2026 cleanup PR

LICENSE-Tagalong.md

@@ -1,4 +1,4 @@
-Copyright 2024 The Space Cookies : Girl Scout Troop #62868 and FRC Team #1868
+Copyright 2024-2026 The Space Cookies : Girl Scout Troop #62868 and FRC Team #1868
 
 Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
 

README.md

@@ -54,7 +54,6 @@ FUTURE DEV: List out microsystems and their specialized variants
 -->
 
 ### What functionalities are coming soon?
-- 2025 vendor package support
 - More included configurations for Microsystem subtypes
 - Pivot variant without a fused encoder or mechanically zeroed
 - Simulation based unit tests
@@ -79,4 +78,4 @@ Due to the required pairing of specific WPILib versions and other dependency ver
 
 > `(WPILibVersion in format YYYY.MajorMinor).MMDD`
 
-For example, a TagalongLib release on January 1st, 2025 using WPILib version 2024.1.0 would be version `2025.10.0101`.
+For example, a TagalongLib release on January 1st, 2026 using WPILib version 2024.1.0 would be version `2026.10.0101`.

build.gradle

@@ -56,16 +56,16 @@ apply from: 'config.gradle'
 // Apply Java configuration
 dependencies {
     implementation group: 'com.ctre.phoenix6', name: 'wpiapi-java', version: '26.1.0'
-    implementation group: 'org.littletonrobotics.akit', name: 'akit-java', version: '4.0.0'
+    implementation group: 'org.littletonrobotics.akit', name: 'akit-java', version: '26.0.0'
     implementation group: 'com.google.code.gson', name: 'gson', version: '2.11.0'
     implementation group: 'edu.wpi.first.wpilibj', name: 'wpilibj-java', version: '2026.2.1'
     implementation group: 'edu.wpi.first.wpiutil', name: 'wpiutil-java', version: '2026.2.1'
     implementation group: 'edu.wpi.first.wpimath', name: 'wpimath-java', version: '2026.2.1'
     implementation group: 'edu.wpi.first.wpilibNewCommands', name: 'wpilibNewCommands-java', version: '2026.2.1'
     implementation group: 'edu.wpi.first.wpiunits', name: 'wpiunits-java', version: '2026.2.1'
-    implementation group: 'edu.wpi.first.ntcore', name: 'ntcore-java', version: '2026.1.1-beta-1'
+    implementation group: 'edu.wpi.first.ntcore', name: 'ntcore-java', version: '2026.2.1'
     implementation group: 'edu.wpi.first.ntcore', name: 'ntcore-jni', version: '2025.3.2'
-    implementation group: 'edu.wpi.first.cscore', name: 'cscore-java', version: '2026.1.1-beta-1'
+    implementation group: 'edu.wpi.first.cscore', name: 'cscore-java', version: '2026.1.1'
 
     implementation 'us.hebi.quickbuf:quickbuf-runtime:1.4'
 

scripts/auto-copyright.sh

@@ -1,6 +1,6 @@
 #!/bin/bash
 
-# Copyright 2024 The Space Cookies : Girl Scout Troop #62868 and FRC Team #1868
+# Copyright 2024-2026 The Space Cookies : Girl Scout Troop #62868 and FRC Team #1868
 # Open Source Software; you may modify and/or share it under the terms of
 # the 3-Clause BSD License found in the root directory of this project.
 

scripts/update-docs.sh

@@ -1,6 +1,6 @@
 #!/bin/bash
 
-# Copyright 2024 The Space Cookies : Girl Scout Troop #62868 and FRC Team #1868
+# Copyright 2024-2026 The Space Cookies : Girl Scout Troop #62868 and FRC Team #1868
 # Open Source Software; you may modify and/or share it under the terms of
 # the 3-Clause BSD License found in the root directory of this project.
 

src/main/java/tagalong/TagalongConfiguration.java

@@ -1,5 +1,5 @@
 /**
- * Copyright 2024 The Space Cookies : Girl Scout Troop #62868 and FRC Team #1868
+ * Copyright 2024-2026 The Space Cookies : Girl Scout Troop #62868 and FRC Team #1868
  * Open Source Software; you may modify and/or share it under the terms of
  * the 3-Clause BSD License found in the root directory of this project.
  */

src/main/java/tagalong/commands/TagalongCommand.java

@@ -1,5 +1,5 @@
 /**
- * Copyright 2024 The Space Cookies : Girl Scout Troop #62868 and FRC Team #1868
+ * Copyright 2024-2026 The Space Cookies : Girl Scout Troop #62868 and FRC Team #1868
  * Open Source Software; you may modify and/or share it under the terms of
  * the 3-Clause BSD License found in the root directory of this project.
  */

src/main/java/tagalong/commands/aim/PivotAimAtCmd.java

@@ -1,5 +1,5 @@
 /**
- * Copyright 2024 The Space Cookies : Girl Scout Troop #62868 and FRC Team #1868
+ * Copyright 2024-2026 The Space Cookies : Girl Scout Troop #62868 and FRC Team #1868
  * Open Source Software; you may modify and/or share it under the terms of
  * the 3-Clause BSD License found in the root directory of this project.
  */

src/main/java/tagalong/commands/aim/PivotAimAtYawCompCmd.java

@@ -1,5 +1,5 @@
 /**
- * Copyright 2024 The Space Cookies : Girl Scout Troop #62868 and FRC Team #1868
+ * Copyright 2024-2026 The Space Cookies : Girl Scout Troop #62868 and FRC Team #1868
  * Open Source Software; you may modify and/or share it under the terms of
  * the 3-Clause BSD License found in the root directory of this project.
  */

src/main/java/tagalong/commands/aim/RollerAimAtCmd.java

@@ -1,5 +1,5 @@
 /**
- * Copyright 2024 The Space Cookies : Girl Scout Troop #62868 and FRC Team #1868
+ * Copyright 2024-2026 The Space Cookies : Girl Scout Troop #62868 and FRC Team #1868
  * Open Source Software; you may modify and/or share it under the terms of
  * the 3-Clause BSD License found in the root directory of this project.
  */

src/main/java/tagalong/commands/aim/RollerAimAtYawCompCmd.java

@@ -1,5 +1,5 @@
 /**
- * Copyright 2024 The Space Cookies : Girl Scout Troop #62868 and FRC Team #1868
+ * Copyright 2024-2026 The Space Cookies : Girl Scout Troop #62868 and FRC Team #1868
  * Open Source Software; you may modify and/or share it under the terms of
  * the 3-Clause BSD License found in the root directory of this project.
  */

src/main/java/tagalong/commands/base/ElevateToCmd.java

@@ -1,5 +1,5 @@
 /**
- * Copyright 2024 The Space Cookies : Girl Scout Troop #62868 and FRC Team #1868
+ * Copyright 2024-2026 The Space Cookies : Girl Scout Troop #62868 and FRC Team #1868
  * Open Source Software; you may modify and/or share it under the terms of
  * the 3-Clause BSD License found in the root directory of this project.
  */

src/main/java/tagalong/commands/base/ElevateToDynamicCmd.java

@@ -1,5 +1,5 @@
 /**
- * Copyright 2024 The Space Cookies : Girl Scout Troop #62868 and FRC Team #1868
+ * Copyright 2024-2026 The Space Cookies : Girl Scout Troop #62868 and FRC Team #1868
  * Open Source Software; you may modify and/or share it under the terms of
  * the 3-Clause BSD License found in the root directory of this project.
  */

src/main/java/tagalong/commands/base/ElevateXCmd.java

@@ -1,5 +1,5 @@
 /**
- * Copyright 2024 The Space Cookies : Girl Scout Troop #62868 and FRC Team #1868
+ * Copyright 2024-2026 The Space Cookies : Girl Scout Troop #62868 and FRC Team #1868
  * Open Source Software; you may modify and/or share it under the terms of
  * the 3-Clause BSD License found in the root directory of this project.
  */

src/main/java/tagalong/commands/base/ElevatorZeroCmd.java

@@ -1,5 +1,5 @@
 /**
- * Copyright 2024 The Space Cookies : Girl Scout Troop #62868 and FRC Team #1868
+ * Copyright 2024-2026 The Space Cookies : Girl Scout Troop #62868 and FRC Team #1868
  * Open Source Software; you may modify and/or share it under the terms of
  * the 3-Clause BSD License found in the root directory of this project.
  */

src/main/java/tagalong/commands/base/PivotToAbsoluteCmd.java

@@ -1,5 +1,5 @@
 /**
- * Copyright 2024 The Space Cookies : Girl Scout Troop #62868 and FRC Team #1868
+ * Copyright 2024-2026 The Space Cookies : Girl Scout Troop #62868 and FRC Team #1868
  * Open Source Software; you may modify and/or share it under the terms of
  * the 3-Clause BSD License found in the root directory of this project.
  */

src/main/java/tagalong/commands/base/PivotToCmd.java

@@ -1,5 +1,5 @@
 /**
- * Copyright 2024 The Space Cookies : Girl Scout Troop #62868 and FRC Team #1868
+ * Copyright 2024-2026 The Space Cookies : Girl Scout Troop #62868 and FRC Team #1868
  * Open Source Software; you may modify and/or share it under the terms of
  * the 3-Clause BSD License found in the root directory of this project.
  */
@@ -374,12 +374,12 @@ public PivotToCmd(
    *                                     command
    * @param maxAccelerationRPS2          The maximum acceleration of the pivot, in rotations per
    *                                     second squared, during this command
-   * @param upperToleranceRot            The number of rotations beyond the target
-   *                                     position the pivot can be
-   *                                     while still being considered in tolerance
    * @param lowerToleranceRot            The number of rotations short of the
    *                                     target position the pivot can be
    *                                     while still being considered in tolerance
+   * @param upperToleranceRot            The number of rotations beyond the target
+   *                                     position the pivot can be
+   *                                     while still being considered in tolerance
    * @param requiredInToleranceDurationS The number of seconds that being in
    *                                     tolerance is required for
    */
@@ -512,6 +512,8 @@ public PivotToCmd(
    * @param maxVelocityRPS               The maximum velocity of the pivot, in
    *                                     rotations per second, during this
    *                                     command
+   * @param maxAccelerationRPS2          The maximum acceleration of the pivot, in rotations per
+   *                                     second squared, during this command
    * @param lowerToleranceRot            The number of rotations short of the
    *                                     target position the pivot can be
    *                                     while still being considered in tolerance

src/main/java/tagalong/commands/base/PivotToDynamicAbsoluteCmd.java

@@ -1,5 +1,5 @@
 /**
- * Copyright 2024 The Space Cookies : Girl Scout Troop #62868 and FRC Team #1868
+ * Copyright 2024-2026 The Space Cookies : Girl Scout Troop #62868 and FRC Team #1868
  * Open Source Software; you may modify and/or share it under the terms of
  * the 3-Clause BSD License found in the root directory of this project.
  */

src/main/java/tagalong/commands/base/PivotToDynamicCmd.java

@@ -1,5 +1,5 @@
 /**
- * Copyright 2024 The Space Cookies : Girl Scout Troop #62868 and FRC Team #1868
+ * Copyright 2024-2026 The Space Cookies : Girl Scout Troop #62868 and FRC Team #1868
  * Open Source Software; you may modify and/or share it under the terms of
  * the 3-Clause BSD License found in the root directory of this project.
  */

src/main/java/tagalong/commands/base/PivotXCmd.java

@@ -1,5 +1,5 @@
 /**
- * Copyright 2024 The Space Cookies : Girl Scout Troop #62868 and FRC Team #1868
+ * Copyright 2024-2026 The Space Cookies : Girl Scout Troop #62868 and FRC Team #1868
  * Open Source Software; you may modify and/or share it under the terms of
  * the 3-Clause BSD License found in the root directory of this project.
  */

src/main/java/tagalong/commands/base/RollToCmd.java

@@ -1,5 +1,5 @@
 /**
- * Copyright 2024 The Space Cookies : Girl Scout Troop #62868 and FRC Team #1868
+ * Copyright 2024-2026 The Space Cookies : Girl Scout Troop #62868 and FRC Team #1868
  * Open Source Software; you may modify and/or share it under the terms of
  * the 3-Clause BSD License found in the root directory of this project.
  */

src/main/java/tagalong/commands/base/RollToDynamicCmd.java

@@ -1,5 +1,5 @@
 /**
- * Copyright 2024 The Space Cookies : Girl Scout Troop #62868 and FRC Team #1868
+ * Copyright 2024-2026 The Space Cookies : Girl Scout Troop #62868 and FRC Team #1868
  * Open Source Software; you may modify and/or share it under the terms of
  * the 3-Clause BSD License found in the root directory of this project.
  */

src/main/java/tagalong/commands/base/RollXCmd.java

@@ -1,5 +1,5 @@
 /**
- * Copyright 2024 The Space Cookies : Girl Scout Troop #62868 and FRC Team #1868
+ * Copyright 2024-2026 The Space Cookies : Girl Scout Troop #62868 and FRC Team #1868
  * Open Source Software; you may modify and/or share it under the terms of
  * the 3-Clause BSD License found in the root directory of this project.
  */

src/main/java/tagalong/controls/FeedforwardConstants.java

@@ -1,5 +1,5 @@
 /**
- * Copyright 2024 The Space Cookies : Girl Scout Troop #62868 and FRC Team #1868
+ * Copyright 2024-2026 The Space Cookies : Girl Scout Troop #62868 and FRC Team #1868
  * Open Source Software; you may modify and/or share it under the terms of
  * the 3-Clause BSD License found in the root directory of this project.
  */

src/main/java/tagalong/controls/PIDConstants.java

@@ -1,5 +1,5 @@
 /**
- * Copyright 2024 The Space Cookies : Girl Scout Troop #62868 and FRC Team #1868
+ * Copyright 2024-2026 The Space Cookies : Girl Scout Troop #62868 and FRC Team #1868
  * Open Source Software; you may modify and/or share it under the terms of
  * the 3-Clause BSD License found in the root directory of this project.
  */

src/main/java/tagalong/controls/PIDSGVAConstants.java

@@ -1,5 +1,5 @@
 /**
- * Copyright 2024 The Space Cookies : Girl Scout Troop #62868 and FRC Team #1868
+ * Copyright 2024-2026 The Space Cookies : Girl Scout Troop #62868 and FRC Team #1868
  * Open Source Software; you may modify and/or share it under the terms of
  * the 3-Clause BSD License found in the root directory of this project.
  */

src/main/java/tagalong/devices/CanDeviceInterface.java

@@ -1,5 +1,5 @@
 /**
- * Copyright 2024 The Space Cookies : Girl Scout Troop #62868 and FRC Team #1868
+ * Copyright 2024-2026 The Space Cookies : Girl Scout Troop #62868 and FRC Team #1868
  * Open Source Software; you may modify and/or share it under the terms of
  * the 3-Clause BSD License found in the root directory of this project.
  */

src/main/java/tagalong/devices/Encoders.java

@@ -1,5 +1,5 @@
 /**
- * Copyright 2024 The Space Cookies : Girl Scout Troop #62868 and FRC Team #1868
+ * Copyright 2024-2026 The Space Cookies : Girl Scout Troop #62868 and FRC Team #1868
  * Open Source Software; you may modify and/or share it under the terms of
  * the 3-Clause BSD License found in the root directory of this project.
  */

src/main/java/tagalong/devices/Motors.java

@@ -1,5 +1,5 @@
 /**
- * Copyright 2024 The Space Cookies : Girl Scout Troop #62868 and FRC Team #1868
+ * Copyright 2024-2026 The Space Cookies : Girl Scout Troop #62868 and FRC Team #1868
  * Open Source Software; you may modify and/or share it under the terms of
  * the 3-Clause BSD License found in the root directory of this project.
  */
@@ -36,14 +36,12 @@ public enum Motors implements CanDeviceInterface {
   FALCON500_FOC(6080, DCMotor::getFalcon500),
   /**
    * Kraken X44
-   * FUTURE DEV: Waiting for motor specifications v2025
    */
-  KRAKEN_X44(1, DCMotor::getKrakenX60),
+  KRAKEN_X44(7758, DCMotor::getKrakenX44),
   /**
-   * Kraken X44 in FOC mode -- RPM WAITING FOR SPEC
-   * FUTURE DEV: Waiting for motor specifications v2025
+   * Kraken X44 in FOC mode
    */
-  KRAKEN_X44_FOC(1, DCMotor::getKrakenX60Foc);
+  KRAKEN_X44_FOC(7368, DCMotor::getKrakenX44Foc);
 
   /**
    * Max free speed RPM and converted RPS of the motor

src/main/java/tagalong/devices/TagalongCANBus.java

@@ -0,0 +1,38 @@
+package tagalong.devices;
+
+import com.ctre.phoenix6.CANBus;
+import java.util.Map;
+
+/**
+ * Tagalong CANBus manager instance manager, only CTRE devices are currently registered or supported
+ */
+public class TagalongCANBus {
+  /**
+   * Map of all instances with a CTRE device registered to them
+   */
+  private static final Map<String, CANBus> _ctreCANBus = Map.of();
+
+  /**
+   * Gets or registers a CTRE CANBus instance with the given name
+   *
+   * @param canBusName Name of the CANBus
+   * @return CTRE CANBus instance
+   */
+  public static CANBus getOrRegisterPhoenixCANBus(String canBusName) {
+    CANBus bus = _ctreCANBus.get(canBusName);
+    if (bus == null) {
+      bus = new CANBus(canBusName);
+      _ctreCANBus.put(canBusName, bus);
+    }
+    return bus;
+  }
+
+  /**
+   * Gets the map of all registered CTRE CANBus instances
+   *
+   * @return Map of CANBus instances
+   */
+  public static Map<String, CANBus> getPhoenixCANBusMap() {
+    return _ctreCANBus;
+  }
+}

src/main/java/tagalong/logging/ElevatorIOInputsAutoLogged.java

@@ -12,10 +12,10 @@ public class ElevatorIOInputsAutoLogged
     extends ElevatorIO.ElevatorIOInputs implements LoggableInputs, Cloneable {
   @Override
   public void toLog(LogTable table) {
-    table.put("ElevatorHeightM", elevatorHeightM);
-    table.put("ElevatorVelocityMPS", elevatorVelocityMPS);
-    table.put("ElevatorAppliedVolts", elevatorAppliedVolts);
-    table.put("ElevatorCurrentAmps", elevatorCurrentAmps);
+    table.put("ElevatorHeightM", elevatorHeightM, "meters");
+    table.put("ElevatorVelocityMPS", elevatorVelocityMPS, "meters/second");
+    table.put("ElevatorAppliedVolts", elevatorAppliedVolts, "volts");
+    table.put("ElevatorCurrentAmps", elevatorCurrentAmps, "amps");
   }
 
   @Override

src/main/java/tagalong/logging/PivotIOInputsAutoLogged.java

@@ -12,10 +12,10 @@ public class PivotIOInputsAutoLogged
     extends PivotIO.PivotIOInputs implements LoggableInputs, Cloneable {
   @Override
   public void toLog(LogTable table) {
-    table.put("PivotPositionRot", pivotPositionRot);
-    table.put("PivotVelocityRPS", pivotVelocityRPS);
-    table.put("PivotAppliedVolts", pivotAppliedVolts);
-    table.put("PivotCurrentAmps", pivotCurrentAmps);
+    table.put("PivotPositionRot", pivotPositionRot, "rotations");
+    table.put("PivotVelocityRPS", pivotVelocityRPS, "rotations/second");
+    table.put("PivotAppliedVolts", pivotAppliedVolts, "volts");
+    table.put("PivotCurrentAmps", pivotCurrentAmps, "amps");
   }
 
   @Override

src/main/java/tagalong/logging/RollerIOInputsAutoLogged.java

@@ -12,10 +12,10 @@ public class RollerIOInputsAutoLogged
     extends RollerIO.RollerIOInputs implements LoggableInputs, Cloneable {
   @Override
   public void toLog(LogTable table) {
-    table.put("RollerPositionRot", rollerPositionRot);
-    table.put("RollerVelocityRPS", rollerVelocityRPS);
-    table.put("RollerAppliedVolts", rollerAppliedVolts);
-    table.put("RollerCurrentAmps", rollerCurrentAmps);
+    table.put("RollerPositionRot", rollerPositionRot, "rotations");
+    table.put("RollerVelocityRPS", rollerVelocityRPS, "rotations/second");
+    table.put("RollerAppliedVolts", rollerAppliedVolts, "volts");
+    table.put("RollerCurrentAmps", rollerCurrentAmps, "amps");
   }
 
   @Override

src/main/java/tagalong/math/AlgebraicUtils.java

@@ -1,5 +1,5 @@
 /**
- * Copyright 2024 The Space Cookies : Girl Scout Troop #62868 and FRC Team #1868
+ * Copyright 2024-2026 The Space Cookies : Girl Scout Troop #62868 and FRC Team #1868
  * Open Source Software; you may modify and/or share it under the terms of
  * the 3-Clause BSD License found in the root directory of this project.
  */

src/main/java/tagalong/math/GeometricUtils.java

@@ -1,5 +1,5 @@
 /**
- * Copyright 2024 The Space Cookies : Girl Scout Troop #62868 and FRC Team #1868
+ * Copyright 2024-2026 The Space Cookies : Girl Scout Troop #62868 and FRC Team #1868
  * Open Source Software; you may modify and/or share it under the terms of
  * the 3-Clause BSD License found in the root directory of this project.
  */

src/main/java/tagalong/math/LinearizedLookupTable.java

@@ -1,5 +1,5 @@
 /**
- * Copyright 2024 The Space Cookies : Girl Scout Troop #62868 and FRC Team #1868
+ * Copyright 2024-2026 The Space Cookies : Girl Scout Troop #62868 and FRC Team #1868
  * Open Source Software; you may modify and/or share it under the terms of
  * the 3-Clause BSD License found in the root directory of this project.
  */

src/main/java/tagalong/measurements/AlliancePose2d.java

@@ -1,5 +1,5 @@
 /**
- * Copyright 2024 The Space Cookies : Girl Scout Troop #62868 and FRC Team #1868
+ * Copyright 2024-2026 The Space Cookies : Girl Scout Troop #62868 and FRC Team #1868
  * Open Source Software; you may modify and/or share it under the terms of
  * the 3-Clause BSD License found in the root directory of this project.
  */

src/main/java/tagalong/measurements/AlliancePose3d.java

@@ -1,5 +1,5 @@
 /**
- * Copyright 2024 The Space Cookies : Girl Scout Troop #62868 and FRC Team #1868
+ * Copyright 2024-2026 The Space Cookies : Girl Scout Troop #62868 and FRC Team #1868
  * Open Source Software; you may modify and/or share it under the terms of
  * the 3-Clause BSD License found in the root directory of this project.
  */

src/main/java/tagalong/measurements/AllianceTranslation2d.java

@@ -1,5 +1,5 @@
 /**
- * Copyright 2024 The Space Cookies : Girl Scout Troop #62868 and FRC Team #1868
+ * Copyright 2024-2026 The Space Cookies : Girl Scout Troop #62868 and FRC Team #1868
  * Open Source Software; you may modify and/or share it under the terms of
  * the 3-Clause BSD License found in the root directory of this project.
  */

src/main/java/tagalong/measurements/Angle.java

@@ -1,5 +1,5 @@
 /**
- * Copyright 2024 The Space Cookies : Girl Scout Troop #62868 and FRC Team #1868
+ * Copyright 2024-2026 The Space Cookies : Girl Scout Troop #62868 and FRC Team #1868
  * Open Source Software; you may modify and/or share it under the terms of
  * the 3-Clause BSD License found in the root directory of this project.
  */