Merge develop into main for 26 RC1

.wpilib/wpilib_preferences.json

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

INSTALL.md

@@ -94,7 +94,7 @@ steps you need to complete:
 
 **NOTE:** If you have any other combination of hardware (including REV NEOs,
 NavX IMU, etc.) you will need to use the [YAGSL Swerve Configurator](
-https://broncbotz3481.github.io/YAGSL-Example/) to configure the inputs for
+https://yet-another-software-suite.github.io/YAGSL/config_generator/) to configure the inputs for
 your robot.  **Since the reference build recommends an all-CTRE swerve base**,
 this functionality has not been extensively tested.  Any teams that adopt this
 method are encouraged to submit bug reports and code fixes to the [Az-RBSI

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;
@@ -274,6 +274,14 @@ public static final class DrivebaseConstants {
     public static final double kQuasiTimeout = 5.0; // seconds
     public static final double kDynamicTimeout = 3.0; // seconds
 
+    // Drive motor open-loop and closed-loop ramp periods for current smoothing
+    //   Time from from 0 -> full duty
+    public static final double kDriveClosedLoopRampPeriod = 0.15; // seconds
+    public static final double kDriveOpenLoopRampPeriod = 0.25; // seconds
+
+    public static final double kOptimalVoltage = 12.0; // Volts
+    public static final double kNominalFFVolts = 2.0; // Volts
+
     // Default TalonFX Gains (Replaces what's in Phoenix X's Tuner Constants)
     // NOTE: Default values from 6328's 2025 Public Code
     //
@@ -282,6 +290,7 @@ public static final class DrivebaseConstants {
     public static final double kDriveP = 40.0;
     public static final double kDriveD = 0.03;
     public static final double kDriveV = 0.83;
+    public static final double kDriveA = 0.0;
     public static final double kDriveS = 0.21;
     public static final double kDriveT =
         SwerveConstants.kDriveGearRatio / DCMotor.getKrakenX60Foc(1).KtNMPerAmp;
@@ -299,6 +308,11 @@ public static final class FlywheelConstants {
     // Mechanism motor gear ratio
     public static final double kFlywheelGearRatio = 1.5;
 
+    // Flywheel motor open-loop and closed-loop ramp periods for current smoothing
+    //   Time from from 0 -> full duty
+    public static final double kFlywheelClosedLoopRampPeriod = 0.15; // seconds
+    public static final double kFlywheelOpenLoopRampPeriod = 0.25; // seconds
+
     // MODE == REAL / REPLAY
     // Feedforward constants
     public static final double kStaticGainReal = 0.1;
@@ -473,6 +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/FieldState.java

@@ -0,0 +1,111 @@
+// Copyright (c) 2026 Az-FIRST
+// http://github.com/AZ-First
+//
+// 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.
+//
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot;
+
+import edu.wpi.first.wpilibj.DriverStation;
+import edu.wpi.first.wpilibj.DriverStation.Alliance;
+import frc.robot.util.Alert;
+
+public class FieldState {
+
+  /**
+   * FOR 2026 - REBUILT, store the data from the FMS about the TeleOp shifts here
+   *
+   * <p>Once the FMS chooses an alliance, this value will become either 'B' or 'R' for which
+   * alliance's HUB is INACTIVE first.
+   *
+   * <p>If this variable is 'B', then BLUE is ACTIVE during Shift 2 and Shift 4 (and RED is ACTIVE
+   * during Shift 1 and Shift 3).
+   *
+   * <p>If this variable is 'R', then RED is ACTIVE during Shift 2 and Shift 4 (and BLUE is ACTIVE
+   * during Shift 1 and Shift 3).
+   *
+   * <p>========== TESTING ==========
+   *
+   * <p>You can test your Game Specific Data code without FMS by using the Driver Station. Click on
+   * the Setup tab of the Driver Station, then enter the desired test string into the Game Data text
+   * field. The data will be transmitted to the robot in one of two conditions: Enable the robot in
+   * Teleop mode, or when the DS reaches the End Game time in a Practice Match (times are
+   * configurable on the Setup tab). It is recommended to run at least one match using the Practice
+   * functionality to verify that your code works correctly in a full match flow.
+   */
+  public static Alliance wonAuto = null;
+
+  /**
+   * Check whether the HUB is active right now
+   *
+   * @return Whether the team's alliance's HUB is active right now
+   */
+  public static boolean isHubActive() {
+
+    // The HUB is active for both alliances in AUTO
+    if (DriverStation.isAutonomous()) {
+      return true;
+    }
+
+    // The HUB is not active when not in AUTO or TELEOP
+    if (!DriverStation.isTeleop()) {
+      return false;
+    }
+
+    // Read in the current match time & get alliance
+    // TODO: Since the ``DriverStation.getMatchTime()`` returns INT::
+    //       Return the approximate match time. The FMS does not send an
+    //       official match time to the robots, but does send an approximate
+    //       match time. The value will count down the time remaining in the
+    //       current period (auto or teleop). Warning: This is not an official
+    //       time (so it cannot be used to dispute ref calls or guarantee that
+    //       a function will trigger before the match ends).
+    double timeRemaining = DriverStation.getMatchTime();
+    Alliance alliance = DriverStation.getAlliance().orElse(Alliance.Blue);
+
+    // If the FMS has not provided an alliance yet, set to TRUE and kick an Alert!
+    if (timeRemaining < 130.0 && wonAuto == null) {
+      new Alert(
+              "No HUB data from FMS!  HUB is listed as ACTIVE!  Driver BEWARE!",
+              Alert.AlertType.WARNING)
+          .set(true);
+      return true;
+    }
+
+    if (timeRemaining >= 130.0) {
+      // TRANSITION SHIFT -- Both HUBs active
+      return true;
+
+    } else if (timeRemaining >= 105.0) {
+      // SHIFT 1 -- Non-winning alliance gets a first go
+      return !(wonAuto == alliance);
+
+    } else if (timeRemaining >= 80.0) {
+      // SHIFT 2 -- Winning alliance gets a chance
+      return (wonAuto == alliance);
+
+    } else if (timeRemaining >= 55.0) {
+      // SHIFT 3 -- Trade off
+      return !(wonAuto == alliance);
+
+    } else if (timeRemaining >= 30.0) {
+      // SHIFT 4 -- Trade off again
+      return (wonAuto == alliance);
+
+    } else {
+      // ENDGAME -- Both HUBs active
+      return true;
+    }
+  }
+}

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

@@ -18,6 +18,7 @@
 package frc.robot;
 
 import com.revrobotics.util.StatusLogger;
+import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj.Threads;
 import edu.wpi.first.wpilibj.Timer;
 import edu.wpi.first.wpilibj2.command.Command;
@@ -89,8 +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
@@ -191,7 +190,36 @@ public void teleopInit() {
 
   /** This function is called periodically during operator control. */
   @Override
-  public void teleopPeriodic() {}
+  public void teleopPeriodic() {
+
+    // For 2026 - REBUILT, the alliance will be provided as a single character
+    //   representing the color of the alliance whose goal will go inactive
+    //   first (i.e. ‘R’ = red, ‘B’ = blue). This alliance’s goal will be
+    //   active in Shifts 2 and 4.
+    //
+    // https://docs.wpilib.org/en/stable/docs/yearly-overview/2026-game-data.html
+    if (FieldState.wonAuto == null) {
+      // Only call this code block if the signal from FMS has not yet arrived
+      String gameData = DriverStation.getGameSpecificMessage();
+      if (gameData.length() > 0) {
+        switch (gameData.charAt(0)) {
+          case 'B':
+            // Blue case code
+            FieldState.wonAuto = DriverStation.Alliance.Blue;
+            break;
+          case 'R':
+            // Red case code
+            FieldState.wonAuto = DriverStation.Alliance.Red;
+            break;
+          default:
+            // This is corrupt data, do nothing
+            break;
+        }
+      }
+    }
+    // Anything else for the teleopPeriodic() function
+
+  }
 
   /** This function is called once when test mode is enabled. */
   @Override

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;