Team4388/2026KPopRobotHunters
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updated to 2026

Browse Source 
removed 2025
This commit is contained in:
C4llSqin
2026-01-08 19:42:41 -07:00
parent 725287a284
commit 17c3ff1ec9
32 changed files with 543 additions and 922 deletions
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.gitattributes
-2
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@@ -1,2 +0,0 @@
# Auto detect text files and perform LF normalization
* text=auto
.vscode/launch.json
Vendored
+3 -9
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@@ -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
Vendored
+1 -2
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@@ -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",
"wpilib.autoStartRioLog": false
"java.dependency.enableDependencyCheckup": false
}
.wpilib/wpilib_preferences.json
+1 -1
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@@ -1,6 +1,6 @@
{
"enableCppIntellisense": false,
"currentLanguage": "java",
"projectYear": "2025",
"projectYear": "2026beta",
"teamNumber": 4388
}
README.md
-2
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@@ -1,2 +0,0 @@
# Robot-Essentials
Basic code for any Ridgebotics robot project
build.gradle
+4 -3
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@@ -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
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@@ -1 +0,0 @@
[]
settings.gradle
+3 -3
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@@ -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'
url frcHomeMaven
name = 'frcHome'
url = frcHomeMaven
}
}
}
simgui-ds.json
-112
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@@ -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
+11 -11
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@@ -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.waitEndefectorRefrence;
import frc4388.robot.commands.wait.waitFeedCoral;
// import frc4388.robot.commands.wait.waitElevatorRefrence;
// import frc4388.robot.commands.wait.waitEndefectorRefrence;
// 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.CoordinationState;
// import frc4388.robot.subsystems.elevator.Elevator;
// 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 Elevator m_robotElevator = new Elevator(m_robotMap.elevatorIO, m_robotLED);
public final Vision m_vision = new Vision();
// 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 reverseLidar = new LiDAR(m_robotMap.reverseLidar, "Reverse");
// public final LiDAR reefLidar = new LiDAR(m_robotMap.reefLidar, "Reef");
// public final LiDAR reverseLidar = new LiDAR(m_robotMap.reverseLidar, "Reverse");
/* Controllers */
src/main/java/frc4388/robot/RobotMap.java
+32 -32
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@@ -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.ElevatorReal;
// import frc4388.robot.subsystems.elevator.ElevatorIO;
// 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 rightCamera;
// public final VisionIO leftCamera;
// public final VisionIO rightCamera;
// public final LiDAR lidar = new
public final LidarIO reefLidar;
public final LidarIO reverseLidar;
// public final LidarIO reefLidar;
// public final LidarIO reverseLidar;
/* LED Subsystem */
@@ -59,25 +59,25 @@ public class RobotMap {
/* Swreve Drive Subsystem */
public final SwerveIO swerveDrivetrain;
/* Elevator Subsystem */
public final ElevatorIO elevatorIO;
// /* Elevator Subsystem */
// public final ElevatorIO elevatorIO;
public RobotMap(SimConstants.Mode mode) {
switch (mode) {
case REAL:
// Configure cameras
PhotonCamera leftCameraReal = new PhotonCamera(VisionConstants.LEFT_CAMERA_NAME);
PhotonCamera rightCameraReal = new PhotonCamera(VisionConstants.RIGHT_CAMERA_NAME);
// // Configure cameras
// PhotonCamera leftCameraReal = new PhotonCamera(VisionConstants.LEFT_CAMERA_NAME);
// PhotonCamera rightCameraReal = new PhotonCamera(VisionConstants.RIGHT_CAMERA_NAME);
leftCamera = new VisionReal(leftCameraReal, VisionConstants.LEFT_CAMERA_POS); ;
rightCamera = new VisionReal(rightCameraReal, VisionConstants.RIGHT_CAMERA_POS);
// leftCamera = new VisionReal(leftCameraReal, VisionConstants.LEFT_CAMERA_POS); ;
// rightCamera = new VisionReal(rightCameraReal, VisionConstants.RIGHT_CAMERA_POS);
FaultPhotonCamera.addDevice(leftCameraReal, "Left Camera");
FaultPhotonCamera.addDevice(rightCameraReal , "Right Camera");
// FaultPhotonCamera.addDevice(leftCameraReal, "Left Camera");
// FaultPhotonCamera.addDevice(rightCameraReal , "Right Camera");
// Configure LiDAR
reefLidar = new LidarReal(LiDARConstants.REEF_LIDAR_DIO_CHANNEL);
reverseLidar = new LidarReal(LiDARConstants.REVERSE_LIDAR_DIO_CHANNEL);
// // Configure LiDAR
// reefLidar = new LidarReal(LiDARConstants.REEF_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 endeffector = new TalonFX(ElevatorConstants.ENDEFFECTOR_ID.id);
// TalonFX elevator = new TalonFX(ElevatorConstants.ELEVATOR_ID.id);
// TalonFX endeffector = new TalonFX(ElevatorConstants.ENDEFFECTOR_ID.id);
DigitalInput basinLimitSwitch = new DigitalInput(ElevatorConstants.BASIN_LIMIT_SWITCH);
DigitalInput endeffectorLimitSwitch = new DigitalInput(ElevatorConstants.ENDEFFECTOR_LIMIT_SWITCH);
DigitalInput IRIntakeBeam = new DigitalInput(ElevatorConstants.INTAKE_LIMIT_SWITCH);
// DigitalInput basinLimitSwitch = new DigitalInput(ElevatorConstants.BASIN_LIMIT_SWITCH);
// DigitalInput endeffectorLimitSwitch = new DigitalInput(ElevatorConstants.ENDEFFECTOR_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(endeffector, "Endeffector");
// FaultTalonFX.addDevice(elevator, "Elevator");
// 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() {};
rightCamera = new VisionIO() {};
reefLidar = new LidarIO() {};
reverseLidar = new LidarIO() {};
// leftCamera = new VisionIO() {};
// rightCamera = new VisionIO() {};
// reefLidar = 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 -1
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@@ -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
+1 -1
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@@ -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 -1
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@@ -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 -1
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@@ -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
-188
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@@ -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
+1 -1
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@@ -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
-36
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@@ -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
-36
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@@ -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
-36
View File
@@ -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
+8 -8
View File
@@ -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 String GIT_SHA = "2b7bb1224195b9e001e60b895ee04d63abdfc513";
public static final String GIT_DATE = "2025-07-17 09:15:19 MDT";
public static final String GIT_BRANCH = "advantagekit";
public static final String BUILD_DATE = "2025-07-17 11:55:31 MDT";
public static final long BUILD_UNIX_TIME = 1752774931371L;
public static final int DIRTY = 1;
public static final int GIT_REVISION = -1;
public static final String GIT_SHA = "UNKNOWN";
public static final String GIT_DATE = "UNKNOWN";
public static final String GIT_BRANCH = "UNKNOWN";
public static final String BUILD_DATE = "2026-01-08 19:31:25 MST";
public static final long BUILD_UNIX_TIME = 1767925885671L;
public static final int DIRTY = 129;
private BuildConstants(){}
}
src/main/java/frc4388/robot/constants/Constants.java
+3
View File
@@ -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
+2 -1
View File
@@ -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
-106
View File
@@ -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
+4 -4
View File
@@ -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
+1 -1
View File
@@ -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
+1 -1
View File
@@ -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
+171
View File
@@ -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-frc2025-latest.json → vendordeps/Phoenix6-26.0.0-beta-1.json
+34 -64
View File
@@ -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",
"frcYear": "2025",
"version": "26.0.0-beta-1",
"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",
"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": "26.0.0-beta-1",
"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
+2 -1
View File
@@ -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
+7 -7
View File
@@ -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"
}
]
}