2024: The revival!

.wpilib/wpilib_preferences.json

@@ -1,6 +1,6 @@
 {
     "enableCppIntellisense": false,
     "currentLanguage": "java",
-    "projectYear": "2025",
+    "projectYear": "2026",
     "teamNumber": 4388
 }

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 {

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')

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_LEFT_ROT_OFFSET  =  0.36962890625  + 0.75 + 0.0103;
-          public static final double FRONT_RIGHT_ROT_OFFSET =  0.61474609375  + 0.5;
+          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_LEFT_ROT_OFFSET   = -0.227294921875 + 0.5 ;
           public static final double BACK_RIGHT_ROT_OFFSET  =  0.60595703125  + 0.5;
         }
 

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)

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() {

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_leftBackMotor .setControl(new Follower(m_leftFrontMotor.getDeviceID(), MotorAlignmentValue.Aligned));
-    m_rightBackMotor.setControl(new Follower(m_rightBackMotor.getDeviceID(), false));
+    m_rightBackMotor.setControl(new Follower(m_rightBackMotor.getDeviceID(), MotorAlignmentValue.Aligned));
     m_driveTrain = driveTrain;
     m_gyro = gyro;
   }

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);

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;
   }

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 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 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));  
     }

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)
+                    // .withSupplyCurrentLimit(100.)
-                    .withSupplyCurrentLimitEnable(true)
+                    // .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() {

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())};

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/"
     ],

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",
+    "version": "5.36.0",
-    "frcYear": "2025",
+    "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",
+            "offlineFileName": "Phoenix6-frc2026-latest.json",
-            "onlineUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2025-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,

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",
+    "version": "26.1.1",
-    "frcYear": "2025",
+    "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",
+            "version": "26.1.1",
-            "isJar": false,
-            "skipInvalidPlatforms": true,
-            "validPlatforms": [
-                "windowsx86-64",
-                "linuxx86-64",
-                "linuxarm64",
-                "osxuniversal"
-            ],
-            "simMode": "swsim"
-        },
-        {
-            "groupId": "com.ctre.phoenix6.sim",
-            "artifactId": "simCANCoder",
-            "version": "25.4.0",
             "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,

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": [