@@ -481,7 +481,7 @@
         {
           "name": "bOpaque",
           "type": {
-            "type": "Int"
+            "type": "Bool"
           }
         },
         {
@@ -637,6 +637,46 @@
       ],
       "returns": null
     },
+    {
+      "name": "vexDisplayStringWidthGet",
+      "params": [
+        {
+          "name": "string",
+          "type": {
+            "type": "StringPtr"
+          }
+        }
+      ],
+      "returns": {
+        "type": "Int"
+      }
+    },
+    {
+      "name": "vexDisplayStringHeightGet",
+      "params": [
+        {
+          "name": "string",
+          "type": {
+            "type": "StringPtr"
+          }
+        }
+      ],
+      "returns": {
+        "type": "Int"
+      }
+    },
+    {
+      "name": "vexDisplayFontNamedSet",
+      "params": [
+        {
+          "name": "string",
+          "type": {
+            "type": "StringPtr"
+          }
+        }
+      ],
+      "returns": null
+    },
     {
       "name": "vexControllerGet",
       "params": [
@@ -695,7 +735,8 @@
         {
           "name": "device",
           "type": {
-            "type": "Int"
+            "type": "Named",
+            "name": "V5_Device"
           }
         },
         {
@@ -713,7 +754,8 @@
         {
           "name": "device",
           "type": {
-            "type": "Int"
+            "type": "Named",
+            "name": "V5_Device"
           }
         }
       ],
@@ -727,7 +769,8 @@
         {
           "name": "device",
           "type": {
-            "type": "Int"
+            "type": "Named",
+            "name": "V5_Device"
           }
         }
       ],
@@ -741,7 +784,8 @@
         {
           "name": "device",
           "type": {
-            "type": "Int"
+            "type": "Named",
+            "name": "V5_Device"
           }
         }
       ],
@@ -755,7 +799,8 @@
         {
           "name": "device",
           "type": {
-            "type": "Int"
+            "type": "Named",
+            "name": "V5_Device"
           }
         },
         {
@@ -774,7 +819,8 @@
         {
           "name": "device",
           "type": {
-            "type": "Int"
+            "type": "Named",
+            "name": "V5_Device"
           }
         }
       ],
@@ -789,7 +835,8 @@
         {
           "name": "device",
           "type": {
-            "type": "Int"
+            "type": "Named",
+            "name": "V5_Device"
           }
         },
         {
@@ -807,7 +854,8 @@
         {
           "name": "device",
           "type": {
-            "type": "Int"
+            "type": "Named",
+            "name": "V5_Device"
           }
         }
       ],
@@ -821,7 +869,8 @@
         {
           "name": "device",
           "type": {
-            "type": "Int"
+            "type": "Named",
+            "name": "V5_Device"
           }
         },
         {
@@ -839,7 +888,8 @@
         {
           "name": "device",
           "type": {
-            "type": "Int"
+            "type": "Named",
+            "name": "V5_Device"
           }
         }
       ],
@@ -853,7 +903,8 @@
         {
           "name": "device",
           "type": {
-            "type": "Int"
+            "type": "Named",
+            "name": "V5_Device"
           }
         }
       ],
@@ -867,7 +918,8 @@
         {
           "name": "device",
           "type": {
-            "type": "Int"
+            "type": "Named",
+            "name": "V5_Device"
           }
         }
       ],
@@ -881,7 +933,8 @@
         {
           "name": "device",
           "type": {
-            "type": "Int"
+            "type": "Named",
+            "name": "V5_Device"
           }
         }
       ],
@@ -895,7 +948,8 @@
         {
           "name": "device",
           "type": {
-            "type": "Int"
+            "type": "Named",
+            "name": "V5_Device"
           }
         }
       ],
@@ -909,7 +963,8 @@
         {
           "name": "device",
           "type": {
-            "type": "Int"
+            "type": "Named",
+            "name": "V5_Device"
           }
         }
       ],
@@ -923,7 +978,8 @@
         {
           "name": "device",
           "type": {
-            "type": "Int"
+            "type": "Named",
+            "name": "V5_Device"
           }
         }
       ],
@@ -937,7 +993,8 @@
         {
           "name": "device",
           "type": {
-            "type": "Int"
+            "type": "Named",
+            "name": "V5_Device"
           }
         }
       ],
@@ -951,7 +1008,8 @@
         {
           "name": "device",
           "type": {
-            "type": "Int"
+            "type": "Named",
+            "name": "V5_Device"
           }
         }
       ],
@@ -965,7 +1023,8 @@
         {
           "name": "device",
           "type": {
-            "type": "Int"
+            "type": "Named",
+            "name": "V5_Device"
           }
         }
       ],
@@ -979,7 +1038,8 @@
         {
           "name": "device",
           "type": {
-            "type": "Int"
+            "type": "Named",
+            "name": "V5_Device"
           }
         },
         {
@@ -997,7 +1057,8 @@
         {
           "name": "device",
           "type": {
-            "type": "Int"
+            "type": "Named",
+            "name": "V5_Device"
           }
         }
       ],
@@ -1011,7 +1072,8 @@
         {
           "name": "device",
           "type": {
-            "type": "Int"
+            "type": "Named",
+            "name": "V5_Device"
           }
         },
         {
@@ -1030,7 +1092,8 @@
         {
           "name": "device",
           "type": {
-            "type": "Int"
+            "type": "Named",
+            "name": "V5_Device"
           }
         }
       ],
@@ -1045,7 +1108,8 @@
         {
           "name": "device",
           "type": {
-            "type": "Int"
+            "type": "Named",
+            "name": "V5_Device"
           }
         },
         {
@@ -1064,7 +1128,8 @@
         {
           "name": "device",
           "type": {
-            "type": "Int"
+            "type": "Named",
+            "name": "V5_Device"
           }
         }
       ],
@@ -1079,7 +1144,8 @@
         {
           "name": "device",
           "type": {
-            "type": "Int"
+            "type": "Named",
+            "name": "V5_Device"
           }
         },
         {
@@ -1097,7 +1163,8 @@
         {
           "name": "device",
           "type": {
-            "type": "Int"
+            "type": "Named",
+            "name": "V5_Device"
           }
         }
       ],
@@ -1111,7 +1178,8 @@
         {
           "name": "device",
           "type": {
-            "type": "Int"
+            "type": "Named",
+            "name": "V5_Device"
           }
         }
       ],
@@ -1123,7 +1191,8 @@
         {
           "name": "device",
           "type": {
-            "type": "Int"
+            "type": "Named",
+            "name": "V5_Device"
           }
         }
       ],
@@ -1137,7 +1206,8 @@
         {
           "name": "device",
           "type": {
-            "type": "Int"
+            "type": "Named",
+            "name": "V5_Device"
           }
         },
         {
@@ -1155,7 +1225,8 @@
         {
           "name": "device",
           "type": {
-            "type": "Int"
+            "type": "Named",
+            "name": "V5_Device"
           }
         },
         {
@@ -1179,7 +1250,8 @@
         {
           "name": "device",
           "type": {
-            "type": "Int"
+            "type": "Named",
+            "name": "V5_Device"
           }
         },
         {
@@ -1203,7 +1275,8 @@
         {
           "name": "device",
           "type": {
-            "type": "Int"
+            "type": "Named",
+            "name": "V5_Device"
           }
         }
       ],
@@ -1217,7 +1290,8 @@
         {
           "name": "device",
           "type": {
-            "type": "Int"
+            "type": "Named",
+            "name": "V5_Device"
           }
         }
       ],
@@ -1231,7 +1305,8 @@
         {
           "name": "device",
           "type": {
-            "type": "Int"
+            "type": "Named",
+            "name": "V5_Device"
           }
         },
         {
@@ -1249,7 +1324,8 @@
         {
           "name": "device",
           "type": {
-            "type": "Int"
+            "type": "Named",
+            "name": "V5_Device"
           }
         }
       ],
@@ -1263,7 +1339,8 @@
         {
           "name": "device",
           "type": {
-            "type": "Int"
+            "type": "Named",
+            "name": "V5_Device"
           }
         },
         {
@@ -1282,7 +1359,8 @@
         {
           "name": "device",
           "type": {
-            "type": "Int"
+            "type": "Named",
+            "name": "V5_Device"
           }
         }
       ],
@@ -1297,7 +1375,8 @@
         {
           "name": "device",
           "type": {
-            "type": "Int"
+            "type": "Named",
+            "name": "V5_Device"
           }
         },
         {
@@ -1315,7 +1394,8 @@
         {
           "name": "device",
           "type": {
-            "type": "Int"
+            "type": "Named",
+            "name": "V5_Device"
           }
         }
       ],
@@ -1329,7 +1409,8 @@
         {
           "name": "device",
           "type": {
-            "type": "Int"
+            "type": "Named",
+            "name": "V5_Device"
           }
         },
         {
@@ -1347,7 +1428,8 @@
         {
           "name": "device",
           "type": {
-            "type": "Int"
+            "type": "Named",
+            "name": "V5_Device"
           }
         },
         {
@@ -1504,9 +1586,9 @@
         "type": "Int"
       },
       "variants": {
-        "kV5ControllerOffline": 0,
+        "kV5ControllerVexnet": 2,
         "kV5ControllerTethered": 1,
-        "kV5ControllerVexnet": 2
+        "kV5ControllerOffline": 0
       }
     },
     {
@@ -1515,29 +1597,45 @@
         "type": "Int"
       },
       "variants": {
-        "Button8U": 14,
-        "AnaLeftY": 1,
-        "Button7L": 12,
+        "Axis4": 0,
+        "AnaRightY": 3,
+        "ButtonL1": 6,
+        "ButtonRight": 13,
+        "Button7R": 13,
+        "AnaLeftX": 0,
+        "ButtonA": 17,
         "AnaSpare2": 5,
+        "Button7L": 12,
+        "Button5U": 6,
+        "ButtonY": 16,
+        "Axis3": 1,
+        "Button8L": 16,
+        "ButtonSEL": 18,
+        "ButtonUp": 10,
+        "Axis1": 2,
+        "Button8U": 14,
+        "ButtonR1": 8,
+        "BatteryLevel": 19,
+        "ButtonDown": 11,
         "AnaRightX": 2,
-        "AnaRightY": 3,
+        "Button7D": 11,
         "Button6D": 9,
+        "Axis2": 3,
+        "AnaLeftY": 1,
+        "Button5D": 7,
         "ButtonAll": 20,
-        "Button5U": 6,
+        "ButtonL2": 7,
+        "ButtonX": 14,
+        "Flags": 21,
+        "AnaSpare1": 4,
+        "ButtonLeft": 12,
         "Button6U": 8,
-        "AnaLeftX": 0,
-        "Button5D": 7,
+        "Button8R": 17,
         "Button8D": 15,
-        "Button7R": 13,
-        "ButtonSEL": 18,
         "Button7U": 10,
-        "BatteryLevel": 19,
-        "AnaSpare1": 4,
-        "Button7D": 11,
-        "Button8L": 16,
-        "BatteryCapacity": 22,
-        "Button8R": 17,
-        "Flags": 21
+        "ButtonR2": 9,
+        "ButtonB": 15,
+        "BatteryCapacity": 22
       }
     },
     {
@@ -1546,9 +1644,9 @@
         "type": "Int"
       },
       "variants": {
-        "kV5MotorBrakeModeHold": 2,
+        "kV5MotorBrakeModeCoast": 0,
         "kV5MotorBrakeModeBrake": 1,
-        "kV5MotorBrakeModeCoast": 0
+        "kV5MotorBrakeModeHold": 2
       }
     },
     {
@@ -1557,12 +1655,12 @@
         "type": "Int"
       },
       "variants": {
-        "kMotorControlModeSERVO": 3,
-        "kMotorControlModePROFILE": 4,
         "kMotorControlModeUNDEFINED": 6,
+        "kMotorControlModeSERVO": 3,
         "kMotorControlModeVELOCITY": 5,
-        "kMotorControlModeBRAKE": 1,
         "kMotorControlModeOFF": 0,
+        "kMotorControlModeBRAKE": 1,
+        "kMotorControlModePROFILE": 4,
         "kMotorControlModeHOLD": 2
       }
     },
@@ -1583,10 +1681,17 @@
         "type": "Int"
       },
       "variants": {
+        "kMotorGearSet_18": 1,
         "kMotorGearSet_36": 0,
-        "kMotorGearSet_06": 2,
-        "kMotorGearSet_18": 1
+        "kMotorGearSet_06": 2
       }
+    },
+    {
+      "name": "V5_Device",
+      "underlying_type": {
+        "type": "Int"
+      },
+      "variants": {}
     }
   ]
 }
\ No newline at end of file
diff --git a/src/main/java/dev/vexide/hydrozoa/devices/Controller.java b/src/main/java/dev/vexide/hydrozoa/devices/Controller.java
index 3dd6faf..00ce67a 100644
--- a/src/main/java/dev/vexide/hydrozoa/devices/Controller.java
+++ b/src/main/java/dev/vexide/hydrozoa/devices/Controller.java
@@ -2,9 +2,9 @@
 
 import dev.vexide.hydrozoa.CompetitionRuntime;
 import dev.vexide.hydrozoa.Peripherals;
-import dev.vexide.hydrozoa.sdk.V5_ControllerId;
-import dev.vexide.hydrozoa.sdk.V5_ControllerIndex;
-import dev.vexide.hydrozoa.sdk.V5_ControllerStatus;
+import dev.vexide.hydrozoa.sdk.VexControllerId;
+import dev.vexide.hydrozoa.sdk.VexControllerIndex;
+import dev.vexide.hydrozoa.sdk.VexControllerStatus;
 import dev.vexide.hydrozoa.sdk.VexSdk;
 import org.jetbrains.annotations.ApiStatus;
 import org.jetbrains.annotations.Contract;
@@ -49,8 +49,8 @@ public Controller(@NotNull Peripherals.Key ignoredKey, @NotNull Id type) {
      * @return {@code true} if the controller is connected, {@code false} otherwise
      */
     public boolean connected() {
-        var status = VexSdk.Controller.vexControllerConnectionStatusGet(id.raw());
-        return !status.equals(V5_ControllerStatus.kV5ControllerOffline);
+        var status = VexSdk.Controller.getConnectionStatus(id.raw());
+        return !status.equals(VexControllerStatus.OFFLINE);
     }
 
     /**
@@ -62,7 +62,41 @@ public boolean connected() {
         if (!CompetitionRuntime.mode().equals(CompetitionRuntime.Mode.Driver) || !connected()) {
             return Optional.empty();
         }
-        var state = new State(new JoystickState((byte) VexSdk.Controller.vexControllerGet(id.raw(), V5_ControllerIndex.AnaLeftX), (byte) VexSdk.Controller.vexControllerGet(id.raw(), V5_ControllerIndex.AnaLeftY)), new JoystickState((byte) VexSdk.Controller.vexControllerGet(id.raw(), V5_ControllerIndex.AnaRightX), (byte) VexSdk.Controller.vexControllerGet(id.raw(), V5_ControllerIndex.AnaRightY)), new ButtonState(VexSdk.Controller.vexControllerGet(id.raw(), V5_ControllerIndex.ButtonA) == 1, previousState.a().pressed()), new ButtonState(VexSdk.Controller.vexControllerGet(id.raw(), V5_ControllerIndex.ButtonB) == 1, previousState.b().pressed()), new ButtonState(VexSdk.Controller.vexControllerGet(id.raw(), V5_ControllerIndex.ButtonX) == 1, previousState.x().pressed()), new ButtonState(VexSdk.Controller.vexControllerGet(id.raw(), V5_ControllerIndex.ButtonY) == 1, previousState.y().pressed()), new ButtonState(VexSdk.Controller.vexControllerGet(id.raw(), V5_ControllerIndex.ButtonUp) == 1, previousState.up().pressed()), new ButtonState(VexSdk.Controller.vexControllerGet(id.raw(), V5_ControllerIndex.ButtonDown) == 1, previousState.down().pressed()), new ButtonState(VexSdk.Controller.vexControllerGet(id.raw(), V5_ControllerIndex.ButtonLeft) == 1, previousState.left().pressed()), new ButtonState(VexSdk.Controller.vexControllerGet(id.raw(), V5_ControllerIndex.ButtonRight) == 1, previousState.right().pressed()), new ButtonState(VexSdk.Controller.vexControllerGet(id.raw(), V5_ControllerIndex.ButtonL1) == 1, previousState.l1().pressed()), new ButtonState(VexSdk.Controller.vexControllerGet(id.raw(), V5_ControllerIndex.ButtonL2) == 1, previousState.l2().pressed()), new ButtonState(VexSdk.Controller.vexControllerGet(id.raw(), V5_ControllerIndex.ButtonR1) == 1, previousState.r1().pressed()), new ButtonState(VexSdk.Controller.vexControllerGet(id.raw(), V5_ControllerIndex.ButtonR2) == 1, previousState.r2().pressed()));
+
+        var state = new State(
+                new JoystickState(
+                        (byte) VexSdk.Controller.get(id.raw(), VexControllerIndex.ANA_LEFT_X),
+                        (byte) VexSdk.Controller.get(id.raw(), VexControllerIndex.ANA_LEFT_Y)),
+                new JoystickState(
+                        (byte) VexSdk.Controller.get(id.raw(), VexControllerIndex.ANA_RIGHT_X),
+                        (byte) VexSdk.Controller.get(id.raw(), VexControllerIndex.ANA_RIGHT_Y)),
+
+                new ButtonState(VexSdk.Controller.get(id.raw(), VexControllerIndex.BUTTON_A) == 1,
+                        previousState.a().pressed()),
+                new ButtonState(VexSdk.Controller.get(id.raw(), VexControllerIndex.BUTTON_B) == 1,
+                        previousState.b().pressed()),
+                new ButtonState(VexSdk.Controller.get(id.raw(), VexControllerIndex.BUTTON_X) == 1,
+                        previousState.x().pressed()),
+                new ButtonState(VexSdk.Controller.get(id.raw(), VexControllerIndex.BUTTON_Y) == 1,
+                        previousState.y().pressed()),
+                new ButtonState(VexSdk.Controller.get(id.raw(), VexControllerIndex.BUTTON_UP) == 1,
+                        previousState.up().pressed()),
+                new ButtonState(VexSdk.Controller.get(id.raw(), VexControllerIndex.BUTTON_DOWN) == 1,
+                        previousState.down().pressed()),
+                new ButtonState(VexSdk.Controller.get(id.raw(), VexControllerIndex.BUTTON_LEFT) == 1,
+                        previousState.left().pressed()),
+                new ButtonState(VexSdk.Controller.get(id.raw(), VexControllerIndex.BUTTON_RIGHT) == 1,
+                        previousState.right().pressed()),
+                new ButtonState(VexSdk.Controller.get(id.raw(), VexControllerIndex.BUTTON_L1) == 1,
+                        previousState.l1().pressed()),
+                new ButtonState(VexSdk.Controller.get(id.raw(), VexControllerIndex.BUTTON_L2) == 1,
+                        previousState.l2().pressed()),
+                new ButtonState(VexSdk.Controller.get(id.raw(), VexControllerIndex.BUTTON_R1) == 1,
+                        previousState.r1().pressed()),
+                new ButtonState(VexSdk.Controller.get(id.raw(), VexControllerIndex.BUTTON_R2) == 1,
+                        previousState.r2().pressed())
+        );
+
         previousState = state;
         return Optional.of(state);
     }
@@ -86,10 +120,10 @@ public enum Id {
          *
          * @return the raw controller ID value
          */
-        @NotNull V5_ControllerId raw() {
+        @NotNull VexControllerId raw() {
             return switch (this) {
-                case Primary -> V5_ControllerId.kControllerMaster;
-                case Partner -> V5_ControllerId.kControllerPartner;
+                case Primary -> VexControllerId.MASTER;
+                case Partner -> VexControllerId.PARTNER;
             };
         }
     }
diff --git a/src/main/java/dev/vexide/hydrozoa/devices/smart/Motor.java b/src/main/java/dev/vexide/hydrozoa/devices/smart/Motor.java
index a053df1..2f6147e 100644
--- a/src/main/java/dev/vexide/hydrozoa/devices/smart/Motor.java
+++ b/src/main/java/dev/vexide/hydrozoa/devices/smart/Motor.java
@@ -2,9 +2,9 @@
 
 import dev.vexide.hydrozoa.CompetitionRuntime;
 import dev.vexide.hydrozoa.DeviceException;
-import dev.vexide.hydrozoa.sdk.MotorBrakeMode;
-import dev.vexide.hydrozoa.sdk.MotorEncoderUnits;
-import dev.vexide.hydrozoa.sdk.MotorGearset;
+import dev.vexide.hydrozoa.sdk.VexMotorBrakeMode;
+import dev.vexide.hydrozoa.sdk.VexMotorEncoderUnits;
+import dev.vexide.hydrozoa.sdk.VexMotorGearset;
 import dev.vexide.hydrozoa.sdk.VexSdk;
 import org.jetbrains.annotations.Contract;
 import org.jetbrains.annotations.NotNull;
@@ -35,7 +35,7 @@ public Motor(@NotNull SmartPort port, @NotNull Gearset gearset, @NotNull Directi
         this.direction = direction;
 
         var handle = this.port.deviceHandle();
-        VexSdk.Device.setMotorEncoderUnits(handle, MotorEncoderUnits.Counts);
+        VexSdk.Device.setMotorEncoderUnits(handle, VexMotorEncoderUnits.COUNTS);
         VexSdk.Device.setMotorReverseFlag(handle, direction.equals(Direction.REVERSE));
         VexSdk.Device.setMotorGearing(handle, gearset.getRaw());
     }
@@ -61,7 +61,7 @@ public Motor(@NotNull SmartPort port, @NotNull Gearset gearset, @NotNull Directi
      */
     public void setGearset(@NotNull Gearset gearset) {
         this.gearset = gearset;
-        VexSdk.Motor.vexDeviceMotorGearingSet(port.deviceHandle(), gearset.getRaw());
+        VexSdk.Device.setMotorGearing(port.deviceHandle(), gearset.getRaw());
     }
 
     /**
@@ -80,7 +80,7 @@ public void setGearset(@NotNull Gearset gearset) {
      */
     public void setDirection(@NotNull Direction direction) {
         this.direction = direction;
-        VexSdk.Motor.vexDeviceMotorReverseFlagSet(port.deviceHandle(), direction.equals(Direction.REVERSE));
+        VexSdk.Device.setMotorReverseFlag(port.deviceHandle(), direction.equals(Direction.REVERSE));
     }
 
     /**
@@ -158,7 +158,7 @@ public void setTarget(@NotNull MotorControl target) throws DeviceException {
     public @NotNull EncoderPosition getPosition() throws DeviceException {
         validateConnection();
 
-        double pos = VexSdk.Motor.vexDeviceMotorPositionGet(port.deviceHandle());
+        double pos = VexSdk.Device.getMotorPosition(port.deviceHandle());
         return EncoderPosition.ofTicks((int) pos, gearset.getTicksPerRevolution());
     }
 
@@ -171,7 +171,7 @@ public void setTarget(@NotNull MotorControl target) throws DeviceException {
     public void setPosition(@NotNull EncoderPosition position) throws DeviceException {
         validateConnection();
 
-        VexSdk.Motor.vexDeviceMotorPositionSet(
+        VexSdk.Device.setMotorPosition(
                 port.deviceHandle(),
                 position.ticks(gearset.getTicksPerRevolution())
         );
@@ -184,19 +184,19 @@ public enum Gearset {
         /**
          * The red (100 RPM) gearset.
          */
-        Red(V5MotorGearset.GearSet_06),
+        Red(VexMotorGearset.GEAR_SET_06),
         /**
          * The green (200 RPM) gearset.
          */
-        Green(V5MotorGearset.GearSet_18),
+        Green(VexMotorGearset.GEAR_SET_18),
         /**
          * The blue (600 RPM) gearset.
          */
-        Blue(V5MotorGearset.GearSet_36);
+        Blue(VexMotorGearset.GEAR_SET_36);
 
-        private final V5MotorGearset raw;
+        private final VexMotorGearset raw;
 
-        Gearset(V5MotorGearset raw) {
+        Gearset(VexMotorGearset raw) {
             this.raw = raw;
         }
 
@@ -206,7 +206,7 @@ public enum Gearset {
          * @return the raw gearset value
          */
         @Contract(pure = true)
-        public V5MotorGearset getRaw() {
+        public VexMotorGearset getRaw() {
             return raw;
         }
 
@@ -273,19 +273,19 @@ public enum BrakeMode {
         /**
          * The motor does not actively brake, allowing it to coast to a stop.
          */
-        COAST(V5MotorBrakeMode.Coast),
+        Coast(VexMotorBrakeMode.COAST),
         /**
          * The motor uses regenerative braking to slow down faster.
          */
-        BRAKE(V5MotorBrakeMode.Brake),
+        Brake(VexMotorBrakeMode.BRAKE),
         /**
          * The motor uses its internal PID controller to hold its current position.
          */
-        HOLD(V5MotorBrakeMode.Hold);
+        Hold(VexMotorBrakeMode.HOLD);
 
-        private final V5MotorBrakeMode raw;
+        private final VexMotorBrakeMode raw;
 
-        BrakeMode(V5MotorBrakeMode raw) {
+        BrakeMode(VexMotorBrakeMode raw) {
             this.raw = raw;
         }
 
@@ -295,7 +295,7 @@ public enum BrakeMode {
          * @return the raw brake mode value
          */
         @Contract(pure = true)
-        public V5MotorBrakeMode getRaw() {
+        public VexMotorBrakeMode getRaw() {
             return raw;
         }
     }
diff --git a/src/main/java/dev/vexide/hydrozoa/devices/smart/MotorControl.java b/src/main/java/dev/vexide/hydrozoa/devices/smart/MotorControl.java
index c164a19..a9fc8aa 100644
--- a/src/main/java/dev/vexide/hydrozoa/devices/smart/MotorControl.java
+++ b/src/main/java/dev/vexide/hydrozoa/devices/smart/MotorControl.java
@@ -1,6 +1,6 @@
 package dev.vexide.hydrozoa.devices.smart;
 
-import dev.vexide.hydrozoa.sdk.V5MotorBrakeMode;
+import dev.vexide.hydrozoa.sdk.VexMotorBrakeMode;
 import dev.vexide.hydrozoa.sdk.VexSdk;
 import org.jetbrains.annotations.NotNull;
 
@@ -47,8 +47,8 @@ void apply(@NotNull Motor motor) {
 //            }
 
             var handle = motor.port.deviceHandle();
-            VexSdk.Motor.vexDeviceMotorBrakeModeSet(handle, V5MotorBrakeMode.Coast);
-            VexSdk.Motor.vexDeviceMotorVoltageSet(handle, (int) (getVoltage() * 1000));
+            VexSdk.Device.setMotorBrakeMode(handle, VexMotorBrakeMode.COAST);
+            VexSdk.Device.setMotorVoltage(handle, (int) (getVoltage() * 1000));
         }
     }
 
@@ -79,8 +79,8 @@ public int getRpm() {
         @Override
         void apply(@NotNull Motor motor) {
             var handle = motor.port.deviceHandle();
-            VexSdk.Motor.vexDeviceMotorBrakeModeSet(handle, V5MotorBrakeMode.Coast);
-            VexSdk.Motor.vexDeviceMotorVelocitySet(handle, getRpm());
+            VexSdk.Device.setMotorBrakeMode(handle, VexMotorBrakeMode.COAST);
+            VexSdk.Device.setMotorVelocity(handle, getRpm());
         }
     }
 
@@ -123,8 +123,8 @@ public int getVelocity() {
         @Override
         void apply(@NotNull Motor motor) {
             var handle = motor.port.deviceHandle();
-            VexSdk.Motor.vexDeviceMotorBrakeModeSet(handle, V5MotorBrakeMode.Coast);
-            VexSdk.Motor.vexDeviceMotorAbsoluteTargetSet(
+            VexSdk.Device.setMotorBrakeMode(handle, VexMotorBrakeMode.COAST);
+            VexSdk.Device.setMotorAbsoluteTarget(
                     handle,
                     getPosition().ticks(motor.getGearset().getTicksPerRevolution()),
                     getVelocity()
@@ -159,8 +159,8 @@ public Brake(@NotNull Motor.BrakeMode mode) {
         @Override
         void apply(@NotNull Motor motor) {
             var handle = motor.port.deviceHandle();
-            VexSdk.Motor.vexDeviceMotorBrakeModeSet(handle, getMode().getRaw());
-            VexSdk.Motor.vexDeviceMotorVelocitySet(handle, 0);
+            VexSdk.Device.setMotorBrakeMode(handle, getMode().getRaw());
+            VexSdk.Device.setMotorVelocity(handle, 0);
         }
     }
 }
diff --git a/src/main/java/dev/vexide/hydrozoa/devices/smart/SmartDevice.java b/src/main/java/dev/vexide/hydrozoa/devices/smart/SmartDevice.java
index 0966225..23bccc8 100644
--- a/src/main/java/dev/vexide/hydrozoa/devices/smart/SmartDevice.java
+++ b/src/main/java/dev/vexide/hydrozoa/devices/smart/SmartDevice.java
@@ -1,7 +1,7 @@
 package dev.vexide.hydrozoa.devices.smart;
 
 import dev.vexide.hydrozoa.DeviceException;
-import dev.vexide.hydrozoa.sdk.V5_DeviceType;
+import dev.vexide.hydrozoa.sdk.VexDevice;
 import org.jetbrains.annotations.NotNull;
 
 import java.time.Duration;
diff --git a/src/main/java/dev/vexide/hydrozoa/devices/smart/SmartPort.java b/src/main/java/dev/vexide/hydrozoa/devices/smart/SmartPort.java
index 3734f01..818ddb1 100644
--- a/src/main/java/dev/vexide/hydrozoa/devices/smart/SmartPort.java
+++ b/src/main/java/dev/vexide/hydrozoa/devices/smart/SmartPort.java
@@ -4,8 +4,7 @@
 import dev.vexide.hydrozoa.Peripherals;
 import dev.vexide.hydrozoa.devices.DeviceDisconnectedException;
 import dev.vexide.hydrozoa.devices.IncorrectDeviceException;
-import dev.vexide.hydrozoa.sdk.V5_Device;
-import dev.vexide.hydrozoa.sdk.V5_DeviceType;
+import dev.vexide.hydrozoa.sdk.VexDevice;
 import dev.vexide.hydrozoa.sdk.VexSdk;
 import org.jetbrains.annotations.ApiStatus;
 import org.jetbrains.annotations.Contract;
@@ -81,9 +80,9 @@ public int getIndex() {
      */
     @Contract(" -> new")
     @NotNull
-    V5_Device deviceHandle() {
+    VexDevice deviceHandle() {
         validate();
-        return VexSdk.Device.vexDeviceGetByIndex(getIndex());
+        return new VexDevice(VexSdk.Device.getByIndex(getIndex()));
     }
 
     /**
diff --git a/src/main/java/dev/vexide/hydrozoa/display/Display.java b/src/main/java/dev/vexide/hydrozoa/display/Display.java
index 802275b..18b2494 100644
--- a/src/main/java/dev/vexide/hydrozoa/display/Display.java
+++ b/src/main/java/dev/vexide/hydrozoa/display/Display.java
@@ -69,7 +69,7 @@ public void setRenderMode(@NotNull RenderMode renderMode) {
      */
     public void render() {
         if (renderMode == RenderMode.DOUBLE_BUFFERED) {
-            VexSdk.Display.vexDisplayRender(false, false);
+            VexSdk.Display.render(false, false);
         }
     }
 

From 4a64336bbccb2869a5ab51281ae1f00f3a8f6767 Mon Sep 17 00:00:00 2001
From: Lewis <mcclelll@icloud.com>
Date: Mon, 19 May 2025 15:27:30 -0700
Subject: [PATCH 09/14] feat: re-implement remaining methods

---
 .idea/misc.xml                                |   2 +-
 .../bindings/BindingsGeneratorPlugin.kt       |  40 +++--
 build.gradle.kts                              |   8 +-
 hydrozoa_api.json                             | 137 ++++++++++++------
 .../java/dev/vexide/hydrozoa/Peripherals.java |   1 +
 .../hydrozoa/devices/smart/MotorControl.java  |   4 +-
 .../hydrozoa/devices/smart/SmartDevice.java   |  71 ++++-----
 .../hydrozoa/devices/smart/SmartPort.java     |  11 +-
 .../dev/vexide/hydrozoa/package-info.java     |   1 +
 src/main/java/module-info.java                |  12 --
 10 files changed, 178 insertions(+), 109 deletions(-)
 delete mode 100644 src/main/java/module-info.java

diff --git a/.idea/misc.xml b/.idea/misc.xml
index babdf30..061c5c3 100644
--- a/.idea/misc.xml
+++ b/.idea/misc.xml
@@ -65,7 +65,7 @@
       </profile-state>
     </entry>
   </component>
-  <component name="ProjectRootManager" version="2" languageLevel="JDK_23" project-jdk-name="corretto-23" project-jdk-type="JavaSDK">
+  <component name="ProjectRootManager" version="2" languageLevel="JDK_23" default="true" project-jdk-name="corretto-23" project-jdk-type="JavaSDK">
     <output url="file://$PROJECT_DIR$/out" />
   </component>
 </project>
\ No newline at end of file
diff --git a/bindings-generator/src/main/kotlin/dev/vexide/hydrozoa/plugin/bindings/BindingsGeneratorPlugin.kt b/bindings-generator/src/main/kotlin/dev/vexide/hydrozoa/plugin/bindings/BindingsGeneratorPlugin.kt
index cd08ffe..67be059 100644
--- a/bindings-generator/src/main/kotlin/dev/vexide/hydrozoa/plugin/bindings/BindingsGeneratorPlugin.kt
+++ b/bindings-generator/src/main/kotlin/dev/vexide/hydrozoa/plugin/bindings/BindingsGeneratorPlugin.kt
@@ -111,6 +111,10 @@ data class SdkItem(
         @Serializable
         @SerialName("Named")
         data class Named(val name: String) : Type()
+
+        @Serializable
+        @SerialName("Pointer")
+        data class Pointer(val destination: SdkItem.Type) : Type()
     }
 }
 
@@ -164,6 +168,13 @@ fun ClassOrInterfaceDeclaration.addStaticInitAnnotation(): ClassOrInterfaceDecla
     return this.addMarkerAnnotation("org.teavm.interop.StaticInit")
 }
 
+fun<T: NodeWithAnnotations<N>, N: Node> T.addNotNullAnnotation(add: Boolean = true): T {
+    if (add) {
+        addMarkerAnnotation("org.jetbrains.annotations.NotNull")
+    }
+    return this
+}
+
 fun ClassOrInterfaceDeclaration.addPrivateConstructor(): ClassOrInterfaceDeclaration {
     this.addConstructor(Keyword.PRIVATE)
     return this
@@ -239,11 +250,7 @@ class JavaSdkModule(val sdk: SdkModule) {
             is SdkItem.Type.Float -> PrimitiveType(Primitive.FLOAT)
             is SdkItem.Type.Double -> PrimitiveType(Primitive.DOUBLE)
             is SdkItem.Type.StringPtr -> StaticJavaParser.parseClassOrInterfaceType("String")
-                .apply {
-                    if (annotations) {
-                        addMarkerAnnotation("org.jetbrains.annotations.NotNull")
-                    }
-                }
+                .addNotNullAnnotation(annotations)
             is SdkItem.Type.Named -> {
                 if (useRawTypes) {
                     var underlyingType = enums[type.name]?.underlyingType
@@ -251,11 +258,11 @@ class JavaSdkModule(val sdk: SdkModule) {
                 }
 
                 ClassOrInterfaceType(null, JavaSdkEnum.generateEnumName(type.name, sdk.name))
-                    .apply {
-                        if (annotations) {
-                            addMarkerAnnotation("org.jetbrains.annotations.NotNull")
-                        }
-                    }
+                    .addNotNullAnnotation(annotations)
+            }
+            is SdkItem.Type.Pointer -> {
+                ClassOrInterfaceType(null, "org.teavm.interop.Address")
+                    .addNotNullAnnotation(annotations)
             }
         }
     }
@@ -407,13 +414,20 @@ class JavaSdkEnum(val sdk: SdkEnum, val module: JavaSdkModule) {
                 DoubleLiteralExpr(variantValue)
             }
 
+            record.addFieldWithInitializer(
+                underlyingType,
+                variantName,
+                CastExpr(underlyingType, literal),
+                Keyword.PUBLIC,
+                Keyword.STATIC,
+                Keyword.FINAL,
+            )
+
             record
                 .addFieldWithInitializer(
                     recordType,
                     generateMemberName(variantName, name),
-                    ObjectCreationExpr(null, recordType, nodeListOf(
-                        CastExpr(underlyingType, literal)
-                    )),
+                    ObjectCreationExpr(null, recordType, nodeListOf(NameExpr(variantName))),
                     Keyword.PUBLIC,
                     Keyword.STATIC,
                     Keyword.FINAL,
diff --git a/build.gradle.kts b/build.gradle.kts
index aed3135..7037adf 100644
--- a/build.gradle.kts
+++ b/build.gradle.kts
@@ -78,7 +78,7 @@ allprojects {
         source = sourceSets.main.get().allJava
         options
             .windowTitle("Hydrozoa Docs")
-            .stylesheetFile(rootProject.layout.projectDirectory.file("docs.css").asFile)
+//            .stylesheetFile(rootProject.layout.projectDirectory.file("docs.css").asFile)
     }
 }
 
@@ -115,6 +115,12 @@ tasks.javadoc {
     title = "Hydrozoa"
 }
 
+tasks.jar {
+    manifest {
+        attributes("Automatic-Module-Name" to "dev.vexide.hydrozoa")
+    }
+}
+
 idea {
     module {
         isDownloadJavadoc = true
diff --git a/hydrozoa_api.json b/hydrozoa_api.json
index 96c441b..1022f2e 100644
--- a/hydrozoa_api.json
+++ b/hydrozoa_api.json
@@ -1447,6 +1447,24 @@
       ],
       "returns": null
     },
+    {
+      "name": "vexDeviceGetStatus",
+      "params": [
+        {
+          "name": "devices",
+          "type": {
+            "type": "Pointer",
+            "destination": {
+              "type": "Named",
+              "name": "V5_DeviceType"
+            }
+          }
+        }
+      ],
+      "returns": {
+        "type": "Int"
+      }
+    },
     {
       "name": "vexSerialWriteChar",
       "params": [
@@ -1576,8 +1594,8 @@
         "type": "Int"
       },
       "variants": {
-        "kControllerMaster": 0,
-        "kControllerPartner": 1
+        "kControllerPartner": 1,
+        "kControllerMaster": 0
       }
     },
     {
@@ -1586,9 +1604,9 @@
         "type": "Int"
       },
       "variants": {
-        "kV5ControllerVexnet": 2,
+        "kV5ControllerOffline": 0,
         "kV5ControllerTethered": 1,
-        "kV5ControllerOffline": 0
+        "kV5ControllerVexnet": 2
       }
     },
     {
@@ -1597,45 +1615,45 @@
         "type": "Int"
       },
       "variants": {
-        "Axis4": 0,
-        "AnaRightY": 3,
-        "ButtonL1": 6,
+        "Flags": 21,
+        "ButtonL2": 7,
+        "ButtonAll": 20,
+        "Button7L": 12,
+        "ButtonR2": 9,
+        "Axis3": 1,
+        "Button6U": 8,
+        "AnaRightX": 2,
+        "ButtonLeft": 12,
         "ButtonRight": 13,
-        "Button7R": 13,
-        "AnaLeftX": 0,
+        "ButtonX": 14,
+        "AnaLeftY": 1,
+        "Axis1": 2,
         "ButtonA": 17,
-        "AnaSpare2": 5,
-        "Button7L": 12,
-        "Button5U": 6,
+        "Axis4": 0,
+        "AnaLeftX": 0,
+        "Button6D": 9,
+        "Button7R": 13,
         "ButtonY": 16,
-        "Axis3": 1,
+        "BatteryCapacity": 22,
         "Button8L": 16,
+        "Button8D": 15,
+        "AnaSpare1": 4,
+        "Button7D": 11,
         "ButtonSEL": 18,
+        "AnaSpare2": 5,
+        "Axis2": 3,
+        "Button5D": 7,
+        "Button8R": 17,
+        "ButtonL1": 6,
         "ButtonUp": 10,
-        "Axis1": 2,
+        "AnaRightY": 3,
         "Button8U": 14,
-        "ButtonR1": 8,
+        "Button5U": 6,
         "BatteryLevel": 19,
+        "ButtonR1": 8,
         "ButtonDown": 11,
-        "AnaRightX": 2,
-        "Button7D": 11,
-        "Button6D": 9,
-        "Axis2": 3,
-        "AnaLeftY": 1,
-        "Button5D": 7,
-        "ButtonAll": 20,
-        "ButtonL2": 7,
-        "ButtonX": 14,
-        "Flags": 21,
-        "AnaSpare1": 4,
-        "ButtonLeft": 12,
-        "Button6U": 8,
-        "Button8R": 17,
-        "Button8D": 15,
-        "Button7U": 10,
-        "ButtonR2": 9,
         "ButtonB": 15,
-        "BatteryCapacity": 22
+        "Button7U": 10
       }
     },
     {
@@ -1644,9 +1662,9 @@
         "type": "Int"
       },
       "variants": {
+        "kV5MotorBrakeModeHold": 2,
         "kV5MotorBrakeModeCoast": 0,
-        "kV5MotorBrakeModeBrake": 1,
-        "kV5MotorBrakeModeHold": 2
+        "kV5MotorBrakeModeBrake": 1
       }
     },
     {
@@ -1655,12 +1673,12 @@
         "type": "Int"
       },
       "variants": {
-        "kMotorControlModeUNDEFINED": 6,
+        "kMotorControlModePROFILE": 4,
+        "kMotorControlModeBRAKE": 1,
         "kMotorControlModeSERVO": 3,
-        "kMotorControlModeVELOCITY": 5,
         "kMotorControlModeOFF": 0,
-        "kMotorControlModeBRAKE": 1,
-        "kMotorControlModePROFILE": 4,
+        "kMotorControlModeUNDEFINED": 6,
+        "kMotorControlModeVELOCITY": 5,
         "kMotorControlModeHOLD": 2
       }
     },
@@ -1681,9 +1699,9 @@
         "type": "Int"
       },
       "variants": {
+        "kMotorGearSet_06": 2,
         "kMotorGearSet_18": 1,
-        "kMotorGearSet_36": 0,
-        "kMotorGearSet_06": 2
+        "kMotorGearSet_36": 0
       }
     },
     {
@@ -1692,6 +1710,43 @@
         "type": "Int"
       },
       "variants": {}
+    },
+    {
+      "name": "V5_DeviceType",
+      "underlying_type": {
+        "type": "Int"
+      },
+      "variants": {
+        "kDeviceTypeGyroSensor": 70,
+        "kDeviceTypeAdiSensor": 12,
+        "kDeviceTypeRadioSensor": 8,
+        "kDeviceTypeLedSensor": 3,
+        "kDeviceTypeTetherSensor": 9,
+        "kDeviceTypeRes3Sensor": 15,
+        "kDeviceTypeDistanceSensor": 7,
+        "kDeviceTypeAiVisionSensor": 29,
+        "kDeviceTypeNoSensor": 0,
+        "kDeviceTypeCrMotorSensor": 5,
+        "kDeviceTypeBumperSensor": 64,
+        "kDeviceTypeGenericSensor": 128,
+        "kDeviceTypeRes1Sensor": 13,
+        "kDeviceTypeImuSensor": 6,
+        "kDeviceTypeOpticalSensor": 16,
+        "kDeviceTypeAbsEncSensor": 4,
+        "kDeviceTypeGpsSensor": 20,
+        "kDeviceTypeBrainSensor": 10,
+        "kDeviceTypeMagnetSensor": 17,
+        "kDeviceTypePneumaticSensor": 30,
+        "kDeviceTypeGenericSerial": 129,
+        "kDeviceTypeLightTowerSensor": 27,
+        "kDeviceTypeSonarSensor": 71,
+        "kDeviceTypeAicameraSensor": 26,
+        "kDeviceTypeUndefinedSensor": 255,
+        "kDeviceTypeMotorSensor": 2,
+        "kDeviceTypeArmDevice": 28,
+        "kDeviceTypeVisionSensor": 11,
+        "kDeviceTypeRes2Sensor": 14
+      }
     }
   ]
 }
\ No newline at end of file
diff --git a/src/main/java/dev/vexide/hydrozoa/Peripherals.java b/src/main/java/dev/vexide/hydrozoa/Peripherals.java
index abb09f3..0088496 100644
--- a/src/main/java/dev/vexide/hydrozoa/Peripherals.java
+++ b/src/main/java/dev/vexide/hydrozoa/Peripherals.java
@@ -142,6 +142,7 @@ public static Optional<Peripherals> take() {
 
     /**
      * A unique key that is used to prevent the creation of peripheral devices outside the Peripherals class.
+     * @hidden
      */
     public static class Key {
         private Key() {}
diff --git a/src/main/java/dev/vexide/hydrozoa/devices/smart/MotorControl.java b/src/main/java/dev/vexide/hydrozoa/devices/smart/MotorControl.java
index a9fc8aa..f503687 100644
--- a/src/main/java/dev/vexide/hydrozoa/devices/smart/MotorControl.java
+++ b/src/main/java/dev/vexide/hydrozoa/devices/smart/MotorControl.java
@@ -9,8 +9,8 @@
  *
  * @see Motor#setTarget(MotorControl)
  */
-public abstract class MotorControl {
-    MotorControl() {
+public sealed abstract class MotorControl {
+    private MotorControl() {
     }
 
     abstract void apply(@NotNull Motor motor);
diff --git a/src/main/java/dev/vexide/hydrozoa/devices/smart/SmartDevice.java b/src/main/java/dev/vexide/hydrozoa/devices/smart/SmartDevice.java
index 23bccc8..e234573 100644
--- a/src/main/java/dev/vexide/hydrozoa/devices/smart/SmartDevice.java
+++ b/src/main/java/dev/vexide/hydrozoa/devices/smart/SmartDevice.java
@@ -2,6 +2,7 @@
 
 import dev.vexide.hydrozoa.DeviceException;
 import dev.vexide.hydrozoa.sdk.VexDevice;
+import dev.vexide.hydrozoa.sdk.VexDeviceType;
 import org.jetbrains.annotations.NotNull;
 
 import java.time.Duration;
@@ -91,67 +92,67 @@ public enum Type {
         /**
          * A VEX V5 Smart Motor.
          */
-        MOTOR(V5_DeviceType.MotorSensor),
+        MOTOR(VexDeviceType.MOTOR_SENSOR),
         /**
          * A VEX Rotation Sensor.
          */
-        ROTATION(V5_DeviceType.AbsEncSensor),
+        ROTATION(VexDeviceType.ABS_ENC_SENSOR),
         /**
          * A VEX Inertial Sensor.
          */
-        IMU(V5_DeviceType.ImuSensor),
+        IMU(VexDeviceType.IMU_SENSOR),
         /**
          * A VEX Distance Sensor.
          */
-        DISTANCE(V5_DeviceType.DistanceSensor),
+        DISTANCE(VexDeviceType.DISTANCE_SENSOR),
         /**
          * A VEX Vision Sensor.
          */
-        VISION(V5_DeviceType.VisionSensor),
+        VISION(VexDeviceType.VISION_SENSOR),
         /**
          * A VEX AI Vision Sensor.
          */
-        AI_VISION(V5_DeviceType.AiVisionSensor),
+        AI_VISION(VexDeviceType.AI_VISION_SENSOR),
         /**
          * A VEX Electromagnet.
          */
-        ELECTROMAGNET(V5_DeviceType.MagnetSensor),
+        ELECTROMAGNET(VexDeviceType.MAGNET_SENSOR),
         /**
          * A VEX CTE Workcell Signal Tower.
          */
-        LIGHT_TOWER(V5_DeviceType.LightTowerSensor),
+        LIGHT_TOWER(VexDeviceType.LIGHT_TOWER_SENSOR),
         /**
          * A VEX CTE Workcell 6-Axis Arm.
          */
-        ARM(V5_DeviceType.ArmDevice),
+        ARM(VexDeviceType.ARM_DEVICE),
         /**
          * A VEX Optical Sensor.
          */
-        OPTICAL(V5_DeviceType.OpticalSensor),
+        OPTICAL(VexDeviceType.OPTICAL_SENSOR),
         /**
          * A VEX V5 Game Positioning System Sensor.
          */
-        GPS(V5_DeviceType.GpsSensor),
+        GPS(VexDeviceType.GPS_SENSOR),
         /**
          * A VEX V5 Robot Radio.
          */
-        RADIO(V5_DeviceType.RadioSensor),
+        RADIO(VexDeviceType.RADIO_SENSOR),
         /**
          * A VEX Analog/Digital Input Sensor.
          */
-        ADI(V5_DeviceType.AdiSensor),
+        ADI(VexDeviceType.ADI_SENSOR),
         /**
          * A generic, unbranded serial device.
          */
-        GENERIC_SERIAL(V5_DeviceType.GenericSerial),
+        GENERIC_SERIAL(VexDeviceType.GENERIC_SERIAL),
         /**
          * An unknown device type.
          */
-        UNKNOWN(V5_DeviceType.UndefinedSensor);
+        UNKNOWN(VexDeviceType.UNDEFINED_SENSOR);
 
-        private final V5_DeviceType raw;
+        private final VexDeviceType raw;
 
-        Type(V5_DeviceType raw) {
+        Type(VexDeviceType raw) {
             this.raw = raw;
         }
 
@@ -161,23 +162,23 @@ public enum Type {
          * @param raw the raw device type
          * @return the high-level device type, or an empty optional if the raw type is not recognized
          */
-        public static Optional<Type> fromRaw(@NotNull V5_DeviceType raw) {
-            return switch (raw.value()) {
-                case V5_DeviceType.kDeviceTypeNoSensor -> Optional.empty();
-                case V5_DeviceType.kDeviceTypeMotorSensor -> Optional.of(MOTOR);
-                case V5_DeviceType.kDeviceTypeAbsEncSensor -> Optional.of(ROTATION);
-                case V5_DeviceType.kDeviceTypeImuSensor -> Optional.of(IMU);
-                case V5_DeviceType.kDeviceTypeDistanceSensor -> Optional.of(DISTANCE);
-                case V5_DeviceType.kDeviceTypeVisionSensor -> Optional.of(VISION);
-                case V5_DeviceType.kDeviceTypeAiVisionSensor -> Optional.of(AI_VISION);
-                case V5_DeviceType.kDeviceTypeMagnetSensor -> Optional.of(ELECTROMAGNET);
-                case V5_DeviceType.kDeviceTypeLightTowerSensor -> Optional.of(LIGHT_TOWER);
-                case V5_DeviceType.kDeviceTypeArmDevice -> Optional.of(ARM);
-                case V5_DeviceType.kDeviceTypeOpticalSensor -> Optional.of(OPTICAL);
-                case V5_DeviceType.kDeviceTypeGpsSensor -> Optional.of(GPS);
-                case V5_DeviceType.kDeviceTypeRadioSensor -> Optional.of(RADIO);
-                case V5_DeviceType.kDeviceTypeAdiSensor -> Optional.of(ADI);
-                case V5_DeviceType.kDeviceTypeGenericSerial -> Optional.of(GENERIC_SERIAL);
+        public static Optional<Type> fromRaw(@NotNull VexDeviceType raw) {
+            return switch (raw.getRawValue()) {
+                case VexDeviceType.kDeviceTypeNoSensor -> Optional.empty();
+                case VexDeviceType.kDeviceTypeMotorSensor -> Optional.of(MOTOR);
+                case VexDeviceType.kDeviceTypeAbsEncSensor -> Optional.of(ROTATION);
+                case VexDeviceType.kDeviceTypeImuSensor -> Optional.of(IMU);
+                case VexDeviceType.kDeviceTypeDistanceSensor -> Optional.of(DISTANCE);
+                case VexDeviceType.kDeviceTypeVisionSensor -> Optional.of(VISION);
+                case VexDeviceType.kDeviceTypeAiVisionSensor -> Optional.of(AI_VISION);
+                case VexDeviceType.kDeviceTypeMagnetSensor -> Optional.of(ELECTROMAGNET);
+                case VexDeviceType.kDeviceTypeLightTowerSensor -> Optional.of(LIGHT_TOWER);
+                case VexDeviceType.kDeviceTypeArmDevice -> Optional.of(ARM);
+                case VexDeviceType.kDeviceTypeOpticalSensor -> Optional.of(OPTICAL);
+                case VexDeviceType.kDeviceTypeGpsSensor -> Optional.of(GPS);
+                case VexDeviceType.kDeviceTypeRadioSensor -> Optional.of(RADIO);
+                case VexDeviceType.kDeviceTypeAdiSensor -> Optional.of(ADI);
+                case VexDeviceType.kDeviceTypeGenericSerial -> Optional.of(GENERIC_SERIAL);
                 default -> Optional.of(UNKNOWN);
             };
         }
@@ -187,7 +188,7 @@ public static Optional<Type> fromRaw(@NotNull V5_DeviceType raw) {
          *
          * @return the raw device type
          */
-        public V5_DeviceType getRaw() {
+        public VexDeviceType getRaw() {
             return raw;
         }
     }
diff --git a/src/main/java/dev/vexide/hydrozoa/devices/smart/SmartPort.java b/src/main/java/dev/vexide/hydrozoa/devices/smart/SmartPort.java
index 818ddb1..e3b8346 100644
--- a/src/main/java/dev/vexide/hydrozoa/devices/smart/SmartPort.java
+++ b/src/main/java/dev/vexide/hydrozoa/devices/smart/SmartPort.java
@@ -5,11 +5,13 @@
 import dev.vexide.hydrozoa.devices.DeviceDisconnectedException;
 import dev.vexide.hydrozoa.devices.IncorrectDeviceException;
 import dev.vexide.hydrozoa.sdk.VexDevice;
+import dev.vexide.hydrozoa.sdk.VexDeviceType;
 import dev.vexide.hydrozoa.sdk.VexSdk;
 import org.jetbrains.annotations.ApiStatus;
 import org.jetbrains.annotations.Contract;
 import org.jetbrains.annotations.NotNull;
 import org.jetbrains.annotations.Nullable;
+import org.teavm.interop.Address;
 
 import java.util.Objects;
 import java.util.Optional;
@@ -18,6 +20,8 @@
  * A Smart Port on the VEX V5 Robot Brain.
  */
 public final class SmartPort {
+    private static final int MAX_PORTS = 32;
+
     private final int number;
     private @Nullable Peripherals.Key key;
 
@@ -90,10 +94,9 @@ VexDevice deviceHandle() {
      * @return the device's type, if a device is connected
      */
     public Optional<SmartDevice.Type> deviceType() {
-        var deviceTypes = new byte[VexSdk.Device.V5_MAX_DEVICE_PORTS];
-        VexSdk.Device.vexDeviceGetStatus(deviceTypes);
-
-        return SmartDevice.Type.fromRaw(new V5_DeviceType(deviceTypes[getIndex()]));
+        var deviceTypes = new byte[MAX_PORTS];
+        VexSdk.Device.getStatus(Address.ofData(deviceTypes));
+        return SmartDevice.Type.fromRaw(new VexDeviceType(deviceTypes[getIndex()]));
     }
 
     /**
diff --git a/src/main/java/dev/vexide/hydrozoa/package-info.java b/src/main/java/dev/vexide/hydrozoa/package-info.java
index cdae9fc..05530e7 100644
--- a/src/main/java/dev/vexide/hydrozoa/package-info.java
+++ b/src/main/java/dev/vexide/hydrozoa/package-info.java
@@ -1,4 +1,5 @@
 /**
+ * The Hydrozoa Java SDK is a software library that allows Java and Kotlin programs to control VEX V5 robots.
  * The main package for the Hydrozoa project, which contains the basics for configuring and running a robot.
  */
 package dev.vexide.hydrozoa;
diff --git a/src/main/java/module-info.java b/src/main/java/module-info.java
deleted file mode 100644
index 29157cd..0000000
--- a/src/main/java/module-info.java
+++ /dev/null
@@ -1,12 +0,0 @@
-/**
- * The Hydrozoa Java SDK is a software library that allows Java and Kotlin programs to control VEX V5 robots.
- */
-module dev.vexide.hydrozoa {
-    requires org.jetbrains.annotations;
-    requires dev.vexide.hydrozoa.sdk;
-
-    exports dev.vexide.hydrozoa;
-    exports dev.vexide.hydrozoa.display;
-    exports dev.vexide.hydrozoa.devices.smart;
-    exports dev.vexide.hydrozoa.devices;
-}

From fc207bde2ecb24a4bf1aade3d17667494cd15783 Mon Sep 17 00:00:00 2001
From: Lewis <mcclelll@icloud.com>
Date: Mon, 19 May 2025 15:30:15 -0700
Subject: [PATCH 10/14] docs: convert some docs to markdown

---
 .../java/dev/vexide/hydrozoa/Peripherals.java | 69 +++++++++----------
 1 file changed, 33 insertions(+), 36 deletions(-)

diff --git a/src/main/java/dev/vexide/hydrozoa/Peripherals.java b/src/main/java/dev/vexide/hydrozoa/Peripherals.java
index 0088496..f3860ab 100644
--- a/src/main/java/dev/vexide/hydrozoa/Peripherals.java
+++ b/src/main/java/dev/vexide/hydrozoa/Peripherals.java
@@ -10,28 +10,27 @@
 import java.util.NoSuchElementException;
 import java.util.Optional;
 
-/**
- * A collection of all the peripherals that are available to the robot.
- * <p>
- * Peripherals instances can be used to initialize the robot's hardware by using the various {@code take*} methods.
- * It is important to understand that peripherals may only be removed from the Peripherals instance once. This helps
- * to prevent the accidental duplication of hardware resources.
- * <p>
- * For example, the following examples will throw exceptions because the port number 1 has already been used:
- * <pre>{@code
- * var peripherals = Peripherals.take().orElseThrow();
- *
- * Motor leftMotor = new Motor(peripherals.takePort(1), Motor.Gearset.GREEN, Motor.Direction.FORWARD);
- * Motor rightMotor = new Motor(peripherals.takePort(1), Motor.Gearset.GREEN, Motor.Direction.FORWARD);
- * }</pre>
- * <pre>{@code
- * var peripherals = Peripherals.take().orElseThrow();
- *
- * var port = peripherals.takePort(1);
- * Motor leftMotor = new Motor(port, Motor.Gearset.GREEN, Motor.Direction.FORWARD);
- * Motor rightMotor = new Motor(port, Motor.Gearset.GREEN, Motor.Direction.FORWARD);
- * }</pre>
- */
+/// A collection of all the peripherals that are available to the robot.
+///
+/// Peripherals instances can be used to initialize the robot's hardware by using the various {@code take*} methods.
+/// It is important to understand that peripherals may only be removed from the Peripherals instance once. This helps
+/// to prevent the accidental duplication of hardware resources.
+///
+/// For example, the following examples will throw exceptions because the port number 1 has already been used:
+/// ```java
+/// var peripherals = Peripherals.take().orElseThrow();
+///
+/// Motor leftMotor = new Motor(peripherals.takePort(1), Motor.Gearset.GREEN, Motor.Direction.FORWARD);
+/// Motor rightMotor = new Motor(peripherals.takePort(1), Motor.Gearset.GREEN, Motor.Direction.FORWARD);
+/// ```
+///
+/// ```java
+/// var peripherals = Peripherals.take().orElseThrow();
+///
+/// var port = peripherals.takePort(1);
+/// Motor leftMotor = new Motor(port, Motor.Gearset.GREEN, Motor.Direction.FORWARD);
+/// Motor rightMotor = new Motor(port, Motor.Gearset.GREEN, Motor.Direction.FORWARD);
+/// ```
 public class Peripherals {
     private static final Key key = new Key();
     private static Peripherals instance = new Peripherals();
@@ -47,11 +46,9 @@ private Peripherals() {
         }
     }
 
-    /**
-     * Creates a new instance of the Peripherals class. This method may only be called once.
-     *
-     * @return a new instance of the Peripherals class, or an empty optional if this method has already been called
-     */
+    /// Creates a new instance of the Peripherals class. This method may only be called once.
+    ///
+    /// @return a new instance of the Peripherals class, or an empty optional if this method has already been called
     public static Optional<Peripherals> take() {
         if (instance == null) {
             return Optional.empty();
@@ -62,15 +59,15 @@ public static Optional<Peripherals> take() {
         return Optional.of(peripherals);
     }
 
-    /**
-     * Infallibly creates a new instance of the Peripherals class. Using this method can make your program
-     * susceptible to mistakes such as accidentally creating two motors that use the same smart port.
-     * <h4>Conditions</h4>
-     * <p>
-     * This method may not be used to allow multiple instances of smart devices that use the same port to exist
-     * simultaneously.
-     * @return a new instance of the Peripherals class
-     */
+    /// Infallibly creates a new instance of the Peripherals class. Using this method can make your program
+    /// susceptible to mistakes such as accidentally creating two motors that use the same smart port.
+    ///
+    /// #### Conditions
+    ///
+    /// This method may not be used to allow multiple instances of smart devices that use the same port to exist
+    /// simultaneously.
+    ///
+    /// @return a new instance of the Peripherals class
     public static @NotNull Peripherals unsafelyCreate() {
         return new Peripherals();
     }

From ab32ef282aca4850364febba5432f2b1c84c88dc Mon Sep 17 00:00:00 2001
From: Lewis <mcclelll@icloud.com>
Date: Wed, 21 May 2025 14:02:33 -0700
Subject: [PATCH 11/14] docs: convert more docs to markdown

---
 .../java/dev/vexide/hydrozoa/Peripherals.java |  36 ++--
 .../devices/smart/EncoderPosition.java        | 179 +++++++-----------
 2 files changed, 85 insertions(+), 130 deletions(-)

diff --git a/src/main/java/dev/vexide/hydrozoa/Peripherals.java b/src/main/java/dev/vexide/hydrozoa/Peripherals.java
index f3860ab..8db21b0 100644
--- a/src/main/java/dev/vexide/hydrozoa/Peripherals.java
+++ b/src/main/java/dev/vexide/hydrozoa/Peripherals.java
@@ -72,13 +72,11 @@ public static Optional<Peripherals> take() {
         return new Peripherals();
     }
 
-    /**
-     * Takes a smart port from this collection.
-     * @param portNumber the port number to take, as labeled on the robot brain
-     * @return the smart port
-     * @throws IllegalArgumentException if the port number is not in the range [1, 21]
-     * @throws NoSuchElementException if the port has already been removed
-     */
+    /// Takes a smart port from this collection.
+    /// @param portNumber the port number to take, as labeled on the robot brain
+    /// @return the smart port
+    /// @throws IllegalArgumentException if the port number is not in the range [1, 21]
+    /// @throws NoSuchElementException if the port has already been removed
     @Contract("_ -> new")
     public @NotNull SmartPort takePort(int portNumber) throws IllegalArgumentException, NoSuchElementException {
         if (portNumber <= 0 || portNumber > ports.length) {
@@ -96,12 +94,10 @@ public static Optional<Peripherals> take() {
         return port;
     }
 
-    /**
-     * Takes a controller from this collection.
-     * @param id the ID of the controller to take
-     * @return the controller
-     * @throws NoSuchElementException if the controller with this ID has already been removed
-     */
+    /// Takes a controller from this collection.
+    /// @param id the ID of the controller to take
+    /// @return the controller
+    /// @throws NoSuchElementException if the controller with this ID has already been removed
     @Contract("_ -> new")
     public @NotNull Controller takeController(@NotNull Controller.Id id) throws NoSuchElementException {
         Controller controller;
@@ -120,11 +116,9 @@ public static Optional<Peripherals> take() {
         return controller;
     }
 
-    /**
-     * Takes the display from this collection.
-     * @return the display
-     * @throws NoSuchElementException if the display has already been removed
-     */
+    /// Takes the display from this collection.
+    /// @return the display
+    /// @throws NoSuchElementException if the display has already been removed
     @Contract("-> new")
     public @NotNull Display takeDisplay() throws NoSuchElementException {
         var display = this.display;
@@ -137,10 +131,8 @@ public static Optional<Peripherals> take() {
         return display;
     }
 
-    /**
-     * A unique key that is used to prevent the creation of peripheral devices outside the Peripherals class.
-     * @hidden
-     */
+    /// A unique key that is used to prevent the creation of peripheral devices outside the Peripherals class.
+    /// @hidden
     public static class Key {
         private Key() {}
     }
diff --git a/src/main/java/dev/vexide/hydrozoa/devices/smart/EncoderPosition.java b/src/main/java/dev/vexide/hydrozoa/devices/smart/EncoderPosition.java
index ab57865..fd47852 100644
--- a/src/main/java/dev/vexide/hydrozoa/devices/smart/EncoderPosition.java
+++ b/src/main/java/dev/vexide/hydrozoa/devices/smart/EncoderPosition.java
@@ -3,197 +3,160 @@
 import org.jetbrains.annotations.Contract;
 import org.jetbrains.annotations.NotNull;
 
-/**
- * The position of an encoder.
- *
- * @param raw the number of ticks the encoder has counted
- */
+/// The position of an encoder.
+///
+/// @param raw the number of ticks the encoder has counted
+////
 public record EncoderPosition(long raw) {
-    /**
-     * The ticks per rotation ratio internally used by the {@code EncoderPosition} class.
-     */
+    /// The ticks per rotation ratio internally used by the `EncoderPosition` class.
     public static final int INTERNAL_TPR = 4_608_000;
 
-    /**
-     * Creates a new encoder position using a number of ticks.
-     *
-     * @param ticks the number of ticks the encoder has counted
-     * @param tpr   the number of ticks which represent one full rotation of the encoder
-     * @return the new encoder position
-     */
+    /// Creates a new encoder position using a number of ticks.
+    ///
+    /// @param ticks the number of ticks the encoder has counted
+    /// @param tpr   the number of ticks which represent one full rotation of the encoder
+    /// @return the new encoder position
     @Contract(value = "_, _ -> new", pure = true)
     public static @NotNull EncoderPosition ofTicks(long ticks, int tpr) {
         return new EncoderPosition(ticks * ((long) INTERNAL_TPR / (long) tpr));
     }
 
-    /**
-     * Creates a new encoder position using a number of degrees.
-     *
-     * @param degrees the number of degrees the encoder has rotated
-     * @return the new encoder position
-     */
+    /// Creates a new encoder position using a number of degrees.
+    ///
+    /// @param degrees the number of degrees the encoder has rotated
+    /// @return the new encoder position
     @Contract(value = "_ -> new", pure = true)
     public static @NotNull EncoderPosition ofDegrees(double degrees) {
         return new EncoderPosition((long) (degrees / 360.0 * INTERNAL_TPR));
     }
 
-    /**
-     * Creates a new encoder position using a number of radians.
-     *
-     * @param radians the number of radians the encoder has rotated
-     * @return the new encoder position
-     */
+    /// Creates a new encoder position using a number of radians.
+    ///
+    /// @param radians the number of radians the encoder has rotated
+    /// @return the new encoder position
     @Contract(value = "_ -> new", pure = true)
     public static @NotNull EncoderPosition ofRadians(double radians) {
         return new EncoderPosition((long) (radians / Math.TAU * INTERNAL_TPR));
     }
 
-    /**
-     * Creates a new encoder position using a number of rotations.
-     *
-     * @param rotations the number of full rotations the encoder has completed
-     * @return the new encoder position
-     */
+    /// Creates a new encoder position using a number of rotations.
+    ///
+    /// @param rotations the number of full rotations the encoder has completed
+    /// @return the new encoder position
     @Contract(value = "_ -> new", pure = true)
     public static @NotNull EncoderPosition ofRotations(double rotations) {
         return new EncoderPosition((long) (rotations * INTERNAL_TPR));
     }
 
-    /**
-     * Converts the encoder position to a number of ticks at a given TPR ratio.
-     *
-     * @param tpr the number of ticks which represent one full rotation of the encoder
-     * @return the number of ticks the encoder has counted
-     */
+     /// Converts the encoder position to a number of ticks at a given TPR ratio.
+     ///
+     /// @param tpr the number of ticks which represent one full rotation of the encoder
+     /// @return the number of ticks the encoder has counted
     @Contract(pure = true)
     public long ticks(int tpr) {
         return raw * tpr / INTERNAL_TPR;
     }
 
-    /**
-     * Converts the encoder position to a number of degrees.
-     *
-     * @return the number of degrees the encoder has rotated
-     */
+    /// Converts the encoder position to a number of degrees.
+    ///
+    /// @return the number of degrees the encoder has rotated
     @Contract(pure = true)
     public double degrees() {
         return (double) raw / INTERNAL_TPR * 360.0;
     }
 
-    /**
-     * Converts the encoder position to a number of radians.
-     *
-     * @return the number of radians the encoder has rotated
-     */
+    /// Converts the encoder position to a number of radians.
+    ///
+    /// @return the number of radians the encoder has rotated
     @Contract(pure = true)
     public double radians() {
         return (double) raw / INTERNAL_TPR * Math.TAU;
     }
 
-    /**
-     * Converts the encoder position to a number of full rotations.
-     *
-     * @return the number of full rotations the encoder has completed
-     */
+    /// Converts the encoder position to a number of full rotations.
+    ///
+    /// @return the number of full rotations the encoder has completed
     @Contract(pure = true)
     public double rotations() {
         return (double) raw / INTERNAL_TPR;
     }
 
-    /**
-     * Adds two encoder positions together.
-     *
-     * @param other the other encoder position
-     * @return the sum of the two encoder positions
-     */
+    /// Adds two encoder positions together.
+    ///
+    /// @param other the other encoder position
+    /// @return the sum of the two encoder positions
     @Contract(pure = true)
     public @NotNull EncoderPosition plus(@NotNull EncoderPosition other) {
         return new EncoderPosition(raw + other.raw);
     }
 
-    /**
-     * Subtracts one encoder position from another.
-     *
-     * @param other the other encoder position
-     * @return the difference of the two encoder positions
-     */
+    /// Subtracts one encoder position from another.
+    ///
+    /// @param other the other encoder position
+    /// @return the difference of the two encoder positions
     @Contract(pure = true)
     public @NotNull EncoderPosition minus(@NotNull EncoderPosition other) {
         return new EncoderPosition(raw - other.raw);
     }
 
-    /**
-     * Multiplies an encoder position by a scalar.
-     *
-     * @param scalar the scalar to multiply by
-     * @return the product of the encoder position and the scalar
-     */
+    /// Multiplies an encoder position by a scalar.
+    ///
+    /// @param scalar the scalar to multiply by
+    /// @return the product of the encoder position and the scalar
     @Contract(pure = true)
     public @NotNull EncoderPosition times(int scalar) {
         return new EncoderPosition(raw * scalar);
     }
 
-    /**
-     * Divides an encoder position by a scalar.
-     *
-     * @param scalar the scalar to divide by
-     * @return the quotient of the encoder position and the scalar
-     */
+    /// Divides an encoder position by a scalar.
+    ///
+    /// @param scalar the scalar to divide by
+    /// @return the quotient of the encoder position and the scalar
     @Contract(pure = true)
     public @NotNull EncoderPosition div(int scalar) {
         return new EncoderPosition(raw / scalar);
     }
 
-    /**
-     * Computes the remainder of dividing an encoder position by a scalar.
-     *
-     * @param scalar the scalar to divide by
-     * @return the remainder of the division
-     */
+    /// Computes the remainder of dividing an encoder position by a scalar.
+    ///
+    /// @param scalar the scalar to divide by
+    /// @return the remainder of the division
     @Contract(pure = true)
     public @NotNull EncoderPosition rem(int scalar) {
         return new EncoderPosition(raw % scalar);
     }
 
-    /**
-     * Computes the floor modulus of dividing an encoder position by a scalar.
-     *
-     * @param scalar the scalar to divide by
-     * @return the floor modulus of the division
-     * @see Math#floorMod(int, int)
-     */
+    /// Computes the floor modulus of dividing an encoder position by a scalar.
+    ///
+    /// @param scalar the scalar to divide by
+    /// @return the floor modulus of the division
+    /// @see Math#floorMod(int, int)
     @Contract(pure = true)
     public @NotNull EncoderPosition mod(int scalar) {
         return new EncoderPosition(Math.floorMod(raw, scalar));
     }
 
-    /**
-     * Computes the absolute value of the encoder position.
-     *
-     * @return the absolute value of the encoder position
-     */
+    /// Computes the absolute value of the encoder position.
+    ///
+    /// @return the absolute value of the encoder position
     @Contract(pure = true)
     public @NotNull EncoderPosition abs() {
         return new EncoderPosition(Math.abs(raw));
     }
 
-    /**
-     * Computes the negation of the encoder position.
-     *
-     * @return the negation of the encoder position
-     */
+    /// Computes the negation of the encoder position.
+    ///
+    /// @return the negation of the encoder position
     @Contract(pure = true)
     public @NotNull EncoderPosition unaryMinus() {
         return new EncoderPosition(-raw);
     }
 
-    /**
-     * Compares two encoder positions numerically.
-     *
-     * @param other the other encoder position
-     * @return the value {@code 0} if {@code this = other}; a value less than {@code 0} if {@code this < other}; and a
-     * value greater than {@code 0} if {@code this > other}
-     */
+    /// Compares two encoder positions numerically.
+    ///
+    /// @param other the other encoder position
+    /// @return the value {@code 0} if {@code this = other}; a value less than {@code 0} if {@code this < other}; and a
+    /// value greater than {@code 0} if {@code this > other}
     @Contract(pure = true)
     public int compareTo(@NotNull EncoderPosition other) {
         return Long.compare(raw, other.raw);

From 0e3e8393c360bc8ab4c556a06641e70d441ce97d Mon Sep 17 00:00:00 2001
From: Lewis <mcclelll@icloud.com>
Date: Wed, 21 May 2025 14:23:12 -0700
Subject: [PATCH 12/14] chore: update kotlin, disable some doc warnings

---
 gradle/libs.versions.toml                                 | 2 +-
 vex-sdk/build.gradle.kts                                  | 8 ++++++++
 .../main/java/dev/vexide/hydrozoa/sdk/package-info.java   | 2 ++
 3 files changed, 11 insertions(+), 1 deletion(-)
 create mode 100644 vex-sdk/src/main/java/dev/vexide/hydrozoa/sdk/package-info.java

diff --git a/gradle/libs.versions.toml b/gradle/libs.versions.toml
index 2d0b192..18aaf70 100644
--- a/gradle/libs.versions.toml
+++ b/gradle/libs.versions.toml
@@ -6,4 +6,4 @@ jreleaser = { id = "org.jreleaser", version = "1.15.0" }
 publish = { id = "com.gradle.plugin-publish", version = "1.2.1" }
 
 [versions]
-kotlin = "2.1.20"
\ No newline at end of file
+kotlin = "2.1.21"
\ No newline at end of file
diff --git a/vex-sdk/build.gradle.kts b/vex-sdk/build.gradle.kts
index c067420..0ecf502 100644
--- a/vex-sdk/build.gradle.kts
+++ b/vex-sdk/build.gradle.kts
@@ -51,6 +51,14 @@ dependencies {
 
 tasks.javadoc {
     title = "VEX SDK"
+    options {
+        // Allow missing doc comments - most of the library is autogenerated
+        // and the source dataset current doesn't contain any SDK documentation info.
+        // There is no particular reason for this, it just hasn't been done yet.
+        with(this as CoreJavadocOptions) {
+            addBooleanOption("Xdoclint:html,syntax,accessibility,reference", true)
+        }
+    }
 }
 
 tasks.generateBindings {
diff --git a/vex-sdk/src/main/java/dev/vexide/hydrozoa/sdk/package-info.java b/vex-sdk/src/main/java/dev/vexide/hydrozoa/sdk/package-info.java
new file mode 100644
index 0000000..482f77a
--- /dev/null
+++ b/vex-sdk/src/main/java/dev/vexide/hydrozoa/sdk/package-info.java
@@ -0,0 +1,2 @@
+/// Raw bindings to VEX V5 system calls.
+package dev.vexide.hydrozoa.sdk;

From 04df215e53384c48165eaf0814bb2c2d35b02b56 Mon Sep 17 00:00:00 2001
From: Lewis <mcclelll@icloud.com>
Date: Wed, 21 May 2025 14:31:20 -0700
Subject: [PATCH 13/14] refactor: split bindings generator into multiple files

---
 bindings-generator/build.gradle.kts           |  35 +-
 .../BindingsGeneratorPluginFunctionalTest.kt  |  43 --
 .../bindings/BindingsGeneratorPlugin.kt       | 480 +-----------------
 .../plugin/bindings/Deserialization.kt        |  67 +++
 .../vexide/hydrozoa/plugin/bindings/Utils.kt  |  47 ++
 .../plugin/bindings/sdk/JavaSdkEnum.kt        | 129 +++++
 .../plugin/bindings/sdk/JavaSdkItem.kt        | 110 ++++
 .../plugin/bindings/sdk/JavaSdkModule.kt      | 107 ++++
 .../plugin/bindings/sdk/JavaSdkSubmodule.kt   |  27 +
 .../bindings/tasks/GenerateBindingsTask.kt    |  41 ++
 .../example/BindingsGeneratorPluginTest.kt    |  22 -
 11 files changed, 531 insertions(+), 577 deletions(-)
 delete mode 100644 bindings-generator/src/functionalTest/kotlin/org/example/BindingsGeneratorPluginFunctionalTest.kt
 create mode 100644 bindings-generator/src/main/kotlin/dev/vexide/hydrozoa/plugin/bindings/Deserialization.kt
 create mode 100644 bindings-generator/src/main/kotlin/dev/vexide/hydrozoa/plugin/bindings/Utils.kt
 create mode 100644 bindings-generator/src/main/kotlin/dev/vexide/hydrozoa/plugin/bindings/sdk/JavaSdkEnum.kt
 create mode 100644 bindings-generator/src/main/kotlin/dev/vexide/hydrozoa/plugin/bindings/sdk/JavaSdkItem.kt
 create mode 100644 bindings-generator/src/main/kotlin/dev/vexide/hydrozoa/plugin/bindings/sdk/JavaSdkModule.kt
 create mode 100644 bindings-generator/src/main/kotlin/dev/vexide/hydrozoa/plugin/bindings/sdk/JavaSdkSubmodule.kt
 create mode 100644 bindings-generator/src/main/kotlin/dev/vexide/hydrozoa/plugin/bindings/tasks/GenerateBindingsTask.kt
 delete mode 100644 bindings-generator/src/test/kotlin/org/example/BindingsGeneratorPluginTest.kt

diff --git a/bindings-generator/build.gradle.kts b/bindings-generator/build.gradle.kts
index 4aeda6d..e0c2fcb 100644
--- a/bindings-generator/build.gradle.kts
+++ b/bindings-generator/build.gradle.kts
@@ -26,45 +26,12 @@ dependencies {
     implementation("com.google.guava:guava:33.4.8-jre")
 }
 
-testing {
-    suites {
-        // Configure the built-in test suite
-        val test by getting(JvmTestSuite::class) {
-            // Use Kotlin Test test framework
-            useKotlinTest("2.0.0")
-        }
-
-        // Create a new test suite
-        val functionalTest by registering(JvmTestSuite::class) {
-            // Use Kotlin Test test framework
-            useKotlinTest("2.0.0")
-
-            dependencies {
-                // functionalTest test suite depends on the production code in tests
-                implementation(project())
-            }
-
-            targets {
-                all {
-                    // This test suite should run after the built-in test suite has run its tests
-                    testTask.configure { shouldRunAfter(test) } 
-                }
-            }
-        }
-    }
-}
-
 gradlePlugin {
     // Define the plugin
-    val greeting by plugins.creating {
+    val bindingsGen by plugins.creating {
         id = "dev.vexide.hydrozoa.plugin.bindings"
         implementationClass = "dev.vexide.hydrozoa.plugin.bindings.BindingsGeneratorPlugin"
     }
 }
 
 gradlePlugin.testSourceSets.add(sourceSets["functionalTest"])
-
-tasks.named<Task>("check") {
-    // Include functionalTest as part of the check lifecycle
-    dependsOn(testing.suites.named("functionalTest"))
-}
diff --git a/bindings-generator/src/functionalTest/kotlin/org/example/BindingsGeneratorPluginFunctionalTest.kt b/bindings-generator/src/functionalTest/kotlin/org/example/BindingsGeneratorPluginFunctionalTest.kt
deleted file mode 100644
index d0477c0..0000000
--- a/bindings-generator/src/functionalTest/kotlin/org/example/BindingsGeneratorPluginFunctionalTest.kt
+++ /dev/null
@@ -1,43 +0,0 @@
-/*
- * This source file was generated by the Gradle 'init' task
- */
-package org.example
-
-import java.io.File
-import kotlin.test.assertTrue
-import kotlin.test.Test
-import org.gradle.testkit.runner.GradleRunner
-import org.junit.jupiter.api.io.TempDir
-
-/**
- * A simple functional test for the 'org.example.greeting' plugin.
- */
-class BindingsGeneratorPluginFunctionalTest {
-
-    @field:TempDir
-    lateinit var projectDir: File
-
-    private val buildFile by lazy { projectDir.resolve("build.gradle") }
-    private val settingsFile by lazy { projectDir.resolve("settings.gradle") }
-
-    @Test fun `can run task`() {
-        // Set up the test build
-        settingsFile.writeText("")
-        buildFile.writeText("""
-            plugins {
-                id('org.example.greeting')
-            }
-        """.trimIndent())
-
-        // Run the build
-        val runner = GradleRunner.create()
-        runner.forwardOutput()
-        runner.withPluginClasspath()
-        runner.withArguments("greeting")
-        runner.withProjectDir(projectDir)
-        val result = runner.build()
-
-        // Verify the result
-        assertTrue(result.output.contains("Hello from plugin 'org.example.greeting'"))
-    }
-}
diff --git a/bindings-generator/src/main/kotlin/dev/vexide/hydrozoa/plugin/bindings/BindingsGeneratorPlugin.kt b/bindings-generator/src/main/kotlin/dev/vexide/hydrozoa/plugin/bindings/BindingsGeneratorPlugin.kt
index 67be059..798ce60 100644
--- a/bindings-generator/src/main/kotlin/dev/vexide/hydrozoa/plugin/bindings/BindingsGeneratorPlugin.kt
+++ b/bindings-generator/src/main/kotlin/dev/vexide/hydrozoa/plugin/bindings/BindingsGeneratorPlugin.kt
@@ -3,493 +3,17 @@
  */
 package dev.vexide.hydrozoa.plugin.bindings
 
-import com.github.javaparser.StaticJavaParser
-import com.github.javaparser.ast.CompilationUnit
-import com.github.javaparser.ast.Modifier
-import com.github.javaparser.ast.Modifier.Keyword
-import com.github.javaparser.ast.Node
-import com.github.javaparser.ast.NodeList
-import com.github.javaparser.ast.type.Type
-import com.github.javaparser.ast.body.ClassOrInterfaceDeclaration
-import com.github.javaparser.ast.body.MethodDeclaration
-import com.github.javaparser.ast.body.RecordDeclaration
-import com.github.javaparser.ast.expr.CastExpr
-import com.github.javaparser.ast.expr.DoubleLiteralExpr
-import com.github.javaparser.ast.expr.Expression
-import com.github.javaparser.ast.expr.IntegerLiteralExpr
-import com.github.javaparser.ast.expr.MethodCallExpr
-import com.github.javaparser.ast.expr.NameExpr
-import com.github.javaparser.ast.expr.ObjectCreationExpr
-import com.github.javaparser.ast.expr.StringLiteralExpr
-import com.github.javaparser.ast.nodeTypes.NodeWithAnnotations
-import com.github.javaparser.ast.stmt.BlockStmt
-import com.github.javaparser.ast.stmt.ExpressionStmt
-import com.github.javaparser.ast.stmt.ReturnStmt
-import com.github.javaparser.ast.type.ClassOrInterfaceType
-import com.github.javaparser.ast.type.PrimitiveType
-import com.github.javaparser.ast.type.PrimitiveType.Primitive
-import com.github.javaparser.ast.type.VoidType
-import com.github.javaparser.utils.SourceRoot
-import com.google.common.base.CaseFormat
-import kotlinx.serialization.SerialName
-import kotlinx.serialization.Serializable
-import kotlinx.serialization.json.Json
-import org.gradle.api.DefaultTask
+import dev.vexide.hydrozoa.plugin.bindings.tasks.GenerateBindingsTask
 import org.gradle.api.Project
 import org.gradle.api.Plugin
-import org.gradle.api.file.DirectoryProperty
-import org.gradle.api.file.RegularFileProperty
-import org.gradle.api.tasks.InputFile
-import org.gradle.api.tasks.OutputDirectory
-import org.gradle.api.tasks.TaskAction
-import kotlin.io.path.ExperimentalPathApi
-import kotlin.io.path.createDirectory
-import kotlin.io.path.deleteRecursively
-import kotlin.jvm.optionals.getOrNull
 
-/**
- * A simple 'hello world' plugin.
- */
+@Suppress("unused")
 class BindingsGeneratorPlugin : Plugin<Project> {
     override fun apply(project: Project) {
-        // Register a task
         project.tasks.register("generateBindings", GenerateBindingsTask::class.java) { task ->
             task.group = "build"
             task.description = "Generates bindings for the Hydrozoa SDK"
-            task.doFirst {
-                println("Hello from plugin 'org.example.greeting'")
-            }
-        }
-    }
-}
-
-@Serializable
-data class SdkModule(
-    val name: String,
-    val items: List<SdkItem>,
-    val enums: List<SdkEnum>,
-)
-
-@Serializable
-data class SdkItem(
-    val name: String,
-    val params: List<Param>,
-    val returns: Type?,
-) {
-    @Serializable
-    data class Param(
-        val name: String,
-        val type: Type,
-    )
-
-    @Serializable
-    sealed class Type {
-        @Serializable
-        @SerialName("Bool")
-        object Bool : Type()
-
-        @Serializable
-        @SerialName("Int")
-        object Int : Type()
-
-        @Serializable
-        @SerialName("Long")
-        object Long : Type()
-
-        @Serializable
-        @SerialName("Float")
-        object Float : Type()
-
-        @Serializable
-        @SerialName("Double")
-        object Double : Type()
-
-        @Serializable
-        @SerialName("StringPtr")
-        object StringPtr : Type()
-
-        @Serializable
-        @SerialName("Named")
-        data class Named(val name: String) : Type()
-
-        @Serializable
-        @SerialName("Pointer")
-        data class Pointer(val destination: SdkItem.Type) : Type()
-    }
-}
-
-@Serializable
-data class SdkEnum(
-    val name: String,
-    @SerialName("underlying_type")
-    val underlyingType: SdkItem.Type,
-    val variants: Map<String, Double>,
-)
-
-abstract class GenerateBindingsTask : DefaultTask() {
-    @get:InputFile
-    abstract val apiFile: RegularFileProperty
-
-    @get:OutputDirectory
-    abstract val outputDirectory: DirectoryProperty
-
-    @OptIn(ExperimentalPathApi::class)
-    @TaskAction
-    fun generateBindings() {
-        val apiFile = apiFile.asFile.get()
-        val api = Json.decodeFromString<SdkModule>(apiFile.readText())
-
-        var outDir = outputDirectory.asFile.get().toPath()
-        print("Out dir: $outDir")
-
-        outDir.deleteRecursively()
-        outDir.createDirectory()
-
-        var sourceRoot = SourceRoot(outDir)
-        JavaSdkModule(api).generate(sourceRoot)
-        sourceRoot.saveAll()
-    }
-}
-
-fun CompilationUnit.addHydrozoaGeneratedComment(): CompilationUnit {
-    this.setBlockComment(" This file was automatically @generated by the Hydrozoa bindings generator. Do not edit this manually!\n"
-            + "   Instead, update the Hydrozoa SDK at <https://github.com/vexide/hydrozoa> and re-run the generator. ")
-    return this
-}
-
-fun<N: Node> NodeWithAnnotations<N>.addHydrozoaGeneratedAnnotation(): N {
-    return this.addSingleMemberAnnotation(
-        javax.annotation.processing.Generated::class.java,
-        StringLiteralExpr("dev.vexide.hydrozoa.plugin.bindings.BindingsGeneratorPlugin")
-    )
-}
-
-fun ClassOrInterfaceDeclaration.addStaticInitAnnotation(): ClassOrInterfaceDeclaration {
-    return this.addMarkerAnnotation("org.teavm.interop.StaticInit")
-}
-
-fun<T: NodeWithAnnotations<N>, N: Node> T.addNotNullAnnotation(add: Boolean = true): T {
-    if (add) {
-        addMarkerAnnotation("org.jetbrains.annotations.NotNull")
-    }
-    return this
-}
-
-fun ClassOrInterfaceDeclaration.addPrivateConstructor(): ClassOrInterfaceDeclaration {
-    this.addConstructor(Keyword.PRIVATE)
-    return this
-}
-
-fun<T: Node> nodeListOf(vararg items: T): NodeList<T> {
-    return NodeList.nodeList(*items)
-}
-
-fun modifierListOf(vararg modifiers: Keyword): NodeList<Modifier> {
-    return Modifier.createModifierList(*modifiers)
-}
-
-const val PACKAGE_NAME = "dev.vexide.hydrozoa.sdk"
-fun makeCompilationUnit(className: String, sourceRoot: SourceRoot): CompilationUnit {
-    var filename = sourceRoot.root
-    for (component in PACKAGE_NAME.split(".")) {
-        filename = filename.resolve(component)
-    }
-
-    val cu = CompilationUnit(PACKAGE_NAME)
-        .setStorage(filename.resolve("$className.java"))
-    print("Filename: ${cu.storage.getOrNull()?.path}")
-
-    sourceRoot.add(cu)
-
-    return cu
-}
-
-class JavaSdkModule(val sdk: SdkModule) {
-    var enums: Map<String, SdkEnum> = sdk.enums.associateBy { it.name }
-
-    fun generate(sourceRoot: SourceRoot): CompilationUnit {
-        val className = CaseFormat.LOWER_UNDERSCORE.to(CaseFormat.UPPER_CAMEL, sdk.name) + "Sdk"
-
-        val cu = makeCompilationUnit(className, sourceRoot)
-            .addHydrozoaGeneratedComment()
-
-        val bindingsClass = cu.addClass(className, Keyword.PUBLIC, Keyword.FINAL)
-            .addHydrozoaGeneratedAnnotation()
-            .addStaticInitAnnotation()
-            .addPrivateConstructor()
-
-        var submodules = mutableMapOf<String, JavaSdkSubmodule>()
-
-        for (item in sdk.items) {
-            var (submoduleName, trimmedMethodName) = JavaSdkItem.generateMethodName(item, sdk)
-
-            var submodule = submodules.getOrPut(submoduleName) {
-                JavaSdkSubmodule(submoduleName)
-            }
-            submodule.items.add(JavaSdkItem(item, module = this, methodName = trimmedMethodName))
-        }
-
-        for (submodule in submodules.values) {
-            submodule.generate(bindingsClass)
-        }
-
-        for (enum in sdk.enums) {
-            JavaSdkEnum(enum, module = this)
-                .generate(sourceRoot)
-        }
-
-        return cu
-    }
-
-    fun javaTypeFor(type: SdkItem.Type?, useRawTypes: Boolean = false, annotations: Boolean = false): Type {
-        return when (type) {
-            null -> VoidType()
-            is SdkItem.Type.Bool -> PrimitiveType(Primitive.BOOLEAN)
-            is SdkItem.Type.Int -> PrimitiveType(Primitive.INT)
-            is SdkItem.Type.Long -> PrimitiveType(Primitive.LONG)
-            is SdkItem.Type.Float -> PrimitiveType(Primitive.FLOAT)
-            is SdkItem.Type.Double -> PrimitiveType(Primitive.DOUBLE)
-            is SdkItem.Type.StringPtr -> StaticJavaParser.parseClassOrInterfaceType("String")
-                .addNotNullAnnotation(annotations)
-            is SdkItem.Type.Named -> {
-                if (useRawTypes) {
-                    var underlyingType = enums[type.name]?.underlyingType
-                    if (underlyingType != null) return javaTypeFor(underlyingType)
-                }
-
-                ClassOrInterfaceType(null, JavaSdkEnum.generateEnumName(type.name, sdk.name))
-                    .addNotNullAnnotation(annotations)
-            }
-            is SdkItem.Type.Pointer -> {
-                ClassOrInterfaceType(null, "org.teavm.interop.Address")
-                    .addNotNullAnnotation(annotations)
-            }
-        }
-    }
-
-    fun hasRawType(type: SdkItem.Type): Boolean {
-        return when (type) {
-            is SdkItem.Type.Named -> enums[type.name]?.underlyingType != null
-            else -> false
-        }
-    }
-}
-
-class JavaSdkSubmodule(var submoduleName: String) {
-    var items = mutableListOf<JavaSdkItem>()
-
-    fun generate(parentClass: ClassOrInterfaceDeclaration) {
-        var submoduleClass = ClassOrInterfaceDeclaration(
-            modifierListOf(Keyword.PUBLIC, Keyword.STATIC, Keyword.FINAL),
-            false,
-            submoduleName
-        )
-            .addStaticInitAnnotation()
-            .addPrivateConstructor()
-
-        parentClass.addMember(submoduleClass)
-
-        for (item in items) {
-            item.generate(submoduleClass)
         }
     }
 }
 
-class JavaSdkItem(val sdk: SdkItem, val module: JavaSdkModule, val methodName: String = sdk.name) {
-    fun generate(bindingsClass: ClassOrInterfaceDeclaration) {
-        val rawMethod = bindingsClass
-            .addMethod(sdk.name + "_raw", Keyword.PRIVATE, Keyword.STATIC, Keyword.NATIVE)
-            .setType(module.javaTypeFor(sdk.returns, useRawTypes = true, annotations = true))
-            .removeBody()
-
-        rawMethod.addAndGetAnnotation("org.teavm.interop.Import")
-            .addPair("module", StringLiteralExpr(module.sdk.name))
-            .addPair("name", StringLiteralExpr(sdk.name))
-
-        generateParams(sdk.params, rawMethod, true)
-
-        var method = bindingsClass
-            .addMethod(methodName, Keyword.PUBLIC, Keyword.STATIC)
-            .setType(module.javaTypeFor(sdk.returns, annotations = true))
-            .setJavadocComment(sdk.name)
-
-        generateParams(sdk.params, method)
-        generateBody(method, rawMethod)
-    }
-
-    private fun generateParams(
-        params: Iterable<SdkItem.Param>,
-        method: MethodDeclaration,
-        useUnderlyingTypes: Boolean = false
-    ) {
-        for (param in params) {
-            var paramType = module.javaTypeFor(param.type, useUnderlyingTypes)
-            method.addAndGetParameter(paramType, param.name)
-        }
-    }
-
-    private fun generateBody(method: MethodDeclaration, rawMethod: MethodDeclaration) {
-        var body = method.createBody()
-
-        val nativeMethodCall = MethodCallExpr(null, rawMethod.name)
-        for (param in sdk.params) {
-            var arg: Expression = NameExpr(param.name)
-
-            if (module.hasRawType(param.type)) {
-                arg = MethodCallExpr(arg, "getRawValue")
-            }
-
-            nativeMethodCall.addArgument(arg)
-        }
-
-        var expr: Expression = nativeMethodCall
-
-        if (sdk.returns != null && module.hasRawType(sdk.returns)) {
-            var wrapper = module.javaTypeFor(sdk.returns) as ClassOrInterfaceType
-            expr = ObjectCreationExpr(null, wrapper, nodeListOf(nativeMethodCall))
-        }
-
-        body.addStatement(
-            if (method.type.isVoidType) {
-                ExpressionStmt(expr)
-            } else {
-                ReturnStmt(expr)
-            }
-        )
-    }
-
-    companion object {
-        private var actionVerbs =
-            setOf("get", "set", "request", "update", "reset", "fill", "draw", "clear", "disable", "enable")
-
-        fun generateMethodName(item: SdkItem, module: SdkModule): Pair<String, String> {
-            var nameComponents = ArrayDeque(
-                CaseFormat.LOWER_CAMEL
-                    .to(CaseFormat.LOWER_UNDERSCORE, item.name)
-                    .removePrefix(module.name + "_")
-                    .split('_')
-            )
-
-            var moduleName = nameComponents.removeFirst()
-
-            // Move verbs to front of method name
-            var lastComponent = nameComponents.lastOrNull()
-            if (actionVerbs.contains(lastComponent)) {
-                nameComponents.add(0, nameComponents.removeLast())
-            }
-
-            var submoduleName = CaseFormat.LOWER_UNDERSCORE
-                .to(CaseFormat.UPPER_CAMEL, moduleName)
-            var trimmedMethodName = CaseFormat.LOWER_UNDERSCORE
-                .to(CaseFormat.LOWER_CAMEL, nameComponents.joinToString("_"))
-
-            return Pair(submoduleName, trimmedMethodName)
-        }
-    }
-}
-
-class JavaSdkEnum(val sdk: SdkEnum, val module: JavaSdkModule) {
-    fun generate(sourceRoot: SourceRoot) {
-        val name = generateEnumName(sdk.name, module.sdk.name)
-
-        val cu = makeCompilationUnit(name, sourceRoot)
-            .addHydrozoaGeneratedComment()
-
-        val underlyingType = module.javaTypeFor(sdk.underlyingType)
-        val record = RecordDeclaration(
-            modifierListOf(Keyword.PUBLIC),
-            name,
-        )
-            .apply { cu.addType(this) }
-            .addHydrozoaGeneratedAnnotation()
-            .setJavadocComment(sdk.name)
-            .addParameter(underlyingType, "value")
-
-        val recordType = ClassOrInterfaceType(null, record.name, null)
-
-        for ((variantName, variantValue) in sdk.variants) {
-            val literal: Expression = if (variantValue % 1.0 == 0.0) {
-                IntegerLiteralExpr(variantValue.toInt().toString())
-            } else {
-                DoubleLiteralExpr(variantValue)
-            }
-
-            record.addFieldWithInitializer(
-                underlyingType,
-                variantName,
-                CastExpr(underlyingType, literal),
-                Keyword.PUBLIC,
-                Keyword.STATIC,
-                Keyword.FINAL,
-            )
-
-            record
-                .addFieldWithInitializer(
-                    recordType,
-                    generateMemberName(variantName, name),
-                    ObjectCreationExpr(null, recordType, nodeListOf(NameExpr(variantName))),
-                    Keyword.PUBLIC,
-                    Keyword.STATIC,
-                    Keyword.FINAL,
-                )
-                .setJavadocComment(variantName)
-        }
-
-        record.addMethod("getRawValue", Keyword.PUBLIC)
-            .setType(underlyingType)
-            .setBody(
-                BlockStmt(
-                    nodeListOf(ReturnStmt(NameExpr("value")))
-                )
-            )
-    }
-
-    companion object {
-        fun generateEnumName(name: String, moduleName: String): String {
-            val name = name
-                .removePrefix("V5_")
-                .removePrefix("V5")
-
-            val components = ArrayDeque(
-                CaseFormat.LOWER_CAMEL
-                    .to(CaseFormat.LOWER_UNDERSCORE, name)
-                    .split('_')
-            )
-
-            components.addFirst(moduleName)
-
-            return CaseFormat.LOWER_UNDERSCORE
-                .to(CaseFormat.UPPER_CAMEL, components.joinToString("_"))
-        }
-
-        fun generateMemberName(name: String, enumName: String): String {
-            val components = ArrayDeque(CaseFormat.LOWER_CAMEL
-                .to(CaseFormat.LOWER_UNDERSCORE, name)
-                .split('_'))
-            val enumComponents = ArrayDeque(CaseFormat.LOWER_CAMEL
-                .to(CaseFormat.LOWER_UNDERSCORE, enumName)
-                .split('_'))
-
-            // Remove module prefix from enum name
-            enumComponents.removeFirst()
-
-            for (redundantComponent in arrayOf("k", "v5")) {
-                if (components.firstOrNull() == redundantComponent) {
-                    components.removeFirst()
-                } else {
-                    break
-                }
-            }
-
-            for (typeNameComponent in enumComponents) {
-                if (components.firstOrNull() == typeNameComponent) {
-                    components.removeFirst()
-                } else {
-                    break
-                }
-            }
-
-            return components.joinToString("_").uppercase()
-        }
-    }
-}
diff --git a/bindings-generator/src/main/kotlin/dev/vexide/hydrozoa/plugin/bindings/Deserialization.kt b/bindings-generator/src/main/kotlin/dev/vexide/hydrozoa/plugin/bindings/Deserialization.kt
new file mode 100644
index 0000000..5421441
--- /dev/null
+++ b/bindings-generator/src/main/kotlin/dev/vexide/hydrozoa/plugin/bindings/Deserialization.kt
@@ -0,0 +1,67 @@
+package dev.vexide.hydrozoa.plugin.bindings
+
+import kotlinx.serialization.SerialName
+import kotlinx.serialization.Serializable
+
+@Serializable
+data class SdkModule(
+    val name: String,
+    val items: List<SdkItem>,
+    val enums: List<SdkEnum>,
+)
+
+@Serializable
+data class SdkItem(
+    val name: String,
+    val params: List<Param>,
+    val returns: Type?,
+) {
+    @Serializable
+    data class Param(
+        val name: String,
+        val type: Type,
+    )
+
+    @Serializable
+    sealed class Type {
+        @Serializable
+        @SerialName("Bool")
+        object Bool : Type()
+
+        @Serializable
+        @SerialName("Int")
+        object Int : Type()
+
+        @Serializable
+        @SerialName("Long")
+        object Long : Type()
+
+        @Serializable
+        @SerialName("Float")
+        object Float : Type()
+
+        @Serializable
+        @SerialName("Double")
+        object Double : Type()
+
+        @Serializable
+        @SerialName("StringPtr")
+        object StringPtr : Type()
+
+        @Serializable
+        @SerialName("Named")
+        data class Named(val name: String) : Type()
+
+        @Serializable
+        @SerialName("Pointer")
+        data class Pointer(val destination: Type) : Type()
+    }
+}
+
+@Serializable
+data class SdkEnum(
+    val name: String,
+    @SerialName("underlying_type")
+    val underlyingType: SdkItem.Type,
+    val variants: Map<String, Double>,
+)
\ No newline at end of file
diff --git a/bindings-generator/src/main/kotlin/dev/vexide/hydrozoa/plugin/bindings/Utils.kt b/bindings-generator/src/main/kotlin/dev/vexide/hydrozoa/plugin/bindings/Utils.kt
new file mode 100644
index 0000000..529ccf4
--- /dev/null
+++ b/bindings-generator/src/main/kotlin/dev/vexide/hydrozoa/plugin/bindings/Utils.kt
@@ -0,0 +1,47 @@
+package dev.vexide.hydrozoa.plugin.bindings
+
+import com.github.javaparser.ast.CompilationUnit
+import com.github.javaparser.ast.Modifier
+import com.github.javaparser.ast.Modifier.Keyword
+import com.github.javaparser.ast.Node
+import com.github.javaparser.ast.NodeList
+import com.github.javaparser.ast.body.ClassOrInterfaceDeclaration
+import com.github.javaparser.ast.expr.StringLiteralExpr
+import com.github.javaparser.ast.nodeTypes.NodeWithAnnotations
+
+fun CompilationUnit.addHydrozoaGeneratedComment(): CompilationUnit {
+    this.setBlockComment(" This file was automatically @generated by the Hydrozoa bindings generator. Do not edit this manually!\n"
+            + "   Instead, update the Hydrozoa SDK at <https://github.com/vexide/hydrozoa> and re-run the generator. ")
+    return this
+}
+
+fun<N: Node> NodeWithAnnotations<N>.addHydrozoaGeneratedAnnotation(): N {
+    return this.addSingleMemberAnnotation(
+        javax.annotation.processing.Generated::class.java,
+        StringLiteralExpr("dev.vexide.hydrozoa.plugin.bindings.BindingsGeneratorPlugin")
+    )
+}
+
+fun ClassOrInterfaceDeclaration.addStaticInitAnnotation(): ClassOrInterfaceDeclaration {
+    return this.addMarkerAnnotation("org.teavm.interop.StaticInit")
+}
+
+fun<T: NodeWithAnnotations<N>, N: Node> T.addNotNullAnnotation(add: Boolean = true): T {
+    if (add) {
+        addMarkerAnnotation("org.jetbrains.annotations.NotNull")
+    }
+    return this
+}
+
+fun ClassOrInterfaceDeclaration.addPrivateConstructor(): ClassOrInterfaceDeclaration {
+    this.addConstructor(Keyword.PRIVATE)
+    return this
+}
+
+fun<T: Node> nodeListOf(vararg items: T): NodeList<T> {
+    return NodeList.nodeList(*items)
+}
+
+fun modifierListOf(vararg modifiers: Keyword): NodeList<Modifier> {
+    return Modifier.createModifierList(*modifiers)
+}
\ No newline at end of file
diff --git a/bindings-generator/src/main/kotlin/dev/vexide/hydrozoa/plugin/bindings/sdk/JavaSdkEnum.kt b/bindings-generator/src/main/kotlin/dev/vexide/hydrozoa/plugin/bindings/sdk/JavaSdkEnum.kt
new file mode 100644
index 0000000..0bc4208
--- /dev/null
+++ b/bindings-generator/src/main/kotlin/dev/vexide/hydrozoa/plugin/bindings/sdk/JavaSdkEnum.kt
@@ -0,0 +1,129 @@
+package dev.vexide.hydrozoa.plugin.bindings.sdk
+
+import com.github.javaparser.ast.Modifier
+import com.github.javaparser.ast.body.RecordDeclaration
+import com.github.javaparser.ast.expr.CastExpr
+import com.github.javaparser.ast.expr.DoubleLiteralExpr
+import com.github.javaparser.ast.expr.Expression
+import com.github.javaparser.ast.expr.IntegerLiteralExpr
+import com.github.javaparser.ast.expr.NameExpr
+import com.github.javaparser.ast.expr.ObjectCreationExpr
+import com.github.javaparser.ast.stmt.BlockStmt
+import com.github.javaparser.ast.stmt.ReturnStmt
+import com.github.javaparser.ast.type.ClassOrInterfaceType
+import com.github.javaparser.utils.SourceRoot
+import com.google.common.base.CaseFormat
+import dev.vexide.hydrozoa.plugin.bindings.SdkEnum
+import dev.vexide.hydrozoa.plugin.bindings.addHydrozoaGeneratedAnnotation
+import dev.vexide.hydrozoa.plugin.bindings.addHydrozoaGeneratedComment
+import dev.vexide.hydrozoa.plugin.bindings.modifierListOf
+import dev.vexide.hydrozoa.plugin.bindings.nodeListOf
+import kotlin.collections.iterator
+
+class JavaSdkEnum(val sdk: SdkEnum, val module: JavaSdkModule) {
+    fun generate(sourceRoot: SourceRoot) {
+        val name = generateEnumName(sdk.name, module.sdk.name)
+
+        val cu = makeCompilationUnit(name, sourceRoot)
+            .addHydrozoaGeneratedComment()
+
+        val underlyingType = module.javaTypeFor(sdk.underlyingType)
+        val record = RecordDeclaration(
+            modifierListOf(Modifier.Keyword.PUBLIC),
+            name,
+        )
+            .apply { cu.addType(this) }
+            .addHydrozoaGeneratedAnnotation()
+            .setJavadocComment(sdk.name)
+            .addParameter(underlyingType, "value")
+
+        val recordType = ClassOrInterfaceType(null, record.name, null)
+
+        for ((variantName, variantValue) in sdk.variants) {
+            val literal: Expression = if (variantValue % 1.0 == 0.0) {
+                IntegerLiteralExpr(variantValue.toInt().toString())
+            } else {
+                DoubleLiteralExpr(variantValue)
+            }
+
+            record.addFieldWithInitializer(
+                underlyingType,
+                variantName,
+                CastExpr(underlyingType, literal),
+                Modifier.Keyword.PUBLIC,
+                Modifier.Keyword.STATIC,
+                Modifier.Keyword.FINAL,
+            )
+
+            record
+                .addFieldWithInitializer(
+                    recordType,
+                    generateMemberName(variantName, name),
+                    ObjectCreationExpr(null, recordType, nodeListOf(NameExpr(variantName))),
+                    Modifier.Keyword.PUBLIC,
+                    Modifier.Keyword.STATIC,
+                    Modifier.Keyword.FINAL,
+                )
+                .setJavadocComment(variantName)
+        }
+
+        record.addMethod("getRawValue", Modifier.Keyword.PUBLIC)
+            .setType(underlyingType)
+            .setBody(
+                BlockStmt(
+                    nodeListOf(ReturnStmt(NameExpr("value")))
+                )
+            )
+    }
+
+    companion object {
+        fun generateEnumName(name: String, moduleName: String): String {
+            val name = name
+                .removePrefix("V5_")
+                .removePrefix("V5")
+
+            val components = ArrayDeque(
+                CaseFormat.LOWER_CAMEL
+                    .to(CaseFormat.LOWER_UNDERSCORE, name)
+                    .split('_')
+            )
+
+            components.addFirst(moduleName)
+
+            return CaseFormat.LOWER_UNDERSCORE
+                .to(CaseFormat.UPPER_CAMEL, components.joinToString("_"))
+        }
+
+        fun generateMemberName(name: String, enumName: String): String {
+            val components = ArrayDeque(
+                CaseFormat.LOWER_CAMEL
+                .to(CaseFormat.LOWER_UNDERSCORE, name)
+                .split('_'))
+            val enumComponents = ArrayDeque(
+                CaseFormat.LOWER_CAMEL
+                .to(CaseFormat.LOWER_UNDERSCORE, enumName)
+                .split('_'))
+
+            // Remove module prefix from enum name
+            enumComponents.removeFirst()
+
+            for (redundantComponent in arrayOf("k", "v5")) {
+                if (components.firstOrNull() == redundantComponent) {
+                    components.removeFirst()
+                } else {
+                    break
+                }
+            }
+
+            for (typeNameComponent in enumComponents) {
+                if (components.firstOrNull() == typeNameComponent) {
+                    components.removeFirst()
+                } else {
+                    break
+                }
+            }
+
+            return components.joinToString("_").uppercase()
+        }
+    }
+}
\ No newline at end of file
diff --git a/bindings-generator/src/main/kotlin/dev/vexide/hydrozoa/plugin/bindings/sdk/JavaSdkItem.kt b/bindings-generator/src/main/kotlin/dev/vexide/hydrozoa/plugin/bindings/sdk/JavaSdkItem.kt
new file mode 100644
index 0000000..a152767
--- /dev/null
+++ b/bindings-generator/src/main/kotlin/dev/vexide/hydrozoa/plugin/bindings/sdk/JavaSdkItem.kt
@@ -0,0 +1,110 @@
+package dev.vexide.hydrozoa.plugin.bindings.sdk
+
+import com.github.javaparser.ast.Modifier
+import com.github.javaparser.ast.body.ClassOrInterfaceDeclaration
+import com.github.javaparser.ast.body.MethodDeclaration
+import com.github.javaparser.ast.expr.Expression
+import com.github.javaparser.ast.expr.MethodCallExpr
+import com.github.javaparser.ast.expr.NameExpr
+import com.github.javaparser.ast.expr.ObjectCreationExpr
+import com.github.javaparser.ast.expr.StringLiteralExpr
+import com.github.javaparser.ast.stmt.ExpressionStmt
+import com.github.javaparser.ast.stmt.ReturnStmt
+import com.github.javaparser.ast.type.ClassOrInterfaceType
+import com.google.common.base.CaseFormat
+import dev.vexide.hydrozoa.plugin.bindings.SdkItem
+import dev.vexide.hydrozoa.plugin.bindings.SdkModule
+import dev.vexide.hydrozoa.plugin.bindings.nodeListOf
+
+class JavaSdkItem(val sdk: SdkItem, val module: JavaSdkModule, val methodName: String = sdk.name) {
+    fun generate(bindingsClass: ClassOrInterfaceDeclaration) {
+        val rawMethod = bindingsClass
+            .addMethod(sdk.name + "_raw", Modifier.Keyword.PRIVATE, Modifier.Keyword.STATIC, Modifier.Keyword.NATIVE)
+            .setType(module.javaTypeFor(sdk.returns, useRawTypes = true, annotations = true))
+            .removeBody()
+
+        rawMethod.addAndGetAnnotation("org.teavm.interop.Import")
+            .addPair("module", StringLiteralExpr(module.sdk.name))
+            .addPair("name", StringLiteralExpr(sdk.name))
+
+        generateParams(sdk.params, rawMethod, true)
+
+        val method = bindingsClass
+            .addMethod(methodName, Modifier.Keyword.PUBLIC, Modifier.Keyword.STATIC)
+            .setType(module.javaTypeFor(sdk.returns, annotations = true))
+            .setJavadocComment(sdk.name)
+
+        generateParams(sdk.params, method)
+        generateBody(method, rawMethod)
+    }
+
+    private fun generateParams(
+        params: Iterable<SdkItem.Param>,
+        method: MethodDeclaration,
+        useUnderlyingTypes: Boolean = false
+    ) {
+        for (param in params) {
+            val paramType = module.javaTypeFor(param.type, useUnderlyingTypes)
+            method.addAndGetParameter(paramType, param.name)
+        }
+    }
+
+    private fun generateBody(method: MethodDeclaration, rawMethod: MethodDeclaration) {
+        val body = method.createBody()
+
+        val nativeMethodCall = MethodCallExpr(null, rawMethod.name)
+        for (param in sdk.params) {
+            var arg: Expression = NameExpr(param.name)
+
+            if (module.hasRawType(param.type)) {
+                arg = MethodCallExpr(arg, "getRawValue")
+            }
+
+            nativeMethodCall.addArgument(arg)
+        }
+
+        var expr: Expression = nativeMethodCall
+
+        if (sdk.returns != null && module.hasRawType(sdk.returns)) {
+            val wrapper = module.javaTypeFor(sdk.returns) as ClassOrInterfaceType
+            expr = ObjectCreationExpr(null, wrapper, nodeListOf(nativeMethodCall))
+        }
+
+        body.addStatement(
+            if (method.type.isVoidType) {
+                ExpressionStmt(expr)
+            } else {
+                ReturnStmt(expr)
+            }
+        )
+    }
+
+    companion object {
+        private var actionVerbs =
+            setOf("get", "set", "request", "update", "reset", "fill", "draw", "clear", "disable", "enable")
+
+        fun generateMethodName(item: SdkItem, module: SdkModule): Pair<String, String> {
+            val nameComponents = ArrayDeque(
+                CaseFormat.LOWER_CAMEL
+                    .to(CaseFormat.LOWER_UNDERSCORE, item.name)
+                    .removePrefix(module.name + "_")
+                    .split('_')
+            )
+
+            val moduleName = nameComponents.removeFirst()
+
+            // Move verbs to front of method name
+            val lastComponent = nameComponents.lastOrNull()
+            if (actionVerbs.contains(lastComponent)) {
+                nameComponents.add(0, nameComponents.removeLast())
+            }
+
+            val submoduleName = CaseFormat.LOWER_UNDERSCORE
+                .to(CaseFormat.UPPER_CAMEL, moduleName)
+            val trimmedMethodName = CaseFormat.LOWER_UNDERSCORE
+                .to(CaseFormat.LOWER_CAMEL, nameComponents.joinToString("_"))
+
+            return Pair(submoduleName, trimmedMethodName)
+        }
+    }
+}
\ No newline at end of file
diff --git a/bindings-generator/src/main/kotlin/dev/vexide/hydrozoa/plugin/bindings/sdk/JavaSdkModule.kt b/bindings-generator/src/main/kotlin/dev/vexide/hydrozoa/plugin/bindings/sdk/JavaSdkModule.kt
new file mode 100644
index 0000000..2103a82
--- /dev/null
+++ b/bindings-generator/src/main/kotlin/dev/vexide/hydrozoa/plugin/bindings/sdk/JavaSdkModule.kt
@@ -0,0 +1,107 @@
+package dev.vexide.hydrozoa.plugin.bindings.sdk
+
+import com.github.javaparser.StaticJavaParser
+import com.github.javaparser.ast.CompilationUnit
+import com.github.javaparser.ast.Modifier
+import com.github.javaparser.ast.type.ClassOrInterfaceType
+import com.github.javaparser.ast.type.PrimitiveType
+import com.github.javaparser.ast.type.Type
+import com.github.javaparser.ast.type.VoidType
+import com.github.javaparser.utils.SourceRoot
+import com.google.common.base.CaseFormat
+import dev.vexide.hydrozoa.plugin.bindings.SdkEnum
+import dev.vexide.hydrozoa.plugin.bindings.SdkItem
+import dev.vexide.hydrozoa.plugin.bindings.SdkModule
+import dev.vexide.hydrozoa.plugin.bindings.addHydrozoaGeneratedAnnotation
+import dev.vexide.hydrozoa.plugin.bindings.addHydrozoaGeneratedComment
+import dev.vexide.hydrozoa.plugin.bindings.addNotNullAnnotation
+import dev.vexide.hydrozoa.plugin.bindings.addPrivateConstructor
+import dev.vexide.hydrozoa.plugin.bindings.addStaticInitAnnotation
+import kotlin.jvm.optionals.getOrNull
+
+class JavaSdkModule(val sdk: SdkModule) {
+    var enums: Map<String, SdkEnum> = sdk.enums.associateBy { it.name }
+
+    fun generate(sourceRoot: SourceRoot): CompilationUnit {
+        val className = CaseFormat.LOWER_UNDERSCORE.to(CaseFormat.UPPER_CAMEL, sdk.name) + "Sdk"
+
+        val cu = makeCompilationUnit(className, sourceRoot)
+            .addHydrozoaGeneratedComment()
+
+        val bindingsClass = cu.addClass(className, Modifier.Keyword.PUBLIC, Modifier.Keyword.FINAL)
+            .addHydrozoaGeneratedAnnotation()
+            .addStaticInitAnnotation()
+            .addPrivateConstructor()
+
+        val submodules = mutableMapOf<String, JavaSdkSubmodule>()
+
+        for (item in sdk.items) {
+            val (submoduleName, trimmedMethodName) = JavaSdkItem.Companion.generateMethodName(item, sdk)
+
+            val submodule = submodules.getOrPut(submoduleName) {
+                JavaSdkSubmodule(submoduleName)
+            }
+            submodule.items.add(JavaSdkItem(item, module = this, methodName = trimmedMethodName))
+        }
+
+        for (submodule in submodules.values) {
+            submodule.generate(bindingsClass)
+        }
+
+        for (enum in sdk.enums) {
+            JavaSdkEnum(enum, module = this)
+                .generate(sourceRoot)
+        }
+
+        return cu
+    }
+
+    fun javaTypeFor(type: SdkItem.Type?, useRawTypes: Boolean = false, annotations: Boolean = false): Type {
+        return when (type) {
+            null -> VoidType()
+            is SdkItem.Type.Bool -> PrimitiveType(PrimitiveType.Primitive.BOOLEAN)
+            is SdkItem.Type.Int -> PrimitiveType(PrimitiveType.Primitive.INT)
+            is SdkItem.Type.Long -> PrimitiveType(PrimitiveType.Primitive.LONG)
+            is SdkItem.Type.Float -> PrimitiveType(PrimitiveType.Primitive.FLOAT)
+            is SdkItem.Type.Double -> PrimitiveType(PrimitiveType.Primitive.DOUBLE)
+            is SdkItem.Type.StringPtr -> StaticJavaParser.parseClassOrInterfaceType("String")
+                .addNotNullAnnotation(annotations)
+            is SdkItem.Type.Named -> {
+                if (useRawTypes) {
+                    val underlyingType = enums[type.name]?.underlyingType
+                    if (underlyingType != null) return javaTypeFor(underlyingType)
+                }
+
+                ClassOrInterfaceType(null, JavaSdkEnum.Companion.generateEnumName(type.name, sdk.name))
+                    .addNotNullAnnotation(annotations)
+            }
+            is SdkItem.Type.Pointer -> {
+                ClassOrInterfaceType(null, "org.teavm.interop.Address")
+                    .addNotNullAnnotation(annotations)
+            }
+        }
+    }
+
+    fun hasRawType(type: SdkItem.Type): Boolean {
+        return when (type) {
+            is SdkItem.Type.Named -> enums[type.name]?.underlyingType != null
+            else -> false
+        }
+    }
+}
+
+const val PACKAGE_NAME = "dev.vexide.hydrozoa.sdk"
+fun makeCompilationUnit(className: String, sourceRoot: SourceRoot): CompilationUnit {
+    var filename = sourceRoot.root
+    for (component in PACKAGE_NAME.split(".")) {
+        filename = filename.resolve(component)
+    }
+
+    val cu = CompilationUnit(PACKAGE_NAME)
+        .setStorage(filename.resolve("$className.java"))
+    print("Filename: ${cu.storage.getOrNull()?.path}")
+
+    sourceRoot.add(cu)
+
+    return cu
+}
\ No newline at end of file
diff --git a/bindings-generator/src/main/kotlin/dev/vexide/hydrozoa/plugin/bindings/sdk/JavaSdkSubmodule.kt b/bindings-generator/src/main/kotlin/dev/vexide/hydrozoa/plugin/bindings/sdk/JavaSdkSubmodule.kt
new file mode 100644
index 0000000..2be64c3
--- /dev/null
+++ b/bindings-generator/src/main/kotlin/dev/vexide/hydrozoa/plugin/bindings/sdk/JavaSdkSubmodule.kt
@@ -0,0 +1,27 @@
+package dev.vexide.hydrozoa.plugin.bindings.sdk
+
+import com.github.javaparser.ast.Modifier
+import com.github.javaparser.ast.body.ClassOrInterfaceDeclaration
+import dev.vexide.hydrozoa.plugin.bindings.addPrivateConstructor
+import dev.vexide.hydrozoa.plugin.bindings.addStaticInitAnnotation
+import dev.vexide.hydrozoa.plugin.bindings.modifierListOf
+
+class JavaSdkSubmodule(var submoduleName: String) {
+    var items = mutableListOf<JavaSdkItem>()
+
+    fun generate(parentClass: ClassOrInterfaceDeclaration) {
+        val submoduleClass = ClassOrInterfaceDeclaration(
+            modifierListOf(Modifier.Keyword.PUBLIC, Modifier.Keyword.STATIC, Modifier.Keyword.FINAL),
+            false,
+            submoduleName
+        )
+            .addStaticInitAnnotation()
+            .addPrivateConstructor()
+
+        parentClass.addMember(submoduleClass)
+
+        for (item in items) {
+            item.generate(submoduleClass)
+        }
+    }
+}
\ No newline at end of file
diff --git a/bindings-generator/src/main/kotlin/dev/vexide/hydrozoa/plugin/bindings/tasks/GenerateBindingsTask.kt b/bindings-generator/src/main/kotlin/dev/vexide/hydrozoa/plugin/bindings/tasks/GenerateBindingsTask.kt
new file mode 100644
index 0000000..73f63e1
--- /dev/null
+++ b/bindings-generator/src/main/kotlin/dev/vexide/hydrozoa/plugin/bindings/tasks/GenerateBindingsTask.kt
@@ -0,0 +1,41 @@
+package dev.vexide.hydrozoa.plugin.bindings.tasks
+
+import com.github.javaparser.utils.SourceRoot
+import dev.vexide.hydrozoa.plugin.bindings.sdk.JavaSdkModule
+import dev.vexide.hydrozoa.plugin.bindings.SdkModule
+import kotlinx.serialization.json.Json
+import org.gradle.api.DefaultTask
+import org.gradle.api.file.DirectoryProperty
+import org.gradle.api.file.RegularFileProperty
+import org.gradle.api.tasks.InputFile
+import org.gradle.api.tasks.OutputDirectory
+import org.gradle.api.tasks.TaskAction
+import kotlin.io.path.ExperimentalPathApi
+import kotlin.io.path.createDirectory
+import kotlin.io.path.deleteRecursively
+import kotlin.io.readText
+
+abstract class GenerateBindingsTask : DefaultTask() {
+    @get:InputFile
+    abstract val apiFile: RegularFileProperty
+
+    @get:OutputDirectory
+    abstract val outputDirectory: DirectoryProperty
+
+    @OptIn(ExperimentalPathApi::class)
+    @TaskAction
+    fun generateBindings() {
+        val apiFile = apiFile.asFile.get()
+        val api = Json.decodeFromString<SdkModule>(apiFile.readText())
+
+        val outDir = outputDirectory.asFile.get().toPath()
+        print("Out dir: $outDir")
+
+        outDir.deleteRecursively()
+        outDir.createDirectory()
+
+        val sourceRoot = SourceRoot(outDir)
+        JavaSdkModule(api).generate(sourceRoot)
+        sourceRoot.saveAll()
+    }
+}
\ No newline at end of file
diff --git a/bindings-generator/src/test/kotlin/org/example/BindingsGeneratorPluginTest.kt b/bindings-generator/src/test/kotlin/org/example/BindingsGeneratorPluginTest.kt
deleted file mode 100644
index 6c6a0e6..0000000
--- a/bindings-generator/src/test/kotlin/org/example/BindingsGeneratorPluginTest.kt
+++ /dev/null
@@ -1,22 +0,0 @@
-/*
- * This source file was generated by the Gradle 'init' task
- */
-package org.example
-
-import org.gradle.testfixtures.ProjectBuilder
-import kotlin.test.Test
-import kotlin.test.assertNotNull
-
-/**
- * A simple unit test for the 'org.example.greeting' plugin.
- */
-class BindingsGeneratorPluginTest {
-    @Test fun `plugin registers task`() {
-        // Create a test project and apply the plugin
-        val project = ProjectBuilder.builder().build()
-        project.plugins.apply("org.example.greeting")
-
-        // Verify the result
-        assertNotNull(project.tasks.findByName("greeting"))
-    }
-}

From 218d8ee4803b0e424726c25009e4791133f977b3 Mon Sep 17 00:00:00 2001
From: Lewis <mcclelll@icloud.com>
Date: Wed, 21 May 2025 14:53:33 -0700
Subject: [PATCH 14/14] fix: remove undefined reference to test

---
 .gitattributes                      | 1 +
 bindings-generator/build.gradle.kts | 2 --
 2 files changed, 1 insertion(+), 2 deletions(-)
 create mode 100644 .gitattributes

diff --git a/.gitattributes b/.gitattributes
new file mode 100644
index 0000000..2689b33
--- /dev/null
+++ b/.gitattributes
@@ -0,0 +1 @@
+hydrozoa_api.json linguist-generated=true
diff --git a/bindings-generator/build.gradle.kts b/bindings-generator/build.gradle.kts
index e0c2fcb..475bc4a 100644
--- a/bindings-generator/build.gradle.kts
+++ b/bindings-generator/build.gradle.kts
@@ -33,5 +33,3 @@ gradlePlugin {
         implementationClass = "dev.vexide.hydrozoa.plugin.bindings.BindingsGeneratorPlugin"
     }
 }
-
-gradlePlugin.testSourceSets.add(sourceSets["functionalTest"])