Update Libraries & Documentation for Kickoff 2026 Release

.wpilib/wpilib_preferences.json

@@ -1,6 +1,6 @@
 {
   "enableCppIntellisense": false,
   "currentLanguage": "java",
-  "projectYear": "2026beta",
+  "projectYear": "2026",
   "teamNumber": 0
 }

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.+"

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;
@@ -487,6 +487,6 @@ public static CTREPro getPhoenixPro() {
 
   /** Get the current AprilTag layout type. */
   public static AprilTagLayoutType getAprilTagLayoutType() {
-    return AprilTagLayout.defaultAprilTagType;
+    return FieldConstants.defaultAprilTagType;
   }
 }

src/main/java/frc/robot/AprilTagLayout.java → 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;
 
-public class AprilTagLayout {
+/**
+ * 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 AprilTagLayout {
   @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");
       }
     }
 

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

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

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.AprilTagLayout.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;

src/main/java/frc/robot/subsystems/drive/ModuleIOBlended.java

@@ -32,11 +32,11 @@
 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;

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;

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;

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

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;
@@ -30,18 +35,19 @@
 import frc.robot.Constants.DrivebaseConstants;
 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
  * "CANSparkFlex".
  */
 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!
@@ -97,6 +103,13 @@ 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

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

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());

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;

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