updated to 2026

removed 2025

.gitattributes

@@ -1,2 +0,0 @@
-# Auto detect text files and perform LF normalization
-* text=auto

.vscode/launch.json

@@ -4,24 +4,18 @@
   // For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387
   "version": "0.2.0",
   "configurations": [
-    {
+
-      "type": "java",
-      "name": "Main",
-      "request": "launch",
-      "mainClass": "frc4388.robot.Main",
-      "projectName": "2025RidgeScape"
-    },
     {
       "type": "wpilib",
       "name": "WPILib Desktop Debug",
       "request": "launch",
-      "desktop": true
+      "desktop": true,
     },
     {
       "type": "wpilib",
       "name": "WPILib roboRIO Debug",
       "request": "launch",
-      "desktop": false
+      "desktop": false,
     }
   ]
 }

.vscode/settings.json

@@ -57,6 +57,5 @@
     "edu.wpi.first.math.**.proto.*",
     "edu.wpi.first.math.**.struct.*",
   ],
-  "java.jdt.ls.vmargs": "-XX:+UseParallelGC -XX:GCTimeRatio=4 -XX:AdaptiveSizePolicyWeight=90 -Dsun.zip.disableMemoryMapping=true -Xmx2G -Xms100m -Xlog:disable",
+  "java.dependency.enableDependencyCheckup": false
-  "wpilib.autoStartRioLog": false
 }

.wpilib/wpilib_preferences.json

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

README.md

@@ -1,2 +0,0 @@
-# Robot-Essentials
- Basic code for any Ridgebotics robot project

build.gradle

@@ -1,6 +1,6 @@
 plugins {
     id "java"
-    id "edu.wpi.first.GradleRIO" version "2025.3.2"
+    id "edu.wpi.first.GradleRIO" version "2026.1.1-beta-1"
     id "com.peterabeles.gversion" version "1.10"
 }
 
@@ -44,11 +44,12 @@ deploy {
 
 def deployArtifact = deploy.targets.roborio.artifacts.frcJava
 
-// Set to true to use debug for JNI.
+// Set to true to use debug for all targets including JNI, which will drastically impact
+// performance.
 wpi.java.debugJni = false
 
 // Set this to true to enable desktop support.
-def includeDesktopSupport = false
+def includeDesktopSupport = true
 
 // Defining my dependencies. In this case, WPILib (+ friends), and vendor libraries.
 // Also defines JUnit 5.

networktables.json

@@ -1 +0,0 @@
-[]

settings.gradle

@@ -4,7 +4,7 @@ pluginManagement {
     repositories {
         mavenLocal()
         gradlePluginPortal()
-        String frcYear = '2025'
+        String frcYear = '2026'
         File frcHome
         if (OperatingSystem.current().isWindows()) {
             String publicFolder = System.getenv('PUBLIC')
@@ -20,8 +20,8 @@ pluginManagement {
         }
         def frcHomeMaven = new File(frcHome, 'maven')
         maven {
-            name 'frcHome'
+            name = 'frcHome'
-            url frcHomeMaven
+            url = frcHomeMaven
         }
     }
 }

simgui-ds.json

@@ -1,112 +0,0 @@
-{
-  "System Joysticks": {
-    "window": {
-      "enabled": false
-    }
-  },
-  "keyboardJoysticks": [
-    {
-      "axisConfig": [
-        {
-          "decKey": 65,
-          "incKey": 68
-        },
-        {
-          "decKey": 87,
-          "incKey": 83
-        },
-        {
-          "decKey": 69,
-          "decayRate": 0.0,
-          "incKey": 82,
-          "keyRate": 0.009999999776482582
-        }
-      ],
-      "axisCount": 3,
-      "buttonCount": 4,
-      "buttonKeys": [
-        90,
-        88,
-        67,
-        86
-      ],
-      "povConfig": [
-        {
-          "key0": 328,
-          "key135": 323,
-          "key180": 322,
-          "key225": 321,
-          "key270": 324,
-          "key315": 327,
-          "key45": 329,
-          "key90": 326
-        }
-      ],
-      "povCount": 1
-    },
-    {
-      "axisConfig": [
-        {
-          "decKey": 74,
-          "incKey": 76
-        },
-        {
-          "decKey": 73,
-          "incKey": 75
-        }
-      ],
-      "axisCount": 2,
-      "buttonCount": 4,
-      "buttonKeys": [
-        77,
-        44,
-        46,
-        47
-      ],
-      "povCount": 0
-    },
-    {
-      "axisConfig": [
-        {
-          "decKey": 263,
-          "incKey": 262
-        },
-        {
-          "decKey": 265,
-          "incKey": 264
-        }
-      ],
-      "axisCount": 2,
-      "buttonCount": 6,
-      "buttonKeys": [
-        260,
-        268,
-        266,
-        261,
-        269,
-        267
-      ],
-      "povCount": 0
-    },
-    {
-      "axisCount": 0,
-      "buttonCount": 0,
-      "povCount": 0
-    }
-  ],
-  "robotJoysticks": [
-    {
-      "guid": "030000005e040000ea0200000b050000",
-      "useGamepad": true
-    },
-    {
-      "useGamepad": true
-    },
-    {},
-    {},
-    {},
-    {
-      "useGamepad": true
-    }
-  ]
-}

src/main/java/frc4388/robot/RobotContainer.java

@@ -37,12 +37,12 @@ import edu.wpi.first.wpilibj2.command.ConditionalCommand;
 import frc4388.utility.controller.VirtualController;
 import frc4388.robot.commands.MoveForTimeCommand;
 import frc4388.robot.commands.MoveUntilSuply;
-import frc4388.robot.commands.alignment.DriveToReef;
+// import frc4388.robot.commands.alignment.DriveToReef;
 import frc4388.robot.commands.alignment.DriveUntilLiDAR;
 import frc4388.robot.commands.alignment.LidarAlign;
-import frc4388.robot.commands.wait.waitElevatorRefrence;
+// import frc4388.robot.commands.wait.waitElevatorRefrence;
-import frc4388.robot.commands.wait.waitEndefectorRefrence;
+// import frc4388.robot.commands.wait.waitEndefectorRefrence;
-import frc4388.robot.commands.wait.waitFeedCoral;
+// import frc4388.robot.commands.wait.waitFeedCoral;
 import frc4388.robot.commands.wait.waitSupplier;
 import frc4388.robot.constants.Constants;
 import frc4388.robot.constants.Constants.AutoConstants;
@@ -55,15 +55,15 @@ import com.pathplanner.lib.commands.PathPlannerAuto;
 
 // Subsystems
 import frc4388.robot.subsystems.LED;
-import frc4388.robot.subsystems.elevator.Elevator;
+// import frc4388.robot.subsystems.elevator.Elevator;
-import frc4388.robot.subsystems.elevator.Elevator.CoordinationState;
+// import frc4388.robot.subsystems.elevator.Elevator.CoordinationState;
 import frc4388.robot.subsystems.lidar.LiDAR;
 import frc4388.robot.subsystems.swerve.SwerveDrive;
 import frc4388.robot.subsystems.vision.Vision;
 // Utilites
 import frc4388.utility.DeferredBlock;
 import frc4388.utility.compute.TimesNegativeOne;
-import frc4388.utility.compute.ReefPositionHelper.Side;
+// import frc4388.utility.compute.ReefPositionHelper.Side;
 
 /**
  * This class is where the bulk of the robot should be declared. Since
@@ -79,13 +79,13 @@ public class RobotContainer {
     
     /* Subsystems */
     public final LED m_robotLED = new LED();
-    public final Vision m_vision = new Vision(m_robotMap.leftCamera, m_robotMap.rightCamera);
+    public final Vision m_vision = new Vision();
-    public final Elevator m_robotElevator = new Elevator(m_robotMap.elevatorIO, m_robotLED);
+    // public final Elevator m_robotElevator = new Elevator(m_robotMap.elevatorIO, m_robotLED);
     public final SwerveDrive m_robotSwerveDrive = new SwerveDrive(m_robotMap.swerveDrivetrain, m_vision);
     // public final SwerveDrive m_robotSwerveDrive = new SwerveDrive(m_robotMap.swerveDrivetrain);
 
-    public final LiDAR reefLidar = new LiDAR(m_robotMap.reefLidar, "Reef");
+    // public final LiDAR reefLidar = new LiDAR(m_robotMap.reefLidar, "Reef");
-    public final LiDAR reverseLidar = new LiDAR(m_robotMap.reverseLidar, "Reverse");
+    // public final LiDAR reverseLidar = new LiDAR(m_robotMap.reverseLidar, "Reverse");
 
 
     /* Controllers */

src/main/java/frc4388/robot/RobotMap.java

@@ -17,12 +17,12 @@ import com.ctre.phoenix6.hardware.CANcoder;
 import com.ctre.phoenix6.swerve.SwerveDrivetrain;
 import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.wpilibj.DigitalInput;
-import frc4388.robot.constants.Constants.ElevatorConstants;
+//import frc4388.robot.constants.Constants.ElevatorConstants;
 import frc4388.robot.constants.Constants.LiDARConstants;
 import frc4388.robot.constants.Constants.SimConstants;
 import frc4388.robot.constants.Constants.VisionConstants;
-import frc4388.robot.subsystems.elevator.ElevatorIO;
+// import frc4388.robot.subsystems.elevator.ElevatorIO;
-import frc4388.robot.subsystems.elevator.ElevatorReal;
+// import frc4388.robot.subsystems.elevator.ElevatorReal;
 import frc4388.robot.subsystems.lidar.LiDAR;
 import frc4388.robot.subsystems.lidar.LidarIO;
 import frc4388.robot.subsystems.lidar.LidarReal;
@@ -44,13 +44,13 @@ public class RobotMap {
     // private Pigeon2 m_pigeon2 = new Pigeon2(SwerveDriveConstants.IDs.DRIVE_PIGEON.id);
     // public RobotGyro gyro = new RobotGyro(m_pigeon2);
 
-    public final VisionIO leftCamera;
+    // public final VisionIO leftCamera;
-    public final VisionIO rightCamera;
+    // public final VisionIO rightCamera;
 
     // public final LiDAR lidar = new 
 
-    public final LidarIO reefLidar;
+    // public final LidarIO reefLidar;
-    public final LidarIO reverseLidar;
+    // public final LidarIO reverseLidar;
 
 
     /* LED Subsystem */
@@ -59,25 +59,25 @@ public class RobotMap {
     /* Swreve Drive Subsystem */
     public final SwerveIO swerveDrivetrain;
 
-    /* Elevator Subsystem */
+    // /* Elevator Subsystem */
-    public final ElevatorIO elevatorIO;
+    // public final ElevatorIO elevatorIO;
 
     public RobotMap(SimConstants.Mode mode) {
         switch (mode) {
             case REAL:
-                // Configure cameras
+                // // Configure cameras
-                PhotonCamera leftCameraReal = new PhotonCamera(VisionConstants.LEFT_CAMERA_NAME);
+                // PhotonCamera leftCameraReal = new PhotonCamera(VisionConstants.LEFT_CAMERA_NAME);
-                PhotonCamera rightCameraReal = new PhotonCamera(VisionConstants.RIGHT_CAMERA_NAME);
+                // PhotonCamera rightCameraReal = new PhotonCamera(VisionConstants.RIGHT_CAMERA_NAME);
 
-                leftCamera =  new VisionReal(leftCameraReal, VisionConstants.LEFT_CAMERA_POS);                ;
+                // leftCamera =  new VisionReal(leftCameraReal, VisionConstants.LEFT_CAMERA_POS);                ;
-                rightCamera = new VisionReal(rightCameraReal, VisionConstants.RIGHT_CAMERA_POS);
+                // rightCamera = new VisionReal(rightCameraReal, VisionConstants.RIGHT_CAMERA_POS);
 
-                FaultPhotonCamera.addDevice(leftCameraReal, "Left Camera");
+                // FaultPhotonCamera.addDevice(leftCameraReal, "Left Camera");
-                FaultPhotonCamera.addDevice(rightCameraReal , "Right Camera");
+                // FaultPhotonCamera.addDevice(rightCameraReal , "Right Camera");
 
-                // Configure LiDAR
+                // // Configure LiDAR
-                reefLidar = new LidarReal(LiDARConstants.REEF_LIDAR_DIO_CHANNEL);
+                // reefLidar = new LidarReal(LiDARConstants.REEF_LIDAR_DIO_CHANNEL);
-                reverseLidar = new LidarReal(LiDARConstants.REVERSE_LIDAR_DIO_CHANNEL);
+                // reverseLidar = new LidarReal(LiDARConstants.REVERSE_LIDAR_DIO_CHANNEL);
 
                 // Configure swerve drive train
                 SwerveDrivetrain<TalonFX, TalonFX, CANcoder> swerveDrivetrainReal = new SwerveDrivetrain<TalonFX, TalonFX, CANcoder> (TalonFX::new, TalonFX::new, CANcoder::new, 
@@ -90,23 +90,23 @@ public class RobotMap {
 
                 // Configure elevator
 
-                TalonFX elevator = new TalonFX(ElevatorConstants.ELEVATOR_ID.id);
+                // TalonFX elevator = new TalonFX(ElevatorConstants.ELEVATOR_ID.id);
-                TalonFX endeffector = new TalonFX(ElevatorConstants.ENDEFFECTOR_ID.id);
+                // TalonFX endeffector = new TalonFX(ElevatorConstants.ENDEFFECTOR_ID.id);
                 
 
-                DigitalInput basinLimitSwitch = new DigitalInput(ElevatorConstants.BASIN_LIMIT_SWITCH);
+                // DigitalInput basinLimitSwitch = new DigitalInput(ElevatorConstants.BASIN_LIMIT_SWITCH);
-                DigitalInput endeffectorLimitSwitch = new DigitalInput(ElevatorConstants.ENDEFFECTOR_LIMIT_SWITCH);
+                // DigitalInput endeffectorLimitSwitch = new DigitalInput(ElevatorConstants.ENDEFFECTOR_LIMIT_SWITCH);
-                DigitalInput IRIntakeBeam = new DigitalInput(ElevatorConstants.INTAKE_LIMIT_SWITCH);
+                // DigitalInput IRIntakeBeam = new DigitalInput(ElevatorConstants.INTAKE_LIMIT_SWITCH);
 
-                elevatorIO = new ElevatorReal(elevator, endeffector, basinLimitSwitch, endeffectorLimitSwitch, IRIntakeBeam);
+                // elevatorIO = new ElevatorReal(elevator, endeffector, basinLimitSwitch, endeffectorLimitSwitch, IRIntakeBeam);
 
 
 
                 // Fault
                 FaultPidgeon2.addDevice(swerveDrivetrainReal.getPigeon2(), "Gyro");
 
-                FaultTalonFX.addDevice(elevator, "Elevator");
+                // FaultTalonFX.addDevice(elevator, "Elevator");
-                FaultTalonFX.addDevice(endeffector, "Endeffector");
+                // FaultTalonFX.addDevice(endeffector, "Endeffector");
                 
                 FaultTalonFX.addDevice(swerveDrivetrainReal.getModule(0).getDriveMotor(), "Module 0 Drive");
                 FaultTalonFX.addDevice(swerveDrivetrainReal.getModule(0).getSteerMotor(), "Module 0 Steer");
@@ -125,12 +125,12 @@ public class RobotMap {
             // case SIM:
             //     break;
             default:
-                leftCamera = new VisionIO() {};
+                // leftCamera = new VisionIO() {};
-                rightCamera = new VisionIO() {};
+                // rightCamera = new VisionIO() {};
-                reefLidar = new LidarIO() {};
+                // reefLidar = new LidarIO() {};
-                reverseLidar = new LidarIO() {};
+                // reverseLidar = new LidarIO() {};
                 swerveDrivetrain = new SwerveIO() {};
-                elevatorIO = new ElevatorIO() {};
+                // elevatorIO = new ElevatorIO() {};
                 break;
         }
     }

src/main/java/frc4388/robot/commands/Autos/neoPlaybackChooser.java

@@ -1,4 +1,4 @@
-package frc4388.robot.commands.autos;
+package frc4388.robot.commands.Autos;
 // package frc4388.robot.commands.Autos;
 
 // import java.io.File;

src/main/java/frc4388/robot/commands/Swerve/RotateToAngle.java

@@ -2,7 +2,7 @@
 // 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 frc4388.robot.commands.swerve;
+package frc4388.robot.commands.Swerve;
 
 import edu.wpi.first.math.geometry.Translation2d;
 import frc4388.robot.commands.PID;

src/main/java/frc4388/robot/commands/Swerve/neoJoystickPlayback.java

@@ -1,4 +1,4 @@
-package frc4388.robot.commands.swerve;
+package frc4388.robot.commands.Swerve;
 
 import java.io.FileInputStream;
 import java.util.ArrayList;

src/main/java/frc4388/robot/commands/Swerve/neoJoystickRecorder.java

@@ -1,4 +1,4 @@
-package frc4388.robot.commands.swerve;
+package frc4388.robot.commands.Swerve;
 
 import java.io.FileOutputStream;
 import java.util.ArrayList;

src/main/java/frc4388/robot/commands/alignment/DriveToReef.java

@@ -1,188 +0,0 @@
-package frc4388.robot.commands.alignment;
-
-import edu.wpi.first.math.geometry.Pose2d;
-import edu.wpi.first.math.geometry.Translation2d;
-import edu.wpi.first.math.util.Units;
-import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
-import edu.wpi.first.wpilibj2.command.Command;
-import frc4388.robot.constants.Constants.AutoConstants;
-import frc4388.robot.subsystems.swerve.SwerveDrive;
-import frc4388.robot.subsystems.vision.Vision;
-import frc4388.utility.compute.ReefPositionHelper;
-import frc4388.utility.compute.TimesNegativeOne;
-import frc4388.utility.compute.ReefPositionHelper.Side;
-import frc4388.utility.structs.Gains;
-
-public class DriveToReef extends Command {
-    
-
-    // private Translation2d translation2d= new Translation2d(14.579471999999997,0.24587199999999998);
-    // private Translation2d translation2d= new Translation2d(16.579342-0.15,5.547867999999999);
-
-    private PID xPID = new PID(AutoConstants.XY_GAINS, 0);
-    private PID yPID = new PID(AutoConstants.XY_GAINS, 0);
-    // private PID rotPID = new PID(AutoConstants.ROT_GAINS, 0);
-    private Pose2d targetpos;
-
-    SwerveDrive swerveDrive;
-    Vision vision;
-    double distance;
-    Side side;
-    boolean waitVelocityZero;
-
-    /**
-     * Command to drive robot to position.
-     * @param SwerveDrive m_robotSwerveDrive
-     */
-
-    public DriveToReef(SwerveDrive swerveDrive, Vision vision, double distance, Side side, boolean waitVelocityZero) {
-        this.swerveDrive = swerveDrive;
-        this.vision = vision;
-        this.distance = distance;
-        this.side = side;
-        this.waitVelocityZero = waitVelocityZero && false;
-        addRequirements(swerveDrive);
-    }
-
-
-    public static double tagRelativeXError = -1;
-    private static void setTagRelativeXError(double val){
-        tagRelativeXError = val;
-    }
-
-    @Override
-    public void initialize() {
-        xPID.initialize();
-        yPID.initialize();
-        this.targetpos = ReefPositionHelper.getNearestPosition(
-            this.vision.getPose2d(), 
-            side, 
-            Units.inchesToMeters(AutoConstants.X_OFFSET_TRIM.get()), 
-            distance + Units.inchesToMeters(AutoConstants.Y_OFFSET_TRIM.get())
-        );
-    }
-    
-    double xerr;
-    double yerr;
-    double roterr;
-
-    double xoutput;
-    double youtput;
-    double rotoutput;
-
-    @Override
-    public void execute() {
-        xerr = TimesNegativeOne.invert(targetpos.getX() - vision.getPose2d().getX(), TimesNegativeOne.XAxis);
-        yerr = TimesNegativeOne.invert(targetpos.getY() - vision.getPose2d().getY(), !TimesNegativeOne.YAxis);
-        // xerr = targetpos.getX() - vision.getPose2d().getX();
-        // yerr = targetpos.getX() - vision.getPose2d().getY();
-
-        // roterr = TimesNegativeOne.invert(targetpos.getRotation().getDegrees() - vision.getPose2d().getRotation().getDegrees(), TimesNegativeOne.isRed);
-
-        roterr = ((targetpos.getRotation().getDegrees() - vision.getPose2d().getRotation().getDegrees()));
-
-        if(roterr > 180){
-            roterr -= 360;
-        }else if(roterr < -180){
-            roterr += 360;
-        }
-
-        // SmartDashboard.putNumber("Rotational PID target", targetpos.getRotation().getDegrees());
-        // SmartDashboard.putNumber("Rotational PID position", vision.getPose2d().getRotation().getDegrees());
-        // SmartDashboard.putNumber("Rotational PID error", roterr);
-
-        SmartDashboard.putNumber("PID X Error", xerr);
-        SmartDashboard.putNumber("PID Y Error", yerr);
-        SmartDashboard.putNumber("PID Rot Error", roterr);
-
-        xoutput = xPID.update(xerr);
-        youtput = yPID.update(yerr);
-        // rotoutput = rotPID.update(roterr);
-
-        xoutput *= Math.abs(xerr) < AutoConstants.XY_TOLERANCE ? 0 : 1;
-        youtput *= Math.abs(yerr) < AutoConstants.XY_TOLERANCE ? 0 : 1;
-        // rotoutput *= Math.abs(roterr) < AutoConstants.ROT_TOLERANCE ? 0 : 1;
-        
-
-
-        Translation2d leftStick = new Translation2d(
-            Math.max(Math.min(-youtput, 1), -1),
-            Math.max(Math.min(-xoutput, 1), -1)
-            // 0,0
-        );
-
-        // Translation2d rightStick = new Translation2d(
-        //     Math.max(Math.min(rotoutput, 1), -1), 
-        //    0
-        // );
-
-        setTagRelativeXError(
-            new Translation2d(xerr, yerr).getAngle()
-            .rotateBy(targetpos.getRotation())
-            .getCos());
-
-        swerveDrive.driveRelativeAngle(leftStick, targetpos.getRotation());
-        // swerveDrive.driveWithInputOrientation(leftStick, rightStick, true);
-    }
-
-    @Override
-    public final boolean isFinished() {
-        boolean finished = (
-            (Math.abs(xerr) < AutoConstants.XY_TOLERANCE || Math.abs(xoutput) <= AutoConstants.MIN_XY_PID_OUTPUT) && 
-            (Math.abs(yerr) < AutoConstants.XY_TOLERANCE || Math.abs(youtput) <= AutoConstants.MIN_XY_PID_OUTPUT) && 
-            (Math.abs(roterr) < AutoConstants.ROT_TOLERANCE) &&
-            (!waitVelocityZero || swerveDrive.lastOdomSpeed < AutoConstants.VELOCITY_THRESHHOLD)
-        );
-        // System.out.println(finished);
-
-        if(finished)
-            swerveDrive.softStop();
-
-        return finished;
-                // this statement is a boolean in and of itself
-    }
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-    private class PID {
-        protected Gains  gains;
-        private   double output    = 0;
-
-
-        /** Creates a new PelvicInflammatoryDisease. */
-        public PID(Gains gains, double tolerance) {
-            this.gains     = gains;
-        }
-
-        // Called when the command is initially scheduled.
-        public final void initialize() {
-            output = 0;
-        }
-
-        private double prevError, cumError = 0;
-        
-        // Called every time the scheduler runs while the command is scheduled.
-        public double update(double error) {
-            cumError += error * .02; // 20 ms
-            double delta = error - prevError;
-
-            output = error * gains.kP;
-            output += cumError * gains.kI;
-            output += delta * gains.kD;
-            output += gains.kF;
-
-            return output;
-        }
-    }
-}

src/main/java/frc4388/robot/commands/alignment/LidarAlign.java

@@ -41,7 +41,7 @@ public class LidarAlign extends Command {
     this.currentFinderTick = 0;
     this.speed = 0.4; // TODO: find good speed for this
     this.foundReef = false;
-    this.headedRight = (DriveToReef.tagRelativeXError < 0);
+    //this.headedRight = (DriveToReef.tagRelativeXError < 0);
     this.additionalDistance = 0;
     this.bounces = 0;
   }

src/main/java/frc4388/robot/commands/wait/waitElevatorRefrence.java

@@ -1,36 +0,0 @@
-// 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 frc4388.robot.commands.wait;
-
-import edu.wpi.first.wpilibj2.command.Command;
-import frc4388.robot.subsystems.elevator.Elevator;
-
-/* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
-public class waitElevatorRefrence extends Command {
-  /** Creates a new waitElevatorRefrence. */
-  private Elevator elevator;
-  public waitElevatorRefrence(Elevator elevator) {
-    this.elevator = elevator;
-    // Use addRequirements() here to declare subsystem dependencies.
-  }
-
-  // Called when the command is initially scheduled.
-  @Override
-  public void initialize() {}
-
-  // Called every time the scheduler runs while the command is scheduled.
-  @Override
-  public void execute() {}
-
-  // Called once the command ends or is interrupted.
-  @Override
-  public void end(boolean interrupted) {}
-
-  // Returns true when the command should end.
-  @Override
-  public boolean isFinished() {
-    return elevator.elevatorAtReference();
-  }
-}

src/main/java/frc4388/robot/commands/wait/waitEndefectorRefrence.java

@@ -1,36 +0,0 @@
-// 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 frc4388.robot.commands.wait;
-
-import edu.wpi.first.wpilibj2.command.Command;
-import frc4388.robot.subsystems.elevator.Elevator;
-
-/* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
-public class waitEndefectorRefrence extends Command {
-  /** Creates a new waitElevatorRefrence. */
-  private Elevator elevator;
-  public waitEndefectorRefrence(Elevator elevator) {
-    this.elevator = elevator;
-    // Use addRequirements() here to declare subsystem dependencies.
-  }
-
-  // Called when the command is initially scheduled.
-  @Override
-  public void initialize() {}
-
-  // Called every time the scheduler runs while the command is scheduled.
-  @Override
-  public void execute() {}
-
-  // Called once the command ends or is interrupted.
-  @Override
-  public void end(boolean interrupted) {}
-
-  // Returns true when the command should end.
-  @Override
-  public boolean isFinished() {
-    return elevator.endeffectorAtReference();
-  }
-}

src/main/java/frc4388/robot/commands/wait/waitFeedCoral.java

@@ -1,36 +0,0 @@
-// 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 frc4388.robot.commands.wait;
-
-import edu.wpi.first.wpilibj2.command.Command;
-import frc4388.robot.subsystems.elevator.Elevator;
-
-/* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
-public class waitFeedCoral extends Command {
-  /** Creates a new waitElevatorRefrence. */
-  private Elevator elevator;
-  public waitFeedCoral(Elevator elevator) {
-    this.elevator = elevator;
-    // Use addRequirements() here to declare subsystem dependencies.
-  }
-
-  // Called when the command is initially scheduled.
-  @Override
-  public void initialize() {}
-
-  // Called every time the scheduler runs while the command is scheduled.
-  @Override
-  public void execute() {}
-
-  // Called once the command ends or is interrupted.
-  @Override
-  public void end(boolean interrupted) {}
-
-  // Returns true when the command should end.
-  @Override
-  public boolean isFinished() {
-    return elevator.hasCoral();
-  }
-}

src/main/java/frc4388/robot/constants/BuildConstants.java

@@ -5,15 +5,15 @@ package frc4388.robot.constants;
  */
 public final class BuildConstants {
   public static final String MAVEN_GROUP = "";
-  public static final String MAVEN_NAME = "2025RidgeScape";
+  public static final String MAVEN_NAME = "2026KPopRobotHunters";
   public static final String VERSION = "unspecified";
-  public static final int GIT_REVISION = 173;
+  public static final int GIT_REVISION = -1;
-  public static final String GIT_SHA = "2b7bb1224195b9e001e60b895ee04d63abdfc513";
+  public static final String GIT_SHA = "UNKNOWN";
-  public static final String GIT_DATE = "2025-07-17 09:15:19 MDT";
+  public static final String GIT_DATE = "UNKNOWN";
-  public static final String GIT_BRANCH = "advantagekit";
+  public static final String GIT_BRANCH = "UNKNOWN";
-  public static final String BUILD_DATE = "2025-07-17 11:55:31 MDT";
+  public static final String BUILD_DATE = "2026-01-08 19:31:25 MST";
-  public static final long BUILD_UNIX_TIME = 1752774931371L;
+  public static final long BUILD_UNIX_TIME = 1767925885671L;
-  public static final int DIRTY = 1;
+  public static final int DIRTY = 129;
 
   private BuildConstants(){}
 }

src/main/java/frc4388/robot/constants/Constants.java

@@ -69,6 +69,9 @@ public final class Constants {
         public static final double MIN_ROT_PID_OUTPUT = 0.0;
 
         public static final double VELOCITY_THRESHHOLD = 0.01;
+
+        
+        public static final double STOP_VELOCITY = 0.;
     }
   
 

src/main/java/frc4388/robot/subsystems/swerve/SwerveDriveConstants.java

@@ -20,8 +20,9 @@ import com.ctre.phoenix6.swerve.SwerveModuleConstants.SteerFeedbackType;
 import com.ctre.phoenix6.swerve.SwerveModuleConstants.SteerMotorArrangement;
 import com.ctre.phoenix6.swerve.SwerveModuleConstantsFactory;
 
-import edu.wpi.first.units.measure.Angle;
 import edu.wpi.first.units.measure.Distance;
+import edu.wpi.first.units.measure.Angle;
+//import edu.wpi.first.units.measure.measure.Distance;
 import frc4388.utility.status.CanDevice;
 import frc4388.utility.structs.Gains;
 

src/main/java/frc4388/utility/compute/ReefPositionHelper.java

@@ -1,106 +0,0 @@
-package frc4388.utility.compute;
-
-import edu.wpi.first.math.geometry.Pose2d;
-import edu.wpi.first.math.geometry.Rotation2d;
-import edu.wpi.first.math.geometry.Translation2d;
-import edu.wpi.first.math.util.Units;
-import frc4388.robot.constants.Constants.AutoConstants;
-import frc4388.robot.constants.Constants.FieldConstants;
-
-public class ReefPositionHelper {
-    public enum Side {
-        LEFT,
-        RIGHT,
-        CENTER,
-        FAR_LEFT
-    }
-
-    public static final Pose2d[] RED_TAGS = {
-        FieldConstants.kTagLayout.getTagPose(6).get().toPose2d(),
-        FieldConstants.kTagLayout.getTagPose(7).get().toPose2d(),
-        FieldConstants.kTagLayout.getTagPose(8).get().toPose2d(),
-        FieldConstants.kTagLayout.getTagPose(9).get().toPose2d(),
-        FieldConstants.kTagLayout.getTagPose(10).get().toPose2d(),
-        FieldConstants.kTagLayout.getTagPose(11).get().toPose2d()
-    };
-
-    public static final Pose2d[] BLUE_TAGS = {
-        FieldConstants.kTagLayout.getTagPose(17).get().toPose2d(),
-        FieldConstants.kTagLayout.getTagPose(18).get().toPose2d(),
-        FieldConstants.kTagLayout.getTagPose(19).get().toPose2d(),
-        FieldConstants.kTagLayout.getTagPose(20).get().toPose2d(),
-        FieldConstants.kTagLayout.getTagPose(21).get().toPose2d(),
-        FieldConstants.kTagLayout.getTagPose(22).get().toPose2d()
-    };
-
-    public static double distanceTo(Pose2d first, Pose2d second){
-        return Math.sqrt(Math.pow(first.getX()  -  second.getX(),2) + Math.pow(first.getY()  -  second.getY(),2));
-    }
-
-
-    /*
-    * Function to loop through a list of tag locations to figure out closest one
-    */
-    public static Pose2d getNearestTag(Pose2d[] locations, Pose2d position){
-        if(locations.length <= 0) return new Pose2d();
-
-        Pose2d minPos = locations[0];
-        double minDistance = distanceTo(position,minPos);
-
-        for(int i = 1; i < locations.length; i++){
-            double dist = distanceTo(locations[i],position);
-            if(dist < minDistance){
-                minPos = locations[i];
-                minDistance = dist;
-            }
-        }
-        
-        System.out.println(minPos.getRotation().getDegrees());
-
-        return minPos;
-    }
-
-    /*
-     * Function to find closest tag location based on side
-     */
-    public static Pose2d getNearestTag(Pose2d position) {
-
-        if(TimesNegativeOne.isRed)
-            return getNearestTag(RED_TAGS, position);
-        else
-            return getNearestTag(BLUE_TAGS, position);
-    }
-
-    public static Pose2d getNearestPosition(Pose2d position, Side side, double xtrim, double ydistance) {
-        return offset(getNearestTag(position), 
-        getSide(side) + xtrim,
-        ydistance); 
-    }
-
-    public static double getSide(Side side){
-        switch(side) {
-            case LEFT:
-                return -(AutoConstants.X_SCORING_POSITION_OFFSET);
-            case FAR_LEFT:
-                return -(AutoConstants.X_SCORING_POSITION_OFFSET+Units.inchesToMeters(8));
-            case RIGHT:
-                return (AutoConstants.X_SCORING_POSITION_OFFSET);
-            case CENTER:
-                return 0;
-        }
-        assert false;
-        return 0;
-    }
-
-
-    public static Pose2d offset(Pose2d oldPose, double xoffset, double yoffset){
-        Translation2d oldTranslation = oldPose.getTranslation();
-        
-        double rot = oldPose.getRotation().getRadians();
-
-        return new Pose2d(new Translation2d(
-            oldTranslation.getX() + Math.cos(rot + Math.PI/2) * xoffset + Math.cos(rot) * yoffset,
-            oldTranslation.getY() + Math.sin(rot + Math.PI/2) * xoffset + Math.sin(rot) * yoffset
-        ), oldPose.getRotation().rotateBy(Rotation2d.k180deg));
-    }
-}

vendordeps/AdvantageKit.json

@@ -1,9 +1,9 @@
 {
     "fileName": "AdvantageKit.json",
     "name": "AdvantageKit",
-    "version": "4.1.2",
+    "version": "26.0.0-beta-1",
     "uuid": "d820cc26-74e3-11ec-90d6-0242ac120003",
-    "frcYear": "2025",
+    "frcYear": "2026beta",
     "mavenUrls": [
         "https://frcmaven.wpi.edu/artifactory/littletonrobotics-mvn-release/"
     ],
@@ -12,14 +12,14 @@
         {
             "groupId": "org.littletonrobotics.akit",
             "artifactId": "akit-java",
-            "version": "4.1.2"
+            "version": "26.0.0-beta-1"
         }
     ],
     "jniDependencies": [
         {
             "groupId": "org.littletonrobotics.akit",
             "artifactId": "akit-wpilibio",
-            "version": "4.1.2",
+            "version": "26.0.0-beta-1",
             "skipInvalidPlatforms": false,
             "isJar": false,
             "validPlatforms": [

vendordeps/NavX.json

@@ -3,7 +3,7 @@
     "name": "NavX",
     "version": "2024.1.0",
     "uuid": "cb311d09-36e9-4143-a032-55bb2b94443b",
-    "frcYear": "2025",
+    "frcYear": "2026beta",
     "mavenUrls": [
         "https://dev.studica.com/maven/release/2024/"
     ],

vendordeps/PathplannerLib-2025.2.7.json

@@ -3,7 +3,7 @@
     "name": "PathplannerLib",
     "version": "2025.2.7",
     "uuid": "1b42324f-17c6-4875-8e77-1c312bc8c786",
-    "frcYear": "2025",
+    "frcYear": "2026beta",
     "mavenUrls": [
         "https://3015rangerrobotics.github.io/pathplannerlib/repo"
     ],

vendordeps/Phoenix5-5.36.0-beta-1.json

@@ -0,0 +1,171 @@
+{
+    "fileName": "Phoenix5-5.36.0-beta-1.json",
+    "name": "CTRE-Phoenix (v5)",
+    "version": "5.36.0-beta-1",
+    "frcYear": "2026beta",
+    "uuid": "ab676553-b602-441f-a38d-f1296eff6537",
+    "mavenUrls": [
+        "https://maven.ctr-electronics.com/release/"
+    ],
+    "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix/Phoenix5-frc2026-beta-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-frc2026-beta-latest.json",
+            "onlineUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2026-beta-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-frc2026-beta-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-frc2026-beta-latest.json"
+        }
+    ],
+    "javaDependencies": [
+        {
+            "groupId": "com.ctre.phoenix",
+            "artifactId": "api-java",
+            "version": "5.36.0-beta-1"
+        },
+        {
+            "groupId": "com.ctre.phoenix",
+            "artifactId": "wpiapi-java",
+            "version": "5.36.0-beta-1"
+        }
+    ],
+    "jniDependencies": [
+        {
+            "groupId": "com.ctre.phoenix",
+            "artifactId": "cci",
+            "version": "5.36.0-beta-1",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "linuxathena"
+            ],
+            "simMode": "hwsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix.sim",
+            "artifactId": "cci-sim",
+            "version": "5.36.0-beta-1",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        }
+    ],
+    "cppDependencies": [
+        {
+            "groupId": "com.ctre.phoenix",
+            "artifactId": "wpiapi-cpp",
+            "version": "5.36.0-beta-1",
+            "libName": "CTRE_Phoenix_WPI",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "linuxathena"
+            ],
+            "simMode": "hwsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix",
+            "artifactId": "api-cpp",
+            "version": "5.36.0-beta-1",
+            "libName": "CTRE_Phoenix",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "linuxathena"
+            ],
+            "simMode": "hwsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix",
+            "artifactId": "cci",
+            "version": "5.36.0-beta-1",
+            "libName": "CTRE_PhoenixCCI",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "linuxathena"
+            ],
+            "simMode": "hwsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix.sim",
+            "artifactId": "wpiapi-cpp-sim",
+            "version": "5.36.0-beta-1",
+            "libName": "CTRE_Phoenix_WPISim",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix.sim",
+            "artifactId": "api-cpp-sim",
+            "version": "5.36.0-beta-1",
+            "libName": "CTRE_PhoenixSim",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix.sim",
+            "artifactId": "cci-sim",
+            "version": "5.36.0-beta-1",
+            "libName": "CTRE_PhoenixCCISim",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        }
+    ]
+}

vendordeps/Phoenix6-26.0.0-beta-1.json

@@ -1,32 +1,32 @@
 {
-    "fileName": "Phoenix6-frc2025-latest.json",
+    "fileName": "Phoenix6-26.0.0-beta-1.json",
     "name": "CTRE-Phoenix (v6)",
-    "version": "25.4.0",
+    "version": "26.0.0-beta-1",
-    "frcYear": "2025",
+    "frcYear": "2026beta",
     "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": "26.0.0-beta-1"
         }
     ],
     "jniDependencies": [
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "api-cpp",
-            "version": "25.4.0",
+            "version": "26.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -40,7 +40,7 @@
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "tools",
-            "version": "25.4.0",
+            "version": "26.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -54,7 +54,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "api-cpp-sim",
-            "version": "25.4.0",
+            "version": "26.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -68,7 +68,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "tools-sim",
-            "version": "25.4.0",
+            "version": "26.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -82,7 +82,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simTalonSRX",
-            "version": "25.4.0",
+            "version": "26.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -96,7 +96,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simVictorSPX",
-            "version": "25.4.0",
+            "version": "26.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -110,21 +110,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simPigeonIMU",
-            "version": "25.4.0",
+            "version": "26.0.0-beta-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": "26.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -152,7 +138,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProTalonFXS",
-            "version": "25.4.0",
+            "version": "26.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -166,7 +152,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANcoder",
-            "version": "25.4.0",
+            "version": "26.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -180,7 +166,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProPigeon2",
-            "version": "25.4.0",
+            "version": "26.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -194,7 +180,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANrange",
-            "version": "25.4.0",
+            "version": "26.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -208,7 +194,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANdi",
-            "version": "25.4.0",
+            "version": "26.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -222,7 +208,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANdle",
-            "version": "25.4.0",
+            "version": "26.0.0-beta-1",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -238,7 +224,7 @@
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "wpiapi-cpp",
-            "version": "25.4.0",
+            "version": "26.0.0-beta-1",
             "libName": "CTRE_Phoenix6_WPI",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -254,7 +240,7 @@
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "tools",
-            "version": "25.4.0",
+            "version": "26.0.0-beta-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": "26.0.0-beta-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": "26.0.0-beta-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": "26.0.0-beta-1",
             "libName": "CTRE_SimTalonSRX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -318,7 +304,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simVictorSPX",
-            "version": "25.4.0",
+            "version": "26.0.0-beta-1",
             "libName": "CTRE_SimVictorSPX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -334,7 +320,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simPigeonIMU",
-            "version": "25.4.0",
+            "version": "26.0.0-beta-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": "26.0.0-beta-1",
             "libName": "CTRE_SimProTalonFX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -382,7 +352,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProTalonFXS",
-            "version": "25.4.0",
+            "version": "26.0.0-beta-1",
             "libName": "CTRE_SimProTalonFXS",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -398,7 +368,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANcoder",
-            "version": "25.4.0",
+            "version": "26.0.0-beta-1",
             "libName": "CTRE_SimProCANcoder",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -414,7 +384,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProPigeon2",
-            "version": "25.4.0",
+            "version": "26.0.0-beta-1",
             "libName": "CTRE_SimProPigeon2",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -430,7 +400,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANrange",
-            "version": "25.4.0",
+            "version": "26.0.0-beta-1",
             "libName": "CTRE_SimProCANrange",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -446,7 +416,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANdi",
-            "version": "25.4.0",
+            "version": "26.0.0-beta-1",
             "libName": "CTRE_SimProCANdi",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -462,7 +432,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANdle",
-            "version": "25.4.0",
+            "version": "26.0.0-beta-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": "2026beta",
   "mavenUrls": [],
   "jsonUrl": "",
   "javaDependencies": [
@@ -25,6 +25,7 @@
       "sharedLibrary": true,
       "skipInvalidPlatforms": true,
       "binaryPlatforms": [
+        "linuxsystemcore",
         "linuxathena",
         "linuxarm32",
         "linuxarm64",

vendordeps/photonlib.json

@@ -1,9 +1,9 @@
 {
     "fileName": "photonlib.json",
     "name": "photonlib",
-    "version": "v2025.3.1",
+    "version": "v2026.0.1-beta",
     "uuid": "515fe07e-bfc6-11fa-b3de-0242ac130004",
-    "frcYear": "2025",
+    "frcYear": "2026beta",
     "mavenUrls": [
         "https://maven.photonvision.org/repository/internal",
         "https://maven.photonvision.org/repository/snapshots"
@@ -13,7 +13,7 @@
         {
             "groupId": "org.photonvision",
             "artifactId": "photontargeting-cpp",
-            "version": "v2025.3.1",
+            "version": "v2026.0.1-beta",
             "skipInvalidPlatforms": true,
             "isJar": false,
             "validPlatforms": [
@@ -28,7 +28,7 @@
         {
             "groupId": "org.photonvision",
             "artifactId": "photonlib-cpp",
-            "version": "v2025.3.1",
+            "version": "v2026.0.1-beta",
             "libName": "photonlib",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -43,7 +43,7 @@
         {
             "groupId": "org.photonvision",
             "artifactId": "photontargeting-cpp",
-            "version": "v2025.3.1",
+            "version": "v2026.0.1-beta",
             "libName": "photontargeting",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -60,12 +60,12 @@
         {
             "groupId": "org.photonvision",
             "artifactId": "photonlib-java",
-            "version": "v2025.3.1"
+            "version": "v2026.0.1-beta"
         },
         {
             "groupId": "org.photonvision",
             "artifactId": "photontargeting-java",
-            "version": "v2025.3.1"
+            "version": "v2026.0.1-beta"
         }
     ]
 }