From 9bebc0a7d60ee5ed5ebc3fff33c866448165976d Mon Sep 17 00:00:00 2001 From: Shikhar Date: Sat, 21 Feb 2026 10:34:34 -0700 Subject: [PATCH] 2024: The revival! --- .wpilib/wpilib_preferences.json | 2 +- build.gradle | 2 +- settings.gradle | 2 +- src/main/java/frc4388/robot/Constants.java | 10 +- .../java/frc4388/robot/RobotContainer.java | 15 +++ .../frc4388/robot/subsystems/Climber.java | 6 +- .../frc4388/robot/subsystems/DiffDrive.java | 5 +- .../java/frc4388/robot/subsystems/Intake.java | 2 +- .../frc4388/robot/subsystems/Shooter.java | 2 +- .../frc4388/robot/subsystems/SwerveDrive.java | 15 ++- .../robot/subsystems/SwerveModule.java | 13 ++- src/main/java/frc4388/utility/RobotGyro.java | 17 ++-- vendordeps/NavX.json | 2 +- ...enix5-5.35.1.json => Phoenix5-5.36.0.json} | 36 +++---- ...c2025-latest.json => Phoenix6-26.1.1.json} | 98 +++++++------------ vendordeps/WPILibNewCommands.json | 2 +- 16 files changed, 113 insertions(+), 116 deletions(-) rename vendordeps/{Phoenix5-5.35.1.json => Phoenix5-5.36.0.json} (87%) rename vendordeps/{Phoenix6-frc2025-latest.json => Phoenix6-26.1.1.json} (85%) diff --git a/.wpilib/wpilib_preferences.json b/.wpilib/wpilib_preferences.json index 60cf2c2..874ef02 100644 --- a/.wpilib/wpilib_preferences.json +++ b/.wpilib/wpilib_preferences.json @@ -1,6 +1,6 @@ { "enableCppIntellisense": false, "currentLanguage": "java", - "projectYear": "2025", + "projectYear": "2026", "teamNumber": 4388 } \ No newline at end of file diff --git a/build.gradle b/build.gradle index 9638f90..a185742 100644 --- a/build.gradle +++ b/build.gradle @@ -1,6 +1,6 @@ plugins { id "java" - id "edu.wpi.first.GradleRIO" version "2024.3.2" + id "edu.wpi.first.GradleRIO" version "2026.1.1" } java { diff --git a/settings.gradle b/settings.gradle index d94f73c..486702a 100644 --- a/settings.gradle +++ b/settings.gradle @@ -4,7 +4,7 @@ pluginManagement { repositories { mavenLocal() gradlePluginPortal() - String frcYear = '2024' + String frcYear = '2026' File frcHome if (OperatingSystem.current().isWindows()) { String publicFolder = System.getenv('PUBLIC') diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java index 7027b5e..47fab42 100644 --- a/src/main/java/frc4388/robot/Constants.java +++ b/src/main/java/frc4388/robot/Constants.java @@ -23,9 +23,9 @@ import frc4388.utility.LEDPatterns; public final class Constants { public static final class SwerveDriveConstants { - public static final double MAX_ROT_SPEED = 3.5; + public static final double MAX_ROT_SPEED = 7.; public static final double AUTO_MAX_ROT_SPEED = 1.5; - public static final double MIN_ROT_SPEED = 1.0; + public static final double MIN_ROT_SPEED = 4.5; public static double ROTATION_SPEED = MAX_ROT_SPEED; public static double PLAYBACK_ROTATION_SPEED = AUTO_MAX_ROT_SPEED; public static double ROT_CORRECTION_SPEED = 10; // MIN_ROT_SPEED; @@ -42,9 +42,9 @@ public final class Constants { public static final double TURBO_SPEED = 1.0; public static final class DefaultSwerveRotOffsets { - public static final double FRONT_LEFT_ROT_OFFSET = 0.36962890625 + 0.5; - public static final double FRONT_RIGHT_ROT_OFFSET = 0.61474609375 + 0.5; - public static final double BACK_LEFT_ROT_OFFSET = -0.227294921875 + 0.5; + public static final double FRONT_LEFT_ROT_OFFSET = 0.36962890625 + 0.75 + 0.0103; + public static final double FRONT_RIGHT_ROT_OFFSET = 0.61474609375 + 0.25 + 0.013475; + public static final double BACK_LEFT_ROT_OFFSET = -0.227294921875 + 0.5 ; public static final double BACK_RIGHT_ROT_OFFSET = 0.60595703125 + 0.5; } diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index 10caf89..239391c 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -10,6 +10,8 @@ package frc4388.robot; // Drive Systems import edu.wpi.first.wpilibj.DriverStation; import edu.wpi.first.cameraserver.CameraServer; +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.geometry.Translation2d; import edu.wpi.first.wpilibj.GenericHID; import frc4388.utility.controller.XboxController; import frc4388.utility.controller.DeadbandedXboxController; @@ -192,6 +194,19 @@ public class RobotContainer { new Trigger(() -> getDeadbandedDriverController().getPOV() == 90) .onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftUpRot())); + + + // Fine Alignment + // new Trigger(() -> getDeadbandedDriverController().getPOV() != -1) + // .whileTrue(new RunCommand( + // () -> m_robotSwerveDrive.driveWithInput( + // new Translation2d(1., Rotation2d.fromDegrees(getDeadbandedDriverController().getPOV())), + // new Translation2d(), + // false + // ), m_robotSwerveDrive + // )) + // .onFalse(new InstantCommand(() -> m_robotSwerveDrive.stopModules(), m_robotSwerveDrive)); + // ? /* Operator Buttons */ DualJoystickButton(getDeadbandedOperatorController(), getVirtualOperatorController(), XboxController.Y_BUTTON) diff --git a/src/main/java/frc4388/robot/subsystems/Climber.java b/src/main/java/frc4388/robot/subsystems/Climber.java index 5ed1472..4067071 100644 --- a/src/main/java/frc4388/robot/subsystems/Climber.java +++ b/src/main/java/frc4388/robot/subsystems/Climber.java @@ -5,6 +5,7 @@ package frc4388.robot.subsystems; import com.ctre.phoenix6.configs.Slot0Configs; +import com.ctre.phoenix6.configs.TalonFXConfiguration; import com.ctre.phoenix6.controls.PositionVoltage; import com.ctre.phoenix6.hardware.TalonFX; import com.ctre.phoenix6.signals.NeutralModeValue; @@ -20,7 +21,6 @@ public class Climber extends SubsystemBase { public Climber(TalonFX climbMotor) { this.climbMotor = climbMotor; - this.climbMotor.setInverted(true); climbMotor.setNeutralMode(NeutralModeValue.Brake); @@ -36,13 +36,13 @@ public class Climber extends SubsystemBase { //PositionVoltage request = new PositionVoltage(0); //climbMotor.setControl(request.withPosition(-520)); - climbMotor.set(ClimbConstants.CLIMB_OUT_SPEED); + climbMotor.set(-ClimbConstants.CLIMB_OUT_SPEED); } public void climbIn() { //PositionVoltage request = new PositionVoltage(-520); //climbMotor.setControl(request.withPosition(0)); - climbMotor.set(ClimbConstants.CLIMB_IN_SPEED); + climbMotor.set(-ClimbConstants.CLIMB_IN_SPEED); } public void stopClimb() { diff --git a/src/main/java/frc4388/robot/subsystems/DiffDrive.java b/src/main/java/frc4388/robot/subsystems/DiffDrive.java index 91de2e9..f636a77 100644 --- a/src/main/java/frc4388/robot/subsystems/DiffDrive.java +++ b/src/main/java/frc4388/robot/subsystems/DiffDrive.java @@ -9,6 +9,7 @@ package frc4388.robot.subsystems; import com.ctre.phoenix6.controls.Follower; import com.ctre.phoenix6.hardware.TalonFX; +import com.ctre.phoenix6.signals.MotorAlignmentValue; import edu.wpi.first.wpilibj.drive.DifferentialDrive; import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; @@ -44,8 +45,8 @@ public class DiffDrive extends SubsystemBase { m_rightFrontMotor = rightFrontMotor; m_leftBackMotor = leftBackMotor; m_rightBackMotor = rightBackMotor; - m_leftBackMotor .setControl(new Follower(m_leftFrontMotor.getDeviceID(), false)); - m_rightBackMotor.setControl(new Follower(m_rightBackMotor.getDeviceID(), false)); + m_leftBackMotor .setControl(new Follower(m_leftFrontMotor.getDeviceID(), MotorAlignmentValue.Aligned)); + m_rightBackMotor.setControl(new Follower(m_rightBackMotor.getDeviceID(), MotorAlignmentValue.Aligned)); m_driveTrain = driveTrain; m_gyro = gyro; } diff --git a/src/main/java/frc4388/robot/subsystems/Intake.java b/src/main/java/frc4388/robot/subsystems/Intake.java index 273ab13..e87a67b 100644 --- a/src/main/java/frc4388/robot/subsystems/Intake.java +++ b/src/main/java/frc4388/robot/subsystems/Intake.java @@ -79,7 +79,7 @@ public class Intake extends SubsystemBase { public void stopArmMotor() { pivotMotor.set(0); } -j + public void stop() { intakeMotor.set(0); pivotMotor.set(0); diff --git a/src/main/java/frc4388/robot/subsystems/Shooter.java b/src/main/java/frc4388/robot/subsystems/Shooter.java index fb80e19..f45f477 100644 --- a/src/main/java/frc4388/robot/subsystems/Shooter.java +++ b/src/main/java/frc4388/robot/subsystems/Shooter.java @@ -85,7 +85,7 @@ public class Shooter extends SubsystemBase { spinMode = 0; } - public void idle() { + public void set_idle() { spin(ShooterConstants.SHOOTER_IDLE); spinMode = 1; } diff --git a/src/main/java/frc4388/robot/subsystems/SwerveDrive.java b/src/main/java/frc4388/robot/subsystems/SwerveDrive.java index bd35742..cc08f60 100644 --- a/src/main/java/frc4388/robot/subsystems/SwerveDrive.java +++ b/src/main/java/frc4388/robot/subsystems/SwerveDrive.java @@ -27,8 +27,8 @@ public class SwerveDrive extends SubsystemBase { private SwerveModule[] modules; - private Translation2d leftFrontLocation = new Translation2d(Units.inchesToMeters(SwerveDriveConstants.HALF_HEIGHT), Units.inchesToMeters(SwerveDriveConstants.HALF_WIDTH)); - private Translation2d rightFrontLocation = new Translation2d(-Units.inchesToMeters(SwerveDriveConstants.HALF_HEIGHT), Units.inchesToMeters(SwerveDriveConstants.HALF_WIDTH)); + private Translation2d leftFrontLocation = new Translation2d(-Units.inchesToMeters(SwerveDriveConstants.HALF_HEIGHT), Units.inchesToMeters(SwerveDriveConstants.HALF_WIDTH)); + private Translation2d rightFrontLocation = new Translation2d(Units.inchesToMeters(SwerveDriveConstants.HALF_HEIGHT), Units.inchesToMeters(SwerveDriveConstants.HALF_WIDTH)); private Translation2d leftBackLocation = new Translation2d(Units.inchesToMeters(SwerveDriveConstants.HALF_HEIGHT), -Units.inchesToMeters(SwerveDriveConstants.HALF_WIDTH)); private Translation2d rightBackLocation = new Translation2d(-Units.inchesToMeters(SwerveDriveConstants.HALF_HEIGHT), -Units.inchesToMeters(SwerveDriveConstants.HALF_WIDTH)); @@ -136,7 +136,8 @@ public class SwerveDrive extends SubsystemBase { } // Use the left joystick to set speed. Apply a cubic curve and the set max speed. - Translation2d speed = leftStick.times(leftStick.getNorm() * autoSpeedAdjust); + Translation2d speed = leftStick.times(leftStick. + getNorm() * autoSpeedAdjust); // Translation2d cubedSpeed = new Translation2d(Math.pow(speed.getX(), 3.00), Math.pow(speed.getY(), 3.00)); // Convert field-relative speeds to robot-relative speeds. @@ -173,9 +174,13 @@ public class SwerveDrive extends SubsystemBase { Translation2d speed = leftStick.times(leftStick.getNorm() * speedAdjust); - chassisSpeeds = ChassisSpeeds.fromFieldRelativeSpeeds(-1 * speed.getX(), -1 * speed.getY(), ((-1 * rightStick.getX()) * SwerveDriveConstants.ROTATION_SPEED) + rot_correction, gyro.getRotation2d()).times(1); + chassisSpeeds = ChassisSpeeds.fromFieldRelativeSpeeds( + -1 * speed.getX(), -1 * speed.getY(), + ((-1 * rightStick.getX()) * SwerveDriveConstants.ROTATION_SPEED) + rot_correction, gyro.getRotation2d()).times(1); } else { // Create robot-relative speeds. - chassisSpeeds = new ChassisSpeeds(-1 * leftStick.getX(), -1 * leftStick.getY(), -1 * rightStick.getX() * SwerveDriveConstants.ROTATION_SPEED); + chassisSpeeds = new ChassisSpeeds( + -1 * leftStick.getX(), -1 * leftStick.getY(), + -1 * rightStick.getX() * SwerveDriveConstants.ROTATION_SPEED); } // setModuleStates(kinematics.toSwerveModuleStates(chassisSpeeds)); } diff --git a/src/main/java/frc4388/robot/subsystems/SwerveModule.java b/src/main/java/frc4388/robot/subsystems/SwerveModule.java index 8460a79..cb1277c 100644 --- a/src/main/java/frc4388/robot/subsystems/SwerveModule.java +++ b/src/main/java/frc4388/robot/subsystems/SwerveModule.java @@ -4,6 +4,9 @@ package frc4388.robot.subsystems; +import static edu.wpi.first.units.Units.Amps; +import static edu.wpi.first.units.Units.Degrees; + import com.ctre.phoenix6.StatusSignal; import com.ctre.phoenix6.Utils; import com.ctre.phoenix6.configs.CANcoderConfiguration; @@ -52,7 +55,7 @@ public class SwerveModule extends SubsystemBase { this.angleMotor = angleMotor; this.encoder = encoder; - var motorCfg = new TalonFXConfiguration() + TalonFXConfiguration motorCfg = new TalonFXConfiguration() .withOpenLoopRamps( new OpenLoopRampsConfigs() .withDutyCycleOpenLoopRampPeriod(SwerveDriveConstants.Configurations.OPEN_LOOP_RAMP_RATE) @@ -65,10 +68,10 @@ public class SwerveModule extends SubsystemBase { .withDutyCycleNeutralDeadband(SwerveDriveConstants.Configurations.NEUTRAL_DEADBAND) ).withCurrentLimits( new CurrentLimitsConfigs() - .withStatorCurrentLimit(100) + .withStatorCurrentLimit(70.) .withStatorCurrentLimitEnable(true) - .withSupplyCurrentLimit(100) - .withSupplyCurrentLimitEnable(true) + // .withSupplyCurrentLimit(100.) + // .withSupplyCurrentLimitEnable(true) ); driveMotor.getConfigurator().apply(motorCfg); @@ -150,7 +153,7 @@ public class SwerveModule extends SubsystemBase { public Rotation2d getAngle() { // * Note: This assumes that the CANCoders are setup with the default feedback coefficient and the sensor value reports degrees. // return Rotation2d.fromDegrees(encoder.getAbsolutePosition()); - return Rotation2d.fromRotations(encoder.getPosition().getValue().baseUnitMagnitude()); + return Rotation2d.fromDegrees(encoder.getPosition().getValue().in(Degrees)); } public double getAngularVel() { diff --git a/src/main/java/frc4388/utility/RobotGyro.java b/src/main/java/frc4388/utility/RobotGyro.java index 966d2e0..d00adc2 100644 --- a/src/main/java/frc4388/utility/RobotGyro.java +++ b/src/main/java/frc4388/utility/RobotGyro.java @@ -7,6 +7,9 @@ package frc4388.utility; +import static edu.wpi.first.units.Units.Degrees; +import static edu.wpi.first.units.Units.Radians; + // import com.ctre.phoenix.sensors.WPI_Pigeon2; import com.ctre.phoenix6.hardware.Pigeon2; import com.kauailabs.navx.frc.AHRS; @@ -99,7 +102,7 @@ public class RobotGyro { resetZeroValues(); if (m_isGyroAPigeon) { - m_pigeon.setYaw(0); + m_pigeon.setYaw(0.); } else { m_navX.reset(); } @@ -121,7 +124,7 @@ public class RobotGyro { resetZeroValues(); if (m_isGyroAPigeon) { - m_pigeon.setYaw(180); + m_pigeon.setYaw(180.); } else { m_navX.reset(); } @@ -132,7 +135,7 @@ public class RobotGyro { resetZeroValues(); if (m_isGyroAPigeon) { - m_pigeon.setYaw(90); + m_pigeon.setYaw(90.); } else { m_navX.reset(); } @@ -143,7 +146,7 @@ public class RobotGyro { resetZeroValues(); if (m_isGyroAPigeon) { - m_pigeon.setYaw(270); + m_pigeon.setYaw(270.); } else { m_navX.reset(); } @@ -154,7 +157,7 @@ public class RobotGyro { resetZeroValues(); if (m_isGyroAPigeon) { - m_pigeon.setYaw(60); + m_pigeon.setYaw(60.); } else { m_navX.reset(); } @@ -165,7 +168,7 @@ public class RobotGyro { resetZeroValues(); if (m_isGyroAPigeon) { - m_pigeon.setYaw(-60); + m_pigeon.setYaw(-60.); } else { m_navX.reset(); } @@ -181,7 +184,7 @@ public class RobotGyro { * Roll is within [-90,+90] degrees. */ private double[] getPigeonAngles() { - m_pigeon.getAngle(); + // m_pigeon.getYaw().getValue().in(Radians); var rotation = m_pigeon.getRotation3d(); return new double[] {RobotUnits.radiansToDegrees(rotation.getX() - rollZero), RobotUnits.radiansToDegrees(rotation.getY() - pitchZero), RobotUnits.radiansToDegrees(rotation.getZ())}; diff --git a/vendordeps/NavX.json b/vendordeps/NavX.json index e01bab1..ae86379 100644 --- a/vendordeps/NavX.json +++ b/vendordeps/NavX.json @@ -3,7 +3,7 @@ "name": "NavX", "version": "2024.1.0", "uuid": "cb311d09-36e9-4143-a032-55bb2b94443b", - "frcYear": "2025", + "frcYear": "2026", "mavenUrls": [ "https://dev.studica.com/maven/release/2024/" ], diff --git a/vendordeps/Phoenix5-5.35.1.json b/vendordeps/Phoenix5-5.36.0.json similarity index 87% rename from vendordeps/Phoenix5-5.35.1.json rename to vendordeps/Phoenix5-5.36.0.json index 69df8b5..9a27e47 100644 --- a/vendordeps/Phoenix5-5.35.1.json +++ b/vendordeps/Phoenix5-5.36.0.json @@ -1,50 +1,50 @@ { - "fileName": "Phoenix5-5.35.1.json", + "fileName": "Phoenix5-5.36.0.json", "name": "CTRE-Phoenix (v5)", - "version": "5.35.1", - "frcYear": "2025", + "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-frc2025-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-frc2025-latest.json", - "onlineUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2025-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-frc2025-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-frc2025-latest.json" + "offlineFileName": "Phoenix5-replay-frc2026-latest.json" } ], "javaDependencies": [ { "groupId": "com.ctre.phoenix", "artifactId": "api-java", - "version": "5.35.1" + "version": "5.36.0" }, { "groupId": "com.ctre.phoenix", "artifactId": "wpiapi-java", - "version": "5.35.1" + "version": "5.36.0" } ], "jniDependencies": [ { "groupId": "com.ctre.phoenix", "artifactId": "cci", - "version": "5.35.1", + "version": "5.36.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -58,7 +58,7 @@ { "groupId": "com.ctre.phoenix.sim", "artifactId": "cci-sim", - "version": "5.35.1", + "version": "5.36.0", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -74,7 +74,7 @@ { "groupId": "com.ctre.phoenix", "artifactId": "wpiapi-cpp", - "version": "5.35.1", + "version": "5.36.0", "libName": "CTRE_Phoenix_WPI", "headerClassifier": "headers", "sharedLibrary": true, @@ -90,7 +90,7 @@ { "groupId": "com.ctre.phoenix", "artifactId": "api-cpp", - "version": "5.35.1", + "version": "5.36.0", "libName": "CTRE_Phoenix", "headerClassifier": "headers", "sharedLibrary": true, @@ -106,7 +106,7 @@ { "groupId": "com.ctre.phoenix", "artifactId": "cci", - "version": "5.35.1", + "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": "5.35.1", + "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": "5.35.1", + "version": "5.36.0", "libName": "CTRE_PhoenixSim", "headerClassifier": "headers", "sharedLibrary": true, @@ -154,7 +154,7 @@ { "groupId": "com.ctre.phoenix.sim", "artifactId": "cci-sim", - "version": "5.35.1", + "version": "5.36.0", "libName": "CTRE_PhoenixCCISim", "headerClassifier": "headers", "sharedLibrary": true, diff --git a/vendordeps/Phoenix6-frc2025-latest.json b/vendordeps/Phoenix6-26.1.1.json similarity index 85% rename from vendordeps/Phoenix6-frc2025-latest.json rename to vendordeps/Phoenix6-26.1.1.json index 6f40c84..7a0eca0 100644 --- a/vendordeps/Phoenix6-frc2025-latest.json +++ b/vendordeps/Phoenix6-26.1.1.json @@ -1,32 +1,32 @@ { - "fileName": "Phoenix6-frc2025-latest.json", + "fileName": "Phoenix6-26.1.1.json", "name": "CTRE-Phoenix (v6)", - "version": "25.4.0", - "frcYear": "2025", + "version": "26.1.1", + "frcYear": "2026", "uuid": "e995de00-2c64-4df5-8831-c1441420ff19", "mavenUrls": [ "https://maven.ctr-electronics.com/release/" ], - "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2025-latest.json", + "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2026-latest.json", "conflictsWith": [ { "uuid": "e7900d8d-826f-4dca-a1ff-182f658e98af", "errorMessage": "Users can not have both the replay and regular Phoenix 6 vendordeps in their robot program.", - "offlineFileName": "Phoenix6-replay-frc2025-latest.json" + "offlineFileName": "Phoenix6-replay-frc2026-latest.json" } ], "javaDependencies": [ { "groupId": "com.ctre.phoenix6", "artifactId": "wpiapi-java", - "version": "25.4.0" + "version": "26.1.1" } ], "jniDependencies": [ { "groupId": "com.ctre.phoenix6", "artifactId": "api-cpp", - "version": "25.4.0", + "version": "26.1.1", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -40,7 +40,7 @@ { "groupId": "com.ctre.phoenix6", "artifactId": "tools", - "version": "25.4.0", + "version": "26.1.1", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -54,7 +54,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "api-cpp-sim", - "version": "25.4.0", + "version": "26.1.1", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -68,7 +68,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "tools-sim", - "version": "25.4.0", + "version": "26.1.1", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -82,7 +82,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simTalonSRX", - "version": "25.4.0", + "version": "26.1.1", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -96,7 +96,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simVictorSPX", - "version": "25.4.0", + "version": "26.1.1", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -110,21 +110,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simPigeonIMU", - "version": "25.4.0", - "isJar": false, - "skipInvalidPlatforms": true, - "validPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simCANCoder", - "version": "25.4.0", + "version": "26.1.1", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -138,7 +124,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProTalonFX", - "version": "25.4.0", + "version": "26.1.1", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -152,7 +138,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProTalonFXS", - "version": "25.4.0", + "version": "26.1.1", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -166,7 +152,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProCANcoder", - "version": "25.4.0", + "version": "26.1.1", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -180,7 +166,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProPigeon2", - "version": "25.4.0", + "version": "26.1.1", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -194,7 +180,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProCANrange", - "version": "25.4.0", + "version": "26.1.1", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -208,7 +194,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProCANdi", - "version": "25.4.0", + "version": "26.1.1", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -222,7 +208,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProCANdle", - "version": "25.4.0", + "version": "26.1.1", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -238,7 +224,7 @@ { "groupId": "com.ctre.phoenix6", "artifactId": "wpiapi-cpp", - "version": "25.4.0", + "version": "26.1.1", "libName": "CTRE_Phoenix6_WPI", "headerClassifier": "headers", "sharedLibrary": true, @@ -254,7 +240,7 @@ { "groupId": "com.ctre.phoenix6", "artifactId": "tools", - "version": "25.4.0", + "version": "26.1.1", "libName": "CTRE_PhoenixTools", "headerClassifier": "headers", "sharedLibrary": true, @@ -270,7 +256,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "wpiapi-cpp-sim", - "version": "25.4.0", + "version": "26.1.1", "libName": "CTRE_Phoenix6_WPISim", "headerClassifier": "headers", "sharedLibrary": true, @@ -286,7 +272,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "tools-sim", - "version": "25.4.0", + "version": "26.1.1", "libName": "CTRE_PhoenixTools_Sim", "headerClassifier": "headers", "sharedLibrary": true, @@ -302,7 +288,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simTalonSRX", - "version": "25.4.0", + "version": "26.1.1", "libName": "CTRE_SimTalonSRX", "headerClassifier": "headers", "sharedLibrary": true, @@ -318,7 +304,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simVictorSPX", - "version": "25.4.0", + "version": "26.1.1", "libName": "CTRE_SimVictorSPX", "headerClassifier": "headers", "sharedLibrary": true, @@ -334,7 +320,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simPigeonIMU", - "version": "25.4.0", + "version": "26.1.1", "libName": "CTRE_SimPigeonIMU", "headerClassifier": "headers", "sharedLibrary": true, @@ -347,26 +333,10 @@ ], "simMode": "swsim" }, - { - "groupId": "com.ctre.phoenix6.sim", - "artifactId": "simCANCoder", - "version": "25.4.0", - "libName": "CTRE_SimCANCoder", - "headerClassifier": "headers", - "sharedLibrary": true, - "skipInvalidPlatforms": true, - "binaryPlatforms": [ - "windowsx86-64", - "linuxx86-64", - "linuxarm64", - "osxuniversal" - ], - "simMode": "swsim" - }, { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProTalonFX", - "version": "25.4.0", + "version": "26.1.1", "libName": "CTRE_SimProTalonFX", "headerClassifier": "headers", "sharedLibrary": true, @@ -382,7 +352,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProTalonFXS", - "version": "25.4.0", + "version": "26.1.1", "libName": "CTRE_SimProTalonFXS", "headerClassifier": "headers", "sharedLibrary": true, @@ -398,7 +368,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProCANcoder", - "version": "25.4.0", + "version": "26.1.1", "libName": "CTRE_SimProCANcoder", "headerClassifier": "headers", "sharedLibrary": true, @@ -414,7 +384,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProPigeon2", - "version": "25.4.0", + "version": "26.1.1", "libName": "CTRE_SimProPigeon2", "headerClassifier": "headers", "sharedLibrary": true, @@ -430,7 +400,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProCANrange", - "version": "25.4.0", + "version": "26.1.1", "libName": "CTRE_SimProCANrange", "headerClassifier": "headers", "sharedLibrary": true, @@ -446,7 +416,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProCANdi", - "version": "25.4.0", + "version": "26.1.1", "libName": "CTRE_SimProCANdi", "headerClassifier": "headers", "sharedLibrary": true, @@ -462,7 +432,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProCANdle", - "version": "25.4.0", + "version": "26.1.1", "libName": "CTRE_SimProCANdle", "headerClassifier": "headers", "sharedLibrary": true, diff --git a/vendordeps/WPILibNewCommands.json b/vendordeps/WPILibNewCommands.json index 3718e0a..c54ae11 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": "2025", + "frcYear": "2026", "mavenUrls": [], "jsonUrl": "", "javaDependencies": [