From 62ecb45086b39cae633fe63868cc51963e2beacd Mon Sep 17 00:00:00 2001 From: "Timothy P. Ellsworth Bowers" Date: Mon, 12 Jan 2026 09:22:05 -0700 Subject: [PATCH 1/9] Update WPILib & Vendordeps to 2026 kickoff --- .wpilib/wpilib_preferences.json | 2 +- build.gradle | 2 +- vendordeps/AdvantageKit.json | 8 +-- vendordeps/Autopilot.json | 6 +- ...{ChoreoLib2025.json => ChoreoLib2026.json} | 14 ++-- ...rLib.json => PathplannerLib-2026.1.2.json} | 10 +-- ....36.0-beta-1.json => Phoenix5-5.36.0.json} | 36 +++++------ ...6.0.0-beta-1.json => Phoenix6-26.1.0.json} | 64 +++++++++---------- vendordeps/REVLib.json | 20 +++--- ...b-2025.0.1.json => ReduxLib-2026.1.1.json} | 25 ++++---- ...tudica-2026.0.0-beta.json => Studica.json} | 16 ++--- ...riftyLib.json => ThriftyLib-2026.0.0.json} | 10 +-- vendordeps/URCL.json | 2 +- vendordeps/WPILibNewCommands.json | 2 +- vendordeps/maple-sim.json | 2 +- vendordeps/photonlib.json | 2 +- vendordeps/yagsl-2025.8.0.json | 2 +- 17 files changed, 110 insertions(+), 113 deletions(-) rename vendordeps/{ChoreoLib2025.json => ChoreoLib2026.json} (74%) rename vendordeps/{PathplannerLib.json => PathplannerLib-2026.1.2.json} (84%) rename vendordeps/{Phoenix5-5.36.0-beta-1.json => Phoenix5-5.36.0.json} (84%) rename vendordeps/{Phoenix6-26.0.0-beta-1.json => Phoenix6-26.1.0.json} (90%) rename vendordeps/{ReduxLib-2025.0.1.json => ReduxLib-2026.1.1.json} (74%) rename vendordeps/{Studica-2026.0.0-beta.json => Studica.json} (85%) rename vendordeps/{ThriftyLib.json => ThriftyLib-2026.0.0.json} (72%) diff --git a/.wpilib/wpilib_preferences.json b/.wpilib/wpilib_preferences.json index acbd59a..ae81d97 100644 --- a/.wpilib/wpilib_preferences.json +++ b/.wpilib/wpilib_preferences.json @@ -1,6 +1,6 @@ { "enableCppIntellisense": false, "currentLanguage": "java", - "projectYear": "2026beta", + "projectYear": "2026", "teamNumber": 0 } diff --git a/build.gradle b/build.gradle index 05d5b58..731859d 100644 --- a/build.gradle +++ b/build.gradle @@ -1,6 +1,6 @@ plugins { id "java" - id "edu.wpi.first.GradleRIO" version "2026.1.1-beta-1" + id "edu.wpi.first.GradleRIO" version "2026.1.1" id "com.peterabeles.gversion" version "1.10.3" id "com.diffplug.spotless" version "8.0.+" id "io.freefair.lombok" version "9.1.+" diff --git a/vendordeps/AdvantageKit.json b/vendordeps/AdvantageKit.json index 849af71..2faa4db 100644 --- a/vendordeps/AdvantageKit.json +++ b/vendordeps/AdvantageKit.json @@ -1,9 +1,9 @@ { "fileName": "AdvantageKit.json", "name": "AdvantageKit", - "version": "26.0.0-beta-1", + "version": "26.0.0", "uuid": "d820cc26-74e3-11ec-90d6-0242ac120003", - "frcYear": "2026beta", + "frcYear": "2026", "mavenUrls": [ "https://frcmaven.wpi.edu/artifactory/littletonrobotics-mvn-release/" ], @@ -12,14 +12,14 @@ { "groupId": "org.littletonrobotics.akit", "artifactId": "akit-java", - "version": "26.0.0-beta-1" + "version": "26.0.0" } ], "jniDependencies": [ { "groupId": "org.littletonrobotics.akit", "artifactId": "akit-wpilibio", - "version": "26.0.0-beta-1", + "version": "26.0.0", "skipInvalidPlatforms": false, "isJar": false, "validPlatforms": [ diff --git a/vendordeps/Autopilot.json b/vendordeps/Autopilot.json index 7e33127..3575aeb 100644 --- a/vendordeps/Autopilot.json +++ b/vendordeps/Autopilot.json @@ -2,8 +2,8 @@ "name": "Autopilot", "uuid": "4e922d47-9954-4db5-929f-c708cc62e152", "fileName": "Autopilot.json", - "version": "1.4.0", - "frcYear": "2026beta", + "version": "1.5.0", + "frcYear": "2026", "jsonUrl": "https://therekrab.github.io/autopilot/vendordep.json", "mavenUrls": [ "https://jitpack.io" @@ -12,7 +12,7 @@ { "groupId": "com.github.therekrab", "artifactId": "autopilot", - "version": "1.4.0" + "version": "1.5.0" } ], "cppDependencies": [], diff --git a/vendordeps/ChoreoLib2025.json b/vendordeps/ChoreoLib2026.json similarity index 74% rename from vendordeps/ChoreoLib2025.json rename to vendordeps/ChoreoLib2026.json index 5259ca8..cf7e7cf 100644 --- a/vendordeps/ChoreoLib2025.json +++ b/vendordeps/ChoreoLib2026.json @@ -1,19 +1,19 @@ { - "fileName": "ChoreoLib2025.json", + "fileName": "ChoreoLib2026.json", "name": "ChoreoLib", - "version": "2025.0.3", + "version": "2026.0.1", "uuid": "b5e23f0a-dac9-4ad2-8dd6-02767c520aca", - "frcYear": "2026beta", + "frcYear": "2026", "mavenUrls": [ - "https://lib.choreo.autos/dep", + "https://frcmaven.wpi.edu/artifactory/sleipnirgroup-mvn-release/", "https://repo1.maven.org/maven2" ], - "jsonUrl": "https://lib.choreo.autos/dep/ChoreoLib2025.json", + "jsonUrl": "https://choreo.autos/lib/ChoreoLib2026.json", "javaDependencies": [ { "groupId": "choreo", "artifactId": "ChoreoLib-java", - "version": "2025.0.3" + "version": "2026.0.1" }, { "groupId": "com.google.code.gson", @@ -26,7 +26,7 @@ { "groupId": "choreo", "artifactId": "ChoreoLib-cpp", - "version": "2025.0.3", + "version": "2026.0.1", "libName": "ChoreoLib", "headerClassifier": "headers", "sharedLibrary": false, diff --git a/vendordeps/PathplannerLib.json b/vendordeps/PathplannerLib-2026.1.2.json similarity index 84% rename from vendordeps/PathplannerLib.json rename to vendordeps/PathplannerLib-2026.1.2.json index 73ae375..5f04ffa 100644 --- a/vendordeps/PathplannerLib.json +++ b/vendordeps/PathplannerLib-2026.1.2.json @@ -1,9 +1,9 @@ { - "fileName": "PathplannerLib.json", + "fileName": "PathplannerLib-2026.1.2.json", "name": "PathplannerLib", - "version": "2025.2.7", + "version": "2026.1.2", "uuid": "1b42324f-17c6-4875-8e77-1c312bc8c786", - "frcYear": "2026beta", + "frcYear": "2026", "mavenUrls": [ "https://3015rangerrobotics.github.io/pathplannerlib/repo" ], @@ -12,7 +12,7 @@ { "groupId": "com.pathplanner.lib", "artifactId": "PathplannerLib-java", - "version": "2025.2.7" + "version": "2026.1.2" } ], "jniDependencies": [], @@ -20,7 +20,7 @@ { "groupId": "com.pathplanner.lib", "artifactId": "PathplannerLib-cpp", - "version": "2025.2.7", + "version": "2026.1.2", "libName": "PathplannerLib", "headerClassifier": "headers", "sharedLibrary": false, diff --git a/vendordeps/Phoenix5-5.36.0-beta-1.json b/vendordeps/Phoenix5-5.36.0.json similarity index 84% rename from vendordeps/Phoenix5-5.36.0-beta-1.json rename to vendordeps/Phoenix5-5.36.0.json index c40f569..c60dd4c 100644 --- a/vendordeps/Phoenix5-5.36.0-beta-1.json +++ b/vendordeps/Phoenix5-5.36.0.json @@ -1,50 +1,50 @@ { - "fileName": "Phoenix5-5.36.0-beta-1.json", + "fileName": "Phoenix5-5.36.0.json", "name": "CTRE-Phoenix (v5)", - "version": "5.36.0-beta-1", - "frcYear": "2026beta", + "version": "5.36.0", + "frcYear": "2026", "uuid": "ab676553-b602-441f-a38d-f1296eff6537", "mavenUrls": [ "https://maven.ctr-electronics.com/release/" ], - "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix/Phoenix5-frc2026-beta-latest.json", + "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix/Phoenix5-frc2026-latest.json", "requires": [ { "uuid": "e995de00-2c64-4df5-8831-c1441420ff19", "errorMessage": "Phoenix 5 requires low-level libraries from Phoenix 6. Please add the Phoenix 6 vendordep before adding Phoenix 5.", - "offlineFileName": "Phoenix6-frc2026-beta-latest.json", - "onlineUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2026-beta-latest.json" + "offlineFileName": "Phoenix6-frc2026-latest.json", + "onlineUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2026-latest.json" } ], "conflictsWith": [ { "uuid": "e7900d8d-826f-4dca-a1ff-182f658e98af", "errorMessage": "Users must use the Phoenix 5 replay vendordep when using the Phoenix 6 replay vendordep.", - "offlineFileName": "Phoenix6-replay-frc2026-beta-latest.json" + "offlineFileName": "Phoenix6-replay-frc2026-latest.json" }, { "uuid": "fbc886a4-2cec-40c0-9835-71086a8cc3df", "errorMessage": "Users cannot have both the replay and regular Phoenix 5 vendordeps in their robot program.", - "offlineFileName": "Phoenix5-replay-frc2026-beta-latest.json" + "offlineFileName": "Phoenix5-replay-frc2026-latest.json" } ], "javaDependencies": [ { "groupId": "com.ctre.phoenix", "artifactId": "api-java", - "version": "5.36.0-beta-1" + "version": "5.36.0" }, { "groupId": "com.ctre.phoenix", "artifactId": "wpiapi-java", - "version": "5.36.0-beta-1" + "version": "5.36.0" } ], "jniDependencies": [ { "groupId": "com.ctre.phoenix", "artifactId": "cci", - "version": "5.36.0-beta-1", + "version": "5.36.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -58,7 +58,7 @@ { "groupId": "com.ctre.phoenix.sim", "artifactId": "cci-sim", - "version": "5.36.0-beta-1", + "version": "5.36.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -74,7 +74,7 @@ { "groupId": "com.ctre.phoenix", "artifactId": "wpiapi-cpp", - "version": "5.36.0-beta-1", + "version": "5.36.0", "libName": "CTRE_Phoenix_WPI", "headerClassifier": "headers", "sharedLibrary": true, @@ -90,7 +90,7 @@ { "groupId": "com.ctre.phoenix", "artifactId": "api-cpp", - "version": "5.36.0-beta-1", + "version": "5.36.0", "libName": "CTRE_Phoenix", "headerClassifier": "headers", "sharedLibrary": true, @@ -106,7 +106,7 @@ { "groupId": "com.ctre.phoenix", "artifactId": "cci", - "version": "5.36.0-beta-1", + "version": "5.36.0", "libName": "CTRE_PhoenixCCI", "headerClassifier": "headers", "sharedLibrary": true, @@ -122,7 +122,7 @@ { "groupId": "com.ctre.phoenix.sim", "artifactId": "wpiapi-cpp-sim", - "version": "5.36.0-beta-1", + "version": "5.36.0", "libName": "CTRE_Phoenix_WPISim", "headerClassifier": "headers", "sharedLibrary": true, @@ -138,7 +138,7 @@ { "groupId": "com.ctre.phoenix.sim", "artifactId": "api-cpp-sim", - "version": "5.36.0-beta-1", + "version": "5.36.0", "libName": "CTRE_PhoenixSim", "headerClassifier": "headers", "sharedLibrary": true, @@ -154,7 +154,7 @@ { "groupId": "com.ctre.phoenix.sim", "artifactId": "cci-sim", - "version": "5.36.0-beta-1", + "version": "5.36.0", "libName": "CTRE_PhoenixCCISim", "headerClassifier": "headers", "sharedLibrary": true, diff --git a/vendordeps/Phoenix6-26.0.0-beta-1.json b/vendordeps/Phoenix6-26.1.0.json similarity index 90% rename from vendordeps/Phoenix6-26.0.0-beta-1.json rename to vendordeps/Phoenix6-26.1.0.json index f4686ba..5d2d04d 100644 --- a/vendordeps/Phoenix6-26.0.0-beta-1.json +++ b/vendordeps/Phoenix6-26.1.0.json @@ -1,8 +1,8 @@ { - "fileName": "Phoenix6-26.0.0-beta-1.json", + "fileName": "Phoenix6-26.1.0.json", "name": "CTRE-Phoenix (v6)", - "version": "26.0.0-beta-1", - "frcYear": "2026beta", + "version": "26.1.0", + "frcYear": "2026", "uuid": "e995de00-2c64-4df5-8831-c1441420ff19", "mavenUrls": [ "https://maven.ctr-electronics.com/release/" @@ -19,14 +19,14 @@ { "groupId": "com.ctre.phoenix6", "artifactId": "wpiapi-java", - "version": "26.0.0-beta-1" + "version": "26.1.0" } ], "jniDependencies": [ { "groupId": "com.ctre.phoenix6", "artifactId": "api-cpp", - "version": "26.0.0-beta-1", + "version": "26.1.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -40,7 +40,7 @@ { "groupId": "com.ctre.phoenix6", "artifactId": "tools", - "version": "26.0.0-beta-1", + "version": "26.1.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -54,7 +54,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "api-cpp-sim", - "version": "26.0.0-beta-1", + "version": "26.1.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -68,7 +68,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "tools-sim", - "version": "26.0.0-beta-1", + "version": "26.1.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -82,7 +82,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simTalonSRX", - "version": "26.0.0-beta-1", + "version": "26.1.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -96,7 +96,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simVictorSPX", - "version": "26.0.0-beta-1", + "version": "26.1.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -110,7 +110,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simPigeonIMU", - "version": "26.0.0-beta-1", + "version": "26.1.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -124,7 +124,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProTalonFX", - "version": "26.0.0-beta-1", + "version": "26.1.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -138,7 +138,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProTalonFXS", - "version": "26.0.0-beta-1", + "version": "26.1.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -152,7 +152,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProCANcoder", - "version": "26.0.0-beta-1", + "version": "26.1.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -166,7 +166,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProPigeon2", - "version": "26.0.0-beta-1", + "version": "26.1.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -180,7 +180,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProCANrange", - "version": "26.0.0-beta-1", + "version": "26.1.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -194,7 +194,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProCANdi", - "version": "26.0.0-beta-1", + "version": "26.1.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -208,7 +208,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProCANdle", - "version": "26.0.0-beta-1", + "version": "26.1.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -224,7 +224,7 @@ { "groupId": "com.ctre.phoenix6", "artifactId": "wpiapi-cpp", - "version": "26.0.0-beta-1", + "version": "26.1.0", "libName": "CTRE_Phoenix6_WPI", "headerClassifier": "headers", "sharedLibrary": true, @@ -240,7 +240,7 @@ { "groupId": "com.ctre.phoenix6", "artifactId": "tools", - "version": "26.0.0-beta-1", + "version": "26.1.0", "libName": "CTRE_PhoenixTools", "headerClassifier": "headers", "sharedLibrary": true, @@ -256,7 +256,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "wpiapi-cpp-sim", - "version": "26.0.0-beta-1", + "version": "26.1.0", "libName": "CTRE_Phoenix6_WPISim", "headerClassifier": "headers", "sharedLibrary": true, @@ -272,7 +272,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "tools-sim", - "version": "26.0.0-beta-1", + "version": "26.1.0", "libName": "CTRE_PhoenixTools_Sim", "headerClassifier": "headers", "sharedLibrary": true, @@ -288,7 +288,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simTalonSRX", - "version": "26.0.0-beta-1", + "version": "26.1.0", "libName": "CTRE_SimTalonSRX", "headerClassifier": "headers", "sharedLibrary": true, @@ -304,7 +304,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simVictorSPX", - "version": "26.0.0-beta-1", + "version": "26.1.0", "libName": "CTRE_SimVictorSPX", "headerClassifier": "headers", "sharedLibrary": true, @@ -320,7 +320,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simPigeonIMU", - "version": "26.0.0-beta-1", + "version": "26.1.0", "libName": "CTRE_SimPigeonIMU", "headerClassifier": "headers", "sharedLibrary": true, @@ -336,7 +336,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProTalonFX", - "version": "26.0.0-beta-1", + "version": "26.1.0", "libName": "CTRE_SimProTalonFX", "headerClassifier": "headers", "sharedLibrary": true, @@ -352,7 +352,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProTalonFXS", - "version": "26.0.0-beta-1", + "version": "26.1.0", "libName": "CTRE_SimProTalonFXS", "headerClassifier": "headers", "sharedLibrary": true, @@ -368,7 +368,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProCANcoder", - "version": "26.0.0-beta-1", + "version": "26.1.0", "libName": "CTRE_SimProCANcoder", "headerClassifier": "headers", "sharedLibrary": true, @@ -384,7 +384,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProPigeon2", - "version": "26.0.0-beta-1", + "version": "26.1.0", "libName": "CTRE_SimProPigeon2", "headerClassifier": "headers", "sharedLibrary": true, @@ -400,7 +400,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProCANrange", - "version": "26.0.0-beta-1", + "version": "26.1.0", "libName": "CTRE_SimProCANrange", "headerClassifier": "headers", "sharedLibrary": true, @@ -416,7 +416,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProCANdi", - "version": "26.0.0-beta-1", + "version": "26.1.0", "libName": "CTRE_SimProCANdi", "headerClassifier": "headers", "sharedLibrary": true, @@ -432,7 +432,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProCANdle", - "version": "26.0.0-beta-1", + "version": "26.1.0", "libName": "CTRE_SimProCANdle", "headerClassifier": "headers", "sharedLibrary": true, diff --git a/vendordeps/REVLib.json b/vendordeps/REVLib.json index a8f2648..082b01d 100644 --- a/vendordeps/REVLib.json +++ b/vendordeps/REVLib.json @@ -1,8 +1,8 @@ { "fileName": "REVLib.json", "name": "REVLib", - "version": "2026.0.0-beta-1", - "frcYear": "2026beta", + "version": "2026.0.0", + "frcYear": "2026", "uuid": "3f48eb8c-50fe-43a6-9cb7-44c86353c4cb", "mavenUrls": [ "https://maven.revrobotics.com/" @@ -12,14 +12,14 @@ { "groupId": "com.revrobotics.frc", "artifactId": "REVLib-java", - "version": "2026.0.0-beta-1" + "version": "2026.0.0" } ], "jniDependencies": [ { "groupId": "com.revrobotics.frc", "artifactId": "REVLib-driver", - "version": "2026.0.0-beta-1", + "version": "2026.0.0", "skipInvalidPlatforms": true, "isJar": false, "validPlatforms": [ @@ -34,7 +34,7 @@ { "groupId": "com.revrobotics.frc", "artifactId": "RevLibBackendDriver", - "version": "2026.0.0-beta-1", + "version": "2026.0.0", "skipInvalidPlatforms": true, "isJar": false, "validPlatforms": [ @@ -49,7 +49,7 @@ { "groupId": "com.revrobotics.frc", "artifactId": "RevLibWpiBackendDriver", - "version": "2026.0.0-beta-1", + "version": "2026.0.0", "skipInvalidPlatforms": true, "isJar": false, "validPlatforms": [ @@ -66,7 +66,7 @@ { "groupId": "com.revrobotics.frc", "artifactId": "REVLib-cpp", - "version": "2026.0.0-beta-1", + "version": "2026.0.0", "libName": "REVLib", "headerClassifier": "headers", "sharedLibrary": false, @@ -83,7 +83,7 @@ { "groupId": "com.revrobotics.frc", "artifactId": "REVLib-driver", - "version": "2026.0.0-beta-1", + "version": "2026.0.0", "libName": "REVLibDriver", "headerClassifier": "headers", "sharedLibrary": false, @@ -100,7 +100,7 @@ { "groupId": "com.revrobotics.frc", "artifactId": "RevLibBackendDriver", - "version": "2026.0.0-beta-1", + "version": "2026.0.0", "libName": "BackendDriver", "sharedLibrary": true, "skipInvalidPlatforms": true, @@ -116,7 +116,7 @@ { "groupId": "com.revrobotics.frc", "artifactId": "RevLibWpiBackendDriver", - "version": "2026.0.0-beta-1", + "version": "2026.0.0", "libName": "REVLibWpi", "sharedLibrary": true, "skipInvalidPlatforms": true, diff --git a/vendordeps/ReduxLib-2025.0.1.json b/vendordeps/ReduxLib-2026.1.1.json similarity index 74% rename from vendordeps/ReduxLib-2025.0.1.json rename to vendordeps/ReduxLib-2026.1.1.json index 9aaec1c..9081f8b 100644 --- a/vendordeps/ReduxLib-2025.0.1.json +++ b/vendordeps/ReduxLib-2026.1.1.json @@ -1,31 +1,30 @@ { - "fileName": "ReduxLib-2025.0.1.json", + "fileName": "ReduxLib-2026.1.1.json", "name": "ReduxLib", - "version": "2025.0.1", - "frcYear": "2026beta", + "version": "2026.1.1", + "frcYear": "2026", "uuid": "151ecca8-670b-4026-8160-cdd2679ef2bd", "mavenUrls": [ "https://maven.reduxrobotics.com/" ], - "jsonUrl": "https://frcsdk.reduxrobotics.com/ReduxLib_2025.json", + "jsonUrl": "https://frcsdk.reduxrobotics.com/ReduxLib_2026.json", "javaDependencies": [ { "groupId": "com.reduxrobotics.frc", "artifactId": "ReduxLib-java", - "version": "2025.0.1" + "version": "2026.1.1" } ], "jniDependencies": [ { "groupId": "com.reduxrobotics.frc", - "artifactId": "ReduxLib-driver", - "version": "2025.0.1", + "artifactId": "ReduxLib-fifo", + "version": "2026.1.1", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ "linuxathena", "linuxx86-64", - "linuxarm32", "linuxarm64", "osxuniversal", "windowsx86-64" @@ -36,7 +35,7 @@ { "groupId": "com.reduxrobotics.frc", "artifactId": "ReduxLib-cpp", - "version": "2025.0.1", + "version": "2026.1.1", "libName": "ReduxLib", "headerClassifier": "headers", "sourcesClassifier": "sources", @@ -45,7 +44,6 @@ "binaryPlatforms": [ "linuxathena", "linuxx86-64", - "linuxarm32", "linuxarm64", "osxuniversal", "windowsx86-64" @@ -53,16 +51,15 @@ }, { "groupId": "com.reduxrobotics.frc", - "artifactId": "ReduxLib-driver", - "version": "2025.0.1", - "libName": "ReduxCore", + "artifactId": "ReduxLib-fifo", + "version": "2026.1.1", + "libName": "reduxfifo", "headerClassifier": "headers", "sharedLibrary": true, "skipInvalidPlatforms": true, "binaryPlatforms": [ "linuxathena", "linuxx86-64", - "linuxarm32", "linuxarm64", "osxuniversal", "windowsx86-64" diff --git a/vendordeps/Studica-2026.0.0-beta.json b/vendordeps/Studica.json similarity index 85% rename from vendordeps/Studica-2026.0.0-beta.json rename to vendordeps/Studica.json index f664501..daf1434 100644 --- a/vendordeps/Studica-2026.0.0-beta.json +++ b/vendordeps/Studica.json @@ -1,25 +1,25 @@ { - "fileName": "Studica-2026.0.0-beta.json", + "fileName": "Studica.json", "name": "Studica", - "version": "2026.0.0-beta", - "frcYear": "2026beta", + "version": "2026.0.0", + "frcYear": "2026", "uuid": "cb311d09-36e9-4143-a032-55bb2b94443b", "mavenUrls": [ "https://dev.studica.com/maven/release/2026/" ], - "jsonUrl": "https://dev.studica.com/maven/release/2026/json/Studica-2026.0.0-beta.json", + "jsonUrl": "https://dev.studica.com/maven/release/2026/json/Studica-2026.0.0.json", "javaDependencies": [ { "groupId": "com.studica.frc", "artifactId": "Studica-java", - "version": "2026.0.0-beta" + "version": "2026.0.0" } ], "jniDependencies": [ { "groupId": "com.studica.frc", "artifactId": "Studica-driver", - "version": "2026.0.0-beta", + "version": "2026.0.0", "skipInvalidPlatforms": true, "isJar": false, "validPlatforms": [ @@ -36,7 +36,7 @@ { "groupId": "com.studica.frc", "artifactId": "Studica-cpp", - "version": "2026.0.0-beta", + "version": "2026.0.0", "libName": "Studica", "headerClassifier": "headers", "sharedLibrary": false, @@ -53,7 +53,7 @@ { "groupId": "com.studica.frc", "artifactId": "Studica-driver", - "version": "2026.0.0-beta", + "version": "2026.0.0", "libName": "StudicaDriver", "headerClassifier": "headers", "sharedLibrary": false, diff --git a/vendordeps/ThriftyLib.json b/vendordeps/ThriftyLib-2026.0.0.json similarity index 72% rename from vendordeps/ThriftyLib.json rename to vendordeps/ThriftyLib-2026.0.0.json index 795da9d..2ff6a4c 100644 --- a/vendordeps/ThriftyLib.json +++ b/vendordeps/ThriftyLib-2026.0.0.json @@ -1,18 +1,18 @@ { - "fileName": "ThriftyLib.json", + "fileName": "ThriftyLib-2026.0.0.json", "name": "ThriftyLib", - "version": "2026.0.0-beta-1", - "frcYear": "2026beta", + "version": "2026.0.0", + "frcYear": "2026", "uuid": "60b2694b-9e6e-4026-81ee-6f167946f4b0", "mavenUrls": [ "https://docs.home.thethriftybot.com" ], - "jsonUrl": "https://docs.home.thethriftybot.com/ThriftyLib-2026.0.0-beta-1.json", + "jsonUrl": "https://docs.home.thethriftybot.com/ThriftyLib-2026.json", "javaDependencies": [ { "groupId": "com.thethriftybot.frc", "artifactId": "ThriftyLib-java", - "version": "2026.0.0-beta-1" + "version": "2026.0.0" } ], "jniDependencies": [], diff --git a/vendordeps/URCL.json b/vendordeps/URCL.json index fb59513..f5b535e 100644 --- a/vendordeps/URCL.json +++ b/vendordeps/URCL.json @@ -2,7 +2,7 @@ "fileName": "URCL.json", "name": "URCL", "version": "2026.0.0", - "frcYear": "2026beta", + "frcYear": "2026", "uuid": "84246d17-a797-4d1e-bd9f-c59cd8d2477c", "mavenUrls": [ "https://frcmaven.wpi.edu/artifactory/littletonrobotics-mvn-release/" diff --git a/vendordeps/WPILibNewCommands.json b/vendordeps/WPILibNewCommands.json index 7ebc954..d90630e 100644 --- a/vendordeps/WPILibNewCommands.json +++ b/vendordeps/WPILibNewCommands.json @@ -3,7 +3,7 @@ "name": "WPILib-New-Commands", "version": "1.0.0", "uuid": "111e20f7-815e-48f8-9dd6-e675ce75b266", - "frcYear": "2026beta", + "frcYear": "2026", "mavenUrls": [], "jsonUrl": "", "javaDependencies": [ diff --git a/vendordeps/maple-sim.json b/vendordeps/maple-sim.json index 1975151..6596d65 100644 --- a/vendordeps/maple-sim.json +++ b/vendordeps/maple-sim.json @@ -2,7 +2,7 @@ "fileName": "maple-sim.json", "name": "maplesim", "version": "0.3.14", - "frcYear": "2026beta", + "frcYear": "2026", "uuid": "c39481e8-4a63-4a4c-9df6-48d91e4da37b", "mavenUrls": [ "https://shenzhen-robotics-alliance.github.io/maple-sim/vendordep/repos/releases", diff --git a/vendordeps/photonlib.json b/vendordeps/photonlib.json index dfbe6ed..8b1d42b 100644 --- a/vendordeps/photonlib.json +++ b/vendordeps/photonlib.json @@ -3,7 +3,7 @@ "name": "photonlib", "version": "v2026.0.1-beta", "uuid": "515fe07e-bfc6-11fa-b3de-0242ac130004", - "frcYear": "2026beta", + "frcYear": "2026", "mavenUrls": [ "https://maven.photonvision.org/repository/internal", "https://maven.photonvision.org/repository/snapshots" diff --git a/vendordeps/yagsl-2025.8.0.json b/vendordeps/yagsl-2025.8.0.json index 2cb0614..0c9ef4f 100644 --- a/vendordeps/yagsl-2025.8.0.json +++ b/vendordeps/yagsl-2025.8.0.json @@ -2,7 +2,7 @@ "fileName": "yagsl-2025.8.0.json", "name": "YAGSL", "version": "2025.8.0", - "frcYear": "2026beta", + "frcYear": "2026", "uuid": "1ccce5a4-acd2-4d18-bca3-4b8047188400", "mavenUrls": [ "https://broncbotz3481.github.io/YAGSL-Lib/yagsl/repos" From fbfaa38cc31763d6e1328a42249820827e613e1f Mon Sep 17 00:00:00 2001 From: "Timothy P. Ellsworth Bowers" Date: Mon, 12 Jan 2026 09:30:00 -0700 Subject: [PATCH 2/9] Rename AprilTagLayout -> FieldConstants --- src/main/java/frc/robot/Constants.java | 4 ++-- .../robot/{AprilTagLayout.java => FieldConstants.java} | 2 +- src/main/java/frc/robot/RobotContainer.java | 2 +- src/main/java/frc/robot/subsystems/vision/Vision.java | 8 ++++---- .../frc/robot/subsystems/vision/VisionIOPhotonVision.java | 2 +- .../robot/subsystems/vision/VisionIOPhotonVisionSim.java | 4 ++-- 6 files changed, 11 insertions(+), 11 deletions(-) rename src/main/java/frc/robot/{AprilTagLayout.java => FieldConstants.java} (98%) diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java index c0829ec..bdcb7dd 100644 --- a/src/main/java/frc/robot/Constants.java +++ b/src/main/java/frc/robot/Constants.java @@ -34,7 +34,7 @@ import edu.wpi.first.units.measure.Mass; import edu.wpi.first.wpilibj.PowerDistribution; import edu.wpi.first.wpilibj.RobotBase; -import frc.robot.AprilTagLayout.AprilTagLayoutType; +import frc.robot.FieldConstants.AprilTagLayoutType; import frc.robot.subsystems.drive.Drive; import frc.robot.subsystems.drive.SwerveConstants; import frc.robot.util.Alert; @@ -473,6 +473,6 @@ public static CTREPro getPhoenixPro() { /** Get the current AprilTag layout type. */ public static AprilTagLayoutType getAprilTagLayoutType() { - return AprilTagLayout.defaultAprilTagType; + return FieldConstants.defaultAprilTagType; } } diff --git a/src/main/java/frc/robot/AprilTagLayout.java b/src/main/java/frc/robot/FieldConstants.java similarity index 98% rename from src/main/java/frc/robot/AprilTagLayout.java rename to src/main/java/frc/robot/FieldConstants.java index e8ae31c..7d3d7c3 100644 --- a/src/main/java/frc/robot/AprilTagLayout.java +++ b/src/main/java/frc/robot/FieldConstants.java @@ -28,7 +28,7 @@ import java.nio.file.Path; import lombok.Getter; -public class AprilTagLayout { +public class FieldConstants { /** AprilTag Field Layout ************************************************ */ public static final double aprilTagWidth = Inches.of(6.50).in(Meters); diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 7e92296..6e65ce7 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -33,7 +33,7 @@ import edu.wpi.first.wpilibj2.command.button.CommandXboxController; import edu.wpi.first.wpilibj2.command.button.RobotModeTriggers; import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine; -import frc.robot.AprilTagLayout.AprilTagLayoutType; +import frc.robot.FieldConstants.AprilTagLayoutType; import frc.robot.Constants.OperatorConstants; import frc.robot.commands.AutopilotCommands; import frc.robot.commands.DriveCommands; diff --git a/src/main/java/frc/robot/subsystems/vision/Vision.java b/src/main/java/frc/robot/subsystems/vision/Vision.java index c7e172e..cb55b42 100644 --- a/src/main/java/frc/robot/subsystems/vision/Vision.java +++ b/src/main/java/frc/robot/subsystems/vision/Vision.java @@ -24,7 +24,7 @@ import edu.wpi.first.wpilibj.Alert; import edu.wpi.first.wpilibj.Alert.AlertType; import edu.wpi.first.wpilibj2.command.SubsystemBase; -import frc.robot.AprilTagLayout; +import frc.robot.FieldConstants; import frc.robot.subsystems.vision.VisionIO.PoseObservationType; import java.util.LinkedList; import java.util.List; @@ -90,7 +90,7 @@ public void periodic() { // Add tag poses for (int tagId : inputs[cameraIndex].tagIds) { - var tagPose = AprilTagLayout.aprilTagLayout.getTagPose(tagId); + var tagPose = FieldConstants.aprilTagLayout.getTagPose(tagId); if (tagPose.isPresent()) { tagPoses.add(tagPose.get()); } @@ -108,9 +108,9 @@ public void periodic() { // Must be within the field boundaries || observation.pose().getX() < 0.0 - || observation.pose().getX() > AprilTagLayout.aprilTagLayout.getFieldLength() + || observation.pose().getX() > FieldConstants.aprilTagLayout.getFieldLength() || observation.pose().getY() < 0.0 - || observation.pose().getY() > AprilTagLayout.aprilTagLayout.getFieldWidth(); + || observation.pose().getY() > FieldConstants.aprilTagLayout.getFieldWidth(); // Add pose to log robotPoses.add(observation.pose()); diff --git a/src/main/java/frc/robot/subsystems/vision/VisionIOPhotonVision.java b/src/main/java/frc/robot/subsystems/vision/VisionIOPhotonVision.java index 13ab7aa..13f93b3 100644 --- a/src/main/java/frc/robot/subsystems/vision/VisionIOPhotonVision.java +++ b/src/main/java/frc/robot/subsystems/vision/VisionIOPhotonVision.java @@ -9,7 +9,7 @@ package frc.robot.subsystems.vision; -import static frc.robot.AprilTagLayout.*; +import static frc.robot.FieldConstants.*; import edu.wpi.first.math.geometry.Pose3d; import edu.wpi.first.math.geometry.Rotation2d; diff --git a/src/main/java/frc/robot/subsystems/vision/VisionIOPhotonVisionSim.java b/src/main/java/frc/robot/subsystems/vision/VisionIOPhotonVisionSim.java index ce5302b..fd4525b 100644 --- a/src/main/java/frc/robot/subsystems/vision/VisionIOPhotonVisionSim.java +++ b/src/main/java/frc/robot/subsystems/vision/VisionIOPhotonVisionSim.java @@ -11,7 +11,7 @@ import edu.wpi.first.math.geometry.Pose2d; import edu.wpi.first.math.geometry.Transform3d; -import frc.robot.AprilTagLayout; +import frc.robot.FieldConstants; import java.util.function.Supplier; import org.photonvision.simulation.PhotonCameraSim; import org.photonvision.simulation.SimCameraProperties; @@ -38,7 +38,7 @@ public VisionIOPhotonVisionSim( // Initialize vision sim if (visionSim == null) { visionSim = new VisionSystemSim("main"); - visionSim.addAprilTags(AprilTagLayout.aprilTagLayout); + visionSim.addAprilTags(FieldConstants.aprilTagLayout); } // Add sim camera From 52688360a544293a164ee0053e0db879c8f9ce86 Mon Sep 17 00:00:00 2001 From: "Timothy P. Ellsworth Bowers" Date: Mon, 12 Jan 2026 09:44:10 -0700 Subject: [PATCH 3/9] Update FieldConstants to match 2026 / FRC-6328 --- src/main/java/frc/robot/FieldConstants.java | 53 +++++++++++---------- src/main/java/frc/robot/RobotContainer.java | 2 +- 2 files changed, 29 insertions(+), 26 deletions(-) diff --git a/src/main/java/frc/robot/FieldConstants.java b/src/main/java/frc/robot/FieldConstants.java index 7d3d7c3..729b45f 100644 --- a/src/main/java/frc/robot/FieldConstants.java +++ b/src/main/java/frc/robot/FieldConstants.java @@ -1,5 +1,7 @@ // Copyright (c) 2024-2026 Az-FIRST // http://github.com/AZ-First +// Copyright (c) 2025-2026 Littleton Robotics +// http://github.com/Mechanical-Advantage // // This program is free software; you can redistribute it and/or // modify it under the terms of the GNU General Public License @@ -28,12 +30,21 @@ import java.nio.file.Path; import lombok.Getter; +/** + * Contains various field dimensions and useful reference points. All units are in meters and poses + * have a blue alliance origin. + */ public class FieldConstants { /** AprilTag Field Layout ************************************************ */ public static final double aprilTagWidth = Inches.of(6.50).in(Meters); public static final String aprilTagFamily = "36h11"; + + public static final double fieldLength = AprilTagLayoutType.OFFICIAL.getLayout().getFieldLength(); + public static final double fieldWidth = AprilTagLayoutType.OFFICIAL.getLayout().getFieldWidth(); + + public static final int aprilTagCount = AprilTagLayoutType.OFFICIAL.getLayout().getTags().size(); public static final AprilTagLayoutType defaultAprilTagType = AprilTagLayoutType.OFFICIAL; public static final AprilTagFieldLayout aprilTagLayout = @@ -42,34 +53,26 @@ public class FieldConstants { @Getter public enum AprilTagLayoutType { OFFICIAL("2026-official"), - + NONE("2026-none"), REEFSCAPE("2025-official"); - // SPEAKERS_ONLY("2024-speakers"), - // AMPS_ONLY("2024-amps"), - // WPI("2024-wpi"); - - private AprilTagLayoutType(String name) { - if (Constants.disableHAL) { - layout = null; - } else { - try { - layout = - new AprilTagFieldLayout( - Path.of(Filesystem.getDeployDirectory().getPath(), "apriltags", name + ".json")); - } catch (IOException e) { - throw new RuntimeException(e); - } + AprilTagLayoutType(String name) { + try { + layout = + new AprilTagFieldLayout( + Constants.disableHAL + ? Path.of("src", "main", "deploy", "apriltags", name + ".json") + : Path.of( + Filesystem.getDeployDirectory().getPath(), "apriltags", name + ".json")); + } catch (IOException e) { + throw new RuntimeException(e); } - if (layout == null) { - layoutString = ""; - } else { - try { - layoutString = new ObjectMapper().writeValueAsString(layout); - } catch (JsonProcessingException e) { - throw new RuntimeException( - "Failed to serialize AprilTag layout JSON " + toString() + "for PhotonVision"); - } + + try { + layoutString = new ObjectMapper().writeValueAsString(layout); + } catch (JsonProcessingException e) { + throw new RuntimeException( + "Failed to serialize AprilTag layout JSON " + toString() + "for PhotonVision"); } } diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 6e65ce7..faf29dd 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -33,8 +33,8 @@ import edu.wpi.first.wpilibj2.command.button.CommandXboxController; import edu.wpi.first.wpilibj2.command.button.RobotModeTriggers; import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine; -import frc.robot.FieldConstants.AprilTagLayoutType; import frc.robot.Constants.OperatorConstants; +import frc.robot.FieldConstants.AprilTagLayoutType; import frc.robot.commands.AutopilotCommands; import frc.robot.commands.DriveCommands; import frc.robot.subsystems.accelerometer.Accelerometer; From f7befdff7c1a8367222e238944937104e6ac7b90 Mon Sep 17 00:00:00 2001 From: "Timothy P. Ellsworth Bowers" Date: Mon, 12 Jan 2026 11:57:33 -0700 Subject: [PATCH 4/9] Fix deprecation warnings from REVLib 2026 --- .../subsystems/drive/ModuleIOBlended.java | 4 +-- .../robot/subsystems/drive/ModuleIOSpark.java | 4 +-- .../drive/ModuleIOSparkCANcoder.java | 4 +-- .../flywheel_example/FlywheelIOSpark.java | 33 +++++++++++++------ 4 files changed, 29 insertions(+), 16 deletions(-) diff --git a/src/main/java/frc/robot/subsystems/drive/ModuleIOBlended.java b/src/main/java/frc/robot/subsystems/drive/ModuleIOBlended.java index b8d66f1..0b45884 100644 --- a/src/main/java/frc/robot/subsystems/drive/ModuleIOBlended.java +++ b/src/main/java/frc/robot/subsystems/drive/ModuleIOBlended.java @@ -28,11 +28,11 @@ import com.ctre.phoenix6.swerve.SwerveModuleConstants; import com.ctre.phoenix6.swerve.SwerveModuleConstants.ClosedLoopOutputType; import com.ctre.phoenix6.swerve.SwerveModuleConstantsFactory; +import com.revrobotics.PersistMode; +import com.revrobotics.ResetMode; import com.revrobotics.spark.FeedbackSensor; import com.revrobotics.spark.SparkBase; import com.revrobotics.spark.SparkBase.ControlType; -import com.revrobotics.spark.SparkBase.PersistMode; -import com.revrobotics.spark.SparkBase.ResetMode; import com.revrobotics.spark.SparkClosedLoopController; import com.revrobotics.spark.SparkLowLevel.MotorType; import com.revrobotics.spark.SparkMax; diff --git a/src/main/java/frc/robot/subsystems/drive/ModuleIOSpark.java b/src/main/java/frc/robot/subsystems/drive/ModuleIOSpark.java index 4c59c5f..c6053c1 100644 --- a/src/main/java/frc/robot/subsystems/drive/ModuleIOSpark.java +++ b/src/main/java/frc/robot/subsystems/drive/ModuleIOSpark.java @@ -12,13 +12,13 @@ import static frc.robot.subsystems.drive.SwerveConstants.*; import com.revrobotics.AbsoluteEncoder; +import com.revrobotics.PersistMode; import com.revrobotics.RelativeEncoder; +import com.revrobotics.ResetMode; import com.revrobotics.spark.ClosedLoopSlot; import com.revrobotics.spark.FeedbackSensor; import com.revrobotics.spark.SparkBase; import com.revrobotics.spark.SparkBase.ControlType; -import com.revrobotics.spark.SparkBase.PersistMode; -import com.revrobotics.spark.SparkBase.ResetMode; import com.revrobotics.spark.SparkClosedLoopController; import com.revrobotics.spark.SparkClosedLoopController.ArbFFUnits; import com.revrobotics.spark.SparkFlex; diff --git a/src/main/java/frc/robot/subsystems/drive/ModuleIOSparkCANcoder.java b/src/main/java/frc/robot/subsystems/drive/ModuleIOSparkCANcoder.java index 6ebdd07..4b1efa6 100644 --- a/src/main/java/frc/robot/subsystems/drive/ModuleIOSparkCANcoder.java +++ b/src/main/java/frc/robot/subsystems/drive/ModuleIOSparkCANcoder.java @@ -14,13 +14,13 @@ import com.ctre.phoenix6.BaseStatusSignal; import com.ctre.phoenix6.StatusSignal; import com.ctre.phoenix6.hardware.CANcoder; +import com.revrobotics.PersistMode; import com.revrobotics.RelativeEncoder; +import com.revrobotics.ResetMode; import com.revrobotics.spark.ClosedLoopSlot; import com.revrobotics.spark.FeedbackSensor; import com.revrobotics.spark.SparkBase; import com.revrobotics.spark.SparkBase.ControlType; -import com.revrobotics.spark.SparkBase.PersistMode; -import com.revrobotics.spark.SparkBase.ResetMode; import com.revrobotics.spark.SparkClosedLoopController; import com.revrobotics.spark.SparkClosedLoopController.ArbFFUnits; import com.revrobotics.spark.SparkFlex; diff --git a/src/main/java/frc/robot/subsystems/flywheel_example/FlywheelIOSpark.java b/src/main/java/frc/robot/subsystems/flywheel_example/FlywheelIOSpark.java index 14437d7..59466a8 100644 --- a/src/main/java/frc/robot/subsystems/flywheel_example/FlywheelIOSpark.java +++ b/src/main/java/frc/robot/subsystems/flywheel_example/FlywheelIOSpark.java @@ -3,22 +3,27 @@ // Copyright (c) 2021-2026 Littleton Robotics // http://github.com/Mechanical-Advantage // -// Use of this source code is governed by a BSD -// license that can be found in the AdvantageKit-License.md file -// at the root directory of this project. +// This program is free software; you can redistribute it and/or +// modify it under the terms of the GNU General Public License +// version 3 as published by the Free Software Foundation or +// available in the root directory of this project. +// +// This program is distributed in the hope that it will be useful, +// but WITHOUT ANY WARRANTY; without even the implied warranty of +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +// GNU General Public License for more details. package frc.robot.subsystems.flywheel_example; import static frc.robot.Constants.FlywheelConstants.*; import static frc.robot.Constants.RobotDevices.*; +import com.revrobotics.PersistMode; import com.revrobotics.RelativeEncoder; +import com.revrobotics.ResetMode; import com.revrobotics.spark.ClosedLoopSlot; import com.revrobotics.spark.FeedbackSensor; -import com.revrobotics.spark.SparkBase; import com.revrobotics.spark.SparkBase.ControlType; -import com.revrobotics.spark.SparkBase.PersistMode; -import com.revrobotics.spark.SparkBase.ResetMode; import com.revrobotics.spark.SparkClosedLoopController; import com.revrobotics.spark.SparkClosedLoopController.ArbFFUnits; import com.revrobotics.spark.SparkLowLevel.MotorType; @@ -28,6 +33,7 @@ import edu.wpi.first.math.util.Units; import frc.robot.subsystems.drive.SwerveConstants; import frc.robot.util.SparkUtil; +import org.littletonrobotics.junction.Logger; /** * NOTE: To use the Spark Flex / NEO Vortex, replace all instances of "CANSparkMax" with @@ -35,11 +41,11 @@ */ public class FlywheelIOSpark implements FlywheelIO { - // Define the leader / follower motors from the Ports section of RobotContainer - private final SparkBase leader = - new SparkMax(FLYWHEEL_LEADER.getDeviceNumber(), MotorType.kBrushless); - private final SparkBase follower = + // Define the leader / follower motors from the RobotDevices section of RobotContainer + private final SparkMax leader = new SparkMax(FLYWHEEL_LEADER.getDeviceNumber(), MotorType.kBrushless); + private final SparkMax follower = + new SparkMax(FLYWHEEL_FOLLOWER.getDeviceNumber(), MotorType.kBrushless); private final RelativeEncoder encoder = leader.getEncoder(); private final SparkClosedLoopController pid = leader.getClosedLoopController(); // IMPORTANT: Include here all devices listed above that are part of this mechanism! @@ -91,6 +97,13 @@ public void updateInputs(FlywheelIOInputs inputs) { Units.rotationsPerMinuteToRadiansPerSecond(encoder.getVelocity() / kFlywheelGearRatio); inputs.appliedVolts = leader.getAppliedOutput() * leader.getBusVoltage(); inputs.currentAmps = new double[] {leader.getOutputCurrent(), follower.getOutputCurrent()}; + + // AdvantageKit logging + Logger.recordOutput("Flywheel/PositionRad", inputs.positionRad); + Logger.recordOutput("Flywheel/VelocityRadPerSec", inputs.velocityRadPerSec); + Logger.recordOutput("Flywheel/AppliedVolts", inputs.appliedVolts); + Logger.recordOutput("Flywheel/LeaderCurrent", inputs.currentAmps[0]); + Logger.recordOutput("Flywheel/FollowerCurrent", inputs.currentAmps[1]); } @Override From 03ccb5f12e202a72d407dd00c9f55959980da198 Mon Sep 17 00:00:00 2001 From: "Timothy P. Ellsworth Bowers" Date: Mon, 12 Jan 2026 16:50:38 -0700 Subject: [PATCH 5/9] PhotonLib updated to 26-rc1 --- vendordeps/photonlib.json | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/vendordeps/photonlib.json b/vendordeps/photonlib.json index 8b1d42b..162b3ce 100644 --- a/vendordeps/photonlib.json +++ b/vendordeps/photonlib.json @@ -1,7 +1,7 @@ { "fileName": "photonlib.json", "name": "photonlib", - "version": "v2026.0.1-beta", + "version": "v2026.1.0-rc1", "uuid": "515fe07e-bfc6-11fa-b3de-0242ac130004", "frcYear": "2026", "mavenUrls": [ @@ -13,7 +13,7 @@ { "groupId": "org.photonvision", "artifactId": "photontargeting-cpp", - "version": "v2026.0.1-beta", + "version": "v2026.1.0-rc1", "skipInvalidPlatforms": true, "isJar": false, "validPlatforms": [ @@ -28,7 +28,7 @@ { "groupId": "org.photonvision", "artifactId": "photonlib-cpp", - "version": "v2026.0.1-beta", + "version": "v2026.1.0-rc1", "libName": "photonlib", "headerClassifier": "headers", "sharedLibrary": true, @@ -43,7 +43,7 @@ { "groupId": "org.photonvision", "artifactId": "photontargeting-cpp", - "version": "v2026.0.1-beta", + "version": "v2026.1.0-rc1", "libName": "photontargeting", "headerClassifier": "headers", "sharedLibrary": true, @@ -60,12 +60,12 @@ { "groupId": "org.photonvision", "artifactId": "photonlib-java", - "version": "v2026.0.1-beta" + "version": "v2026.1.0-rc1" }, { "groupId": "org.photonvision", "artifactId": "photontargeting-java", - "version": "v2026.0.1-beta" + "version": "v2026.1.0-rc1" } ] } From 401d213c72f90d2dc78e589b0232d4575172a8da Mon Sep 17 00:00:00 2001 From: "Timothy P. Ellsworth Bowers" Date: Mon, 12 Jan 2026 17:00:17 -0700 Subject: [PATCH 6/9] Update the README's in ``src/main/java/frc/robot`` Including subsystem README files --- src/main/java/frc/robot/README | 24 ++++++++++++------- .../java/frc/robot/subsystems/drive/README | 16 ++++++------- src/main/java/frc/robot/subsystems/imu/README | 14 +++++++++++ 3 files changed, 37 insertions(+), 17 deletions(-) create mode 100644 src/main/java/frc/robot/subsystems/imu/README diff --git a/src/main/java/frc/robot/README b/src/main/java/frc/robot/README index b559e04..0d5dc59 100644 --- a/src/main/java/frc/robot/README +++ b/src/main/java/frc/robot/README @@ -6,10 +6,6 @@ robot. The files that should exist in this directory are listed below, along with a brief description of their contents and which files MUST be edited to include information about the specific robot being controlled. -AprilTagLayout.java - The year-specific AprilTag and field layout file. Teams may modify this - file to include additional information specific for their needs. - BuildConstants.java Not tracked by git, used by the build system to record information about the latest build of the code. This file should NOT be altered, and will be @@ -22,12 +18,24 @@ Constants.java importing only the constants needed for a particular software module. This file MUST be modified to include the proper robot constants in the code. +FieldConstants.java + The year-specific AprilTag and field layout file. Teams may modify the + file to include additional information specific for their needs. + +FieldState.java + For 2026 - REBUILT, the field produces information that affects gameplay, + namely which HUB is active at different times during the match. The file + converts data from the FMS into data that can be used by teams for scoring + control. + Main.java - This is the file run by the RoboRIO virtual machine. Do NOT alter this - file. + The file run by the RoboRIO virtual machine. Do NOT alter this file. + +README + This file. Robot.java - This file is called by ``Main.java`` and directs the operation of the robot + The file called by ``Main.java`` and which directs the operation of the robot according to the currently commanded mode (disabled, autonomous, teleop, test, and simulation). Care must be taken when modifying this module to ensure proper operation of the robot. One section that would be useful to @@ -76,4 +84,4 @@ util/ -------------------- -Last Modified: 06 Jan 2026, TPEB +Last Modified: 12 Jan 2026, TPEB diff --git a/src/main/java/frc/robot/subsystems/drive/README b/src/main/java/frc/robot/subsystems/drive/README index 2b45714..fb25df4 100644 --- a/src/main/java/frc/robot/subsystems/drive/README +++ b/src/main/java/frc/robot/subsystems/drive/README @@ -1,21 +1,19 @@ The hardware-specific IO files included here are a baseline for what we expect teams to use. If, however, you are using a different combination of hardware, -you will need to create a new ``ModuleIO*.java`` or ``GyroIO*.java`` file. We -encourage you to submit a PR to the Az-RBSI repositiory with your new hardware -file if you feel other teams may benefit from its inclusion. Additionally, the -instantiation logic in ``Drive.java`` will need to be extended to include the -new module type. +you will need to create a new ``ModuleIO*.java`` file. We encourage you to +submit a PR to the Az-RBSI repositiory with your new hardware file if you feel +other teams may benefit from its inclusion. Additionally, the instantiation +logic in ``Drive.java`` will need to be extended to include the new module +type. Existing IO files: - - ``GyroIOPigeon2.java``: CTRE Pigeon2 as the swerve IMU - - ``GyroIONavX.java``: NavX as the swerve IMU, connected via SPI - - ``ModuleIOTalonFX.java``: 2x TalonFX motors + CANcoder + - ``ModuleIOTalonFXS.java``: 2x TalonFXS motors + CANcoder - ``ModuleIOSpark.java``: 2x Rev NEO motors + analog absolute encoder connected to the RIO - ``ModuleIOSparkCANcoder.java``: 2x Rv NEO motors + CANcoder - ``ModuleIOBlended.java``: TalonFX drive, Rev NEO steer motors + CANcoder -------------------- -Last Modified: 2 Jan 2025, TPEB +Last Modified: 12 Jan 2026, TPEB diff --git a/src/main/java/frc/robot/subsystems/imu/README b/src/main/java/frc/robot/subsystems/imu/README new file mode 100644 index 0000000..95d0465 --- /dev/null +++ b/src/main/java/frc/robot/subsystems/imu/README @@ -0,0 +1,14 @@ +The hardware-specific IO files included here are a baseline for what we expect +teams to use. If, however, you are using a different combination of hardware, +you will need to create a new ``GyroIO*.java`` file. We encourage you to +submit a PR to the Az-RBSI repositiory with your new hardware file if you feel +other teams may benefit from its inclusion. + +Existing IO files: + + - ``GyroIOPigeon2.java``: CTRE Pigeon2 as the swerve IMU + - ``GyroIONavX.java``: NavX as the swerve IMU, connected via SPI + + +-------------------- +Last Modified: 12 Jan 2026, TPEB From 535fee3cebde0682567d58018e6bc86d56b480c3 Mon Sep 17 00:00:00 2001 From: "Timothy P. Ellsworth Bowers" Date: Tue, 13 Jan 2026 08:30:46 -0700 Subject: [PATCH 7/9] PhotonLib updated to 26-rc2 --- vendordeps/photonlib.json | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/vendordeps/photonlib.json b/vendordeps/photonlib.json index 162b3ce..16e6991 100644 --- a/vendordeps/photonlib.json +++ b/vendordeps/photonlib.json @@ -1,7 +1,7 @@ { "fileName": "photonlib.json", "name": "photonlib", - "version": "v2026.1.0-rc1", + "version": "v2026.1.1-rc-2", "uuid": "515fe07e-bfc6-11fa-b3de-0242ac130004", "frcYear": "2026", "mavenUrls": [ @@ -13,7 +13,7 @@ { "groupId": "org.photonvision", "artifactId": "photontargeting-cpp", - "version": "v2026.1.0-rc1", + "version": "v2026.1.1-rc-2", "skipInvalidPlatforms": true, "isJar": false, "validPlatforms": [ @@ -28,7 +28,7 @@ { "groupId": "org.photonvision", "artifactId": "photonlib-cpp", - "version": "v2026.1.0-rc1", + "version": "v2026.1.1-rc-2", "libName": "photonlib", "headerClassifier": "headers", "sharedLibrary": true, @@ -43,7 +43,7 @@ { "groupId": "org.photonvision", "artifactId": "photontargeting-cpp", - "version": "v2026.1.0-rc1", + "version": "v2026.1.1-rc-2", "libName": "photontargeting", "headerClassifier": "headers", "sharedLibrary": true, @@ -60,12 +60,12 @@ { "groupId": "org.photonvision", "artifactId": "photonlib-java", - "version": "v2026.1.0-rc1" + "version": "v2026.1.1-rc-2" }, { "groupId": "org.photonvision", "artifactId": "photontargeting-java", - "version": "v2026.1.0-rc1" + "version": "v2026.1.1-rc-2" } ] } From 6a789bcc452812562b269926ccad9caf4fdd6b4b Mon Sep 17 00:00:00 2001 From: Timothy Ellsworth Bowers Date: Tue, 13 Jan 2026 15:43:35 -0700 Subject: [PATCH 8/9] Fix power logging instantiator --- src/main/java/frc/robot/Robot.java | 2 -- 1 file changed, 2 deletions(-) diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index 54dfc56..ccfc193 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -90,8 +90,6 @@ public Robot() { // Initialize URCL Logger.registerURCL(URCL.startExternal()); StatusLogger.disableAutoLogging(); // Disable REVLib's built-in logging - - // TODO: Uncomment this upon next release of AKit // LoggedPowerDistribution.getInstance(PowerConstants.kPDMCANid, PowerConstants.kPDMType); // Start AdvantageKit logger From 9678937db376f4eb9c6a87f5e9bb47442d37ee5b Mon Sep 17 00:00:00 2001 From: "Timothy P. Ellsworth Bowers" Date: Tue, 13 Jan 2026 15:45:15 -0700 Subject: [PATCH 9/9] Update REVLib --- vendordeps/REVLib.json | 18 +++++++++--------- 1 file changed, 9 insertions(+), 9 deletions(-) diff --git a/vendordeps/REVLib.json b/vendordeps/REVLib.json index 082b01d..bb613bf 100644 --- a/vendordeps/REVLib.json +++ b/vendordeps/REVLib.json @@ -1,7 +1,7 @@ { "fileName": "REVLib.json", "name": "REVLib", - "version": "2026.0.0", + "version": "2026.0.1", "frcYear": "2026", "uuid": "3f48eb8c-50fe-43a6-9cb7-44c86353c4cb", "mavenUrls": [ @@ -12,14 +12,14 @@ { "groupId": "com.revrobotics.frc", "artifactId": "REVLib-java", - "version": "2026.0.0" + "version": "2026.0.1" } ], "jniDependencies": [ { "groupId": "com.revrobotics.frc", "artifactId": "REVLib-driver", - "version": "2026.0.0", + "version": "2026.0.1", "skipInvalidPlatforms": true, "isJar": false, "validPlatforms": [ @@ -34,7 +34,7 @@ { "groupId": "com.revrobotics.frc", "artifactId": "RevLibBackendDriver", - "version": "2026.0.0", + "version": "2026.0.1", "skipInvalidPlatforms": true, "isJar": false, "validPlatforms": [ @@ -49,7 +49,7 @@ { "groupId": "com.revrobotics.frc", "artifactId": "RevLibWpiBackendDriver", - "version": "2026.0.0", + "version": "2026.0.1", "skipInvalidPlatforms": true, "isJar": false, "validPlatforms": [ @@ -66,7 +66,7 @@ { "groupId": "com.revrobotics.frc", "artifactId": "REVLib-cpp", - "version": "2026.0.0", + "version": "2026.0.1", "libName": "REVLib", "headerClassifier": "headers", "sharedLibrary": false, @@ -83,7 +83,7 @@ { "groupId": "com.revrobotics.frc", "artifactId": "REVLib-driver", - "version": "2026.0.0", + "version": "2026.0.1", "libName": "REVLibDriver", "headerClassifier": "headers", "sharedLibrary": false, @@ -100,7 +100,7 @@ { "groupId": "com.revrobotics.frc", "artifactId": "RevLibBackendDriver", - "version": "2026.0.0", + "version": "2026.0.1", "libName": "BackendDriver", "sharedLibrary": true, "skipInvalidPlatforms": true, @@ -116,7 +116,7 @@ { "groupId": "com.revrobotics.frc", "artifactId": "RevLibWpiBackendDriver", - "version": "2026.0.0", + "version": "2026.0.1", "libName": "REVLibWpi", "sharedLibrary": true, "skipInvalidPlatforms": true,