Merge branch 'master' of https://github.com/Team4388/2026KPopRobotHunters

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

@@ -30,7 +30,14 @@ import frc4388.utility.controller.VirtualController;
 import frc4388.utility.controller.XboxController;
 import frc4388.robot.commands.MoveForTimeCommand;
 import frc4388.robot.commands.alignment.RotTo45;
+import frc4388.robot.commands.MoveUntilSuply;
+// import frc4388.robot.commands.alignment.DriveToReef;
+// 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;
 import frc4388.robot.constants.Constants.OIConstants;
 import frc4388.robot.constants.Constants.SimConstants.Mode;
 

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

@@ -18,14 +18,10 @@ 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.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.lidar.LiDAR;
-import frc4388.robot.subsystems.lidar.LidarIO;
-import frc4388.robot.subsystems.lidar.LidarReal;
 import frc4388.robot.subsystems.swerve.SwerveDriveConstants;
 import frc4388.robot.subsystems.swerve.SwerveIO;
 import frc4388.robot.subsystems.swerve.SwerveReal;

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

@@ -1,48 +0,0 @@
-package frc4388.robot.commands.alignment;
-
-import edu.wpi.first.math.geometry.Translation2d;
-import edu.wpi.first.wpilibj2.command.Command;
-import frc4388.robot.subsystems.lidar.LiDAR;
-import frc4388.robot.subsystems.swerve.SwerveDrive;
-
-// Command to repeat a joystick movement for a specific time.
-public class DriveUntilLiDAR extends Command {
-    private final SwerveDrive swerveDrive;
-    private final Translation2d leftStick;
-    private final Translation2d rightStick;
-    private final LiDAR m_lidar;
-    private final double mindistance;
-
-    public DriveUntilLiDAR(
-        SwerveDrive swerveDrive, 
-        Translation2d leftStick, 
-        Translation2d rightStick, 
-        LiDAR lidar,
-        double mindistance) {
-            addRequirements(swerveDrive);
-
-        this.swerveDrive = swerveDrive;
-        this.leftStick = leftStick;
-        this.rightStick = rightStick;
-        this.m_lidar = lidar;
-        this.mindistance = mindistance;
-    }
-
-    @Override
-    public void initialize() {
-    }
-
-    @Override
-    public void execute() {
-        swerveDrive.driveFine(leftStick, rightStick, 0.3);
-    }
-
-    @Override
-    public boolean isFinished() {
-        if (Math.abs(m_lidar.getDistance()) < mindistance) {
-            swerveDrive.softStop();
-            return true;
-        }
-        return false;
-    }
-}

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

@@ -1,107 +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.alignment;
-
-import edu.wpi.first.math.geometry.Rotation2d;
-import edu.wpi.first.math.geometry.Translation2d;
-import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
-import edu.wpi.first.wpilibj2.command.Command;
-import frc4388.robot.subsystems.lidar.LiDAR;
-import frc4388.robot.subsystems.swerve.SwerveDrive;
-
-/* 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 LidarAlign extends Command {
-  private SwerveDrive swerveDrive;
-  private LiDAR lidar;  
-
-  private int currentFinderTick;
-  // private int tickFoundPipe;
-  private boolean foundReef;
-  private boolean headedRight;
-  private double speed;
-  private int bounces;
-  private double additionalDistance = 0;
-  // private final boolean constructedHeadedRight;
-
-  /** Creates a new LidarAlign. */
-  public LidarAlign(SwerveDrive swerveDrive, LiDAR lidar) {//, boolean headedRight) {
-    // Use addRequirements() here to declare subsystem dependencies.
-
-    this.swerveDrive = swerveDrive;
-    this.lidar = lidar;
-
-    addRequirements(swerveDrive, lidar);
-  }
-
-  // Called when the command is initially scheduled.
-  @Override
-  public void initialize() {
-    this.currentFinderTick = 0;
-    this.speed = 0.4; // TODO: find good speed for this
-    this.foundReef = false;
-    //this.headedRight = (DriveToReef.tagRelativeXError < 0);
-    this.additionalDistance = 0;
-    this.bounces = 0;
-  }
-
-
-  // Called every time the scheduler runs while the command is scheduled.
-  @Override
-  public void execute() {
-    if (lidar.withinDistance()) {
-      swerveDrive.softStop(); 
-      foundReef = true;
-      return;
-    }
-
-    if (currentFinderTick > (15 + additionalDistance)) { //arbutrary threshhold for now.
-      headedRight = !headedRight;
-      currentFinderTick *= -1;
-      bounces++;
-      additionalDistance += 5;
-      if (bounces == 5) return;
-    }
-    double currentHeading = (swerveDrive.getGyroAngle() * 180) / Math.PI;
-    double relAngle = (Math.round(currentHeading / 60.d) * 60); // Relative driving to the side of the reef
-    SmartDashboard.putNumber("Rel Angle", relAngle);
-    SmartDashboard.putNumber("heading", currentHeading);
-    if (!headedRight) {
-      swerveDrive.driveRelativeLockedAngle(new Translation2d(0, -speed), Rotation2d.fromDegrees(relAngle));
-    } else {
-      swerveDrive.driveRelativeLockedAngle(new Translation2d(0, speed), Rotation2d.fromDegrees(relAngle));
-    }
-
-    currentFinderTick++;
-  }
-
-  // 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() {
-    if (lidar.getDistance() < 4) {
-      swerveDrive.stopModules();
-      return true;
-    } else if (foundReef && lidar.withinDistance()) { // spot on
-      swerveDrive.stopModules();
-      return true;
-    } else if (foundReef && !lidar.withinDistance()) { // over shot
-      speed = speed / 2;
-      headedRight = !headedRight;
-      currentFinderTick = 0;
-      foundReef = false;
-      return false;
-    } else if (bounces >= 3) {
-      swerveDrive.stopModules();
-      return true;
-    } else {
-      return false;
-    }
-  }
-}

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

@@ -11,8 +11,8 @@ public final class BuildConstants {
   public static final String GIT_SHA = "8dbb9d5a9099f417617ec2245e275a42b6788116";
   public static final String GIT_DATE = "2026-01-10 16:52:43 MST";
   public static final String GIT_BRANCH = "master";
-  public static final String BUILD_DATE = "2026-01-13 17:47:04 MST";
+  public static final String BUILD_DATE = "2026-01-12 16:53:00 MST";
-  public static final long BUILD_UNIX_TIME = 1768351624667L;
+  public static final long BUILD_UNIX_TIME = 1768261980081L;
   public static final int DIRTY = 1;
 
   private BuildConstants(){}

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

@@ -36,16 +36,16 @@ import frc4388.utility.structs.LEDPatterns;
 public final class Constants {
     public static final String CANBUS_NAME = "rio";
 
-    public static final class LiDARConstants {
+    // public static final class LiDARConstants {
-        public static final int REEF_LIDAR_DIO_CHANNEL = 7;
+    //     public static final int REEF_LIDAR_DIO_CHANNEL = 7;
-        public static final int REVERSE_LIDAR_DIO_CHANNEL = 4;
+    //     public static final int REVERSE_LIDAR_DIO_CHANNEL = 4;
 
-        public static final int HUMAN_PLAYER_STATION_DISTANCE = 40;
+    //     public static final int HUMAN_PLAYER_STATION_DISTANCE = 40;
 
-        public static final int LIDAR_DETECT_DISTANCE = 100; // Min distance to detect pole
+    //     public static final int LIDAR_DETECT_DISTANCE = 100; // Min distance to detect pole
-        public static final int LIDAR_MICROS_TO_CM = 10;
+    //     public static final int LIDAR_MICROS_TO_CM = 10;
-        public static final int SECONDS_TO_MICROS = 1000000;
+    //     public static final int SECONDS_TO_MICROS = 1000000;
-    }
+    // }
 
     public static final class AutoConstants {
         // public static final Gains XY_GAINS = new Gains(5,0.6,0.0);

src/main/java/frc4388/robot/subsystems/lidar/LiDAR.java

@@ -1,58 +0,0 @@
-package frc4388.robot.subsystems.lidar;
-
-import org.littletonrobotics.junction.Logger;
-
-import edu.wpi.first.wpilibj2.command.SubsystemBase;
-import frc4388.robot.constants.Constants.LiDARConstants;
-import frc4388.utility.status.Status;
-import frc4388.utility.status.FaultReporter;
-import frc4388.utility.status.Queryable;
-import frc4388.utility.status.Status.ReportLevel;
-
-public class LiDAR extends SubsystemBase implements Queryable {
-    LidarIO io;
-    LidarStateAutoLogged state = new LidarStateAutoLogged();
-
-    private String name = "Lidar";
-
-    public LiDAR(LidarIO device, String name) {
-        FaultReporter.register(this);
-
-        this.io = device;
-        this.name = name;
-    }
-
-    @Override
-    public void periodic() {
-        io.updateInputs(state);
-        Logger.processInputs("LiDAR/"+name, state);
-    }
-
-    // @AutoLogOutput(key = "Lidar/{name}")
-    public double getDistance(){
-        return state.distance;
-    }
-
-    public boolean withinDistance(){
-        if(state.distance == -1) return false;
-        return state.distance < LiDARConstants.LIDAR_DETECT_DISTANCE;
-    }
-
-    @Override
-    public String getName() {
-        return "Lidar " + name;
-    }
-
-    @Override
-    public Status diagnosticStatus() {
-        Status s = new Status();
-
-        if(state.distance == -1)
-            s.addReport(ReportLevel.ERROR, "LiDAR DISCONNECTED");
-        
-        s.addReport(ReportLevel.INFO, "LiDAR Distance: " + state.distance);
-
-        return s;
-    }
-    
-}

src/main/java/frc4388/robot/subsystems/lidar/LidarIO.java

@@ -1,13 +0,0 @@
-package frc4388.robot.subsystems.lidar;
-
-import org.littletonrobotics.junction.AutoLog;
-
-public interface LidarIO {
-    @AutoLog
-    public class LidarState {
-        public boolean connected;
-        public double distance;
-    }
-    
-    public default void updateInputs(LidarState state) {}
-}

src/main/java/frc4388/robot/subsystems/lidar/LidarReal.java

@@ -1,27 +0,0 @@
-package frc4388.robot.subsystems.lidar;
-
-import edu.wpi.first.wpilibj.Counter;
-import frc4388.robot.constants.Constants.LiDARConstants;
-
-// https://girlsofsteeldocs.readthedocs.io/en/latest/technical-resources/sensors/LIDAR-Lite-Distance-Sensor.html#minimal-roborio-interface
-public class LidarReal implements LidarIO {
-
-    
-    private Counter LidarPWM;
-
-    public LidarReal(int port) {
-        LidarPWM = new Counter(port);
-        LidarPWM.setMaxPeriod(1.00); //set the max period that can be measured
-        LidarPWM.setSemiPeriodMode(true); //Set the counter to period measurement
-        LidarPWM.reset();
-    }
-
-    @Override
-    public void updateInputs(LidarState state) {
-        
-        if(LidarPWM.get() < 1)
-            state.distance = -1;
-        else
-            state.distance = (LidarPWM.getPeriod() * LiDARConstants.SECONDS_TO_MICROS) / LiDARConstants.LIDAR_MICROS_TO_CM;
-    }
-}

src/main/java/frc4388/robot/subsystems/shooter/ShooterConstants.java

@@ -8,10 +8,11 @@ import com.ctre.phoenix6.configs.TalonFXConfiguration;
 import com.ctre.phoenix6.signals.NeutralModeValue;
 
 import edu.wpi.first.units.measure.Angle;
+import frc4388.utility.status.CanDevice;
 
 public class ShooterConstants {
     // Motor conversions
-    public static final double ANGLE_MOTOR_GEAR_RATIO = 1.;
+    // public static final double ANGLE_MOTOR_GEAR_RATIO = 1.;
     public static final double PITCH_MOTOR_GEAR_RATIO = 1.;
     public static final double FLYWHEEL_GEAR_RATIO = 1.;
     public static final double FEEDER_INCHES_PER_ROT = 1.;
@@ -20,24 +21,29 @@ public class ShooterConstants {
 
     // 0 is the forward angle on the robot.
     // negative is left, positive is right
-    public static final Angle ANGLE_LIMIT_LEFT = Degrees.of(-180);
+    // public static final Angle ANGLE_LIMIT_LEFT = Degrees.of(-180);
-    public static final Angle ANGLE_LIMIT_RIGHT = Degrees.of(180);
+    // public static final Angle ANGLE_LIMIT_RIGHT = Degrees.of(180);
 
     // 0 is paralell to the ground, 90 is directly up
     public static final Angle PITCH_LIMIT_UPPER = Degrees.of(90);
     public static final Angle PITCH_LIMIT_LOWER = Degrees.of(0);
     
     // Motor configs
-    public static final TalonFXConfiguration ANGLE_MOTOR_CONFIG = new TalonFXConfiguration()
+    // public static final TalonFXConfiguration ANGLE_MOTOR_CONFIG = new TalonFXConfiguration()
-        .withCurrentLimits(
+    //     .withCurrentLimits(
-            new CurrentLimitsConfigs()
+    //         new CurrentLimitsConfigs()
-                .withStatorCurrentLimit(40) // TODO: tune???
+    //             .withStatorCurrentLimit(40) // TODO: tune???
-                .withStatorCurrentLimitEnable(true)
+    //             .withStatorCurrentLimitEnable(true)
-            ).withMotorOutput(
+    //         ).withMotorOutput(
-                new MotorOutputConfigs()
+    //             new MotorOutputConfigs()
-                    .withNeutralMode(NeutralModeValue.Brake) // Must be break because this has to be accurate
+    //                 .withNeutralMode(NeutralModeValue.Brake) // Must be break because this has to be accurate
-                    .withDutyCycleNeutralDeadband(0.04) // TODO: Figure out what this means
+    //                 .withDutyCycleNeutralDeadband(0.04) // TODO: Figure out what this means
-    );
+    // );
+
+    public static final class IDs {
+        public static final CanDevice FLYWHEEK_CAN_DEVICE = new CanDevice("Flywheel", 22);
+    }
+
     public static final TalonFXConfiguration PITCH_MOTOR_CONFIG = new TalonFXConfiguration()
         .withCurrentLimits(
             new CurrentLimitsConfigs()

src/main/java/frc4388/robot/subsystems/shooter/ShooterIO.java

@@ -16,13 +16,13 @@ import edu.wpi.first.units.measure.LinearVelocity;
 public interface ShooterIO {
     @AutoLog
     public class ShooterState {
-        Angle shooterAngle = Rotations.of(0);
+        // Angle shooterAngle = Rotations.of(0);
-        Angle shooterTargetAngle = Rotations.of(0);
+        // Angle shooterTargetAngle = Rotations.of(0);
-        Current angleMotorCurrent = Amps.of(0);
+        // Current angleMotorCurrent = Amps.of(0);
 
-        Angle shooterPitch = Rotations.of(0);
+        // Angle shooterPitch = Rotations.of(0);
-        Angle shooterTargetPitch = Rotations.of(0);
+        // Angle shooterTargetPitch = Rotations.of(0);
-        Current pitchMotorCurrent = Amps.of(0);
+        // Current pitchMotorCurrent = Amps.of(0);
 
         AngularVelocity flywheelVelocity = RotationsPerSecond.of(0);
         AngularVelocity flywheelTargetVelocity = RotationsPerSecond.of(0);
@@ -33,8 +33,8 @@ public interface ShooterIO {
         Current feederMotorCurrent = Amps.of(0);
     }
 
-    public default void setShooterAngle(ShooterState state, Angle angle) {}
+    // public default void setShooterAngle(ShooterState state, Angle angle) {}
-    public default void setShooterPitch(ShooterState state, Angle angle) {}
+    // public default void setShooterPitch(ShooterState state, Angle angle) {}
     public default void setFlywheelVelocity(ShooterState state, AngularVelocity angularVelocity) {}
     public default void setFeederVelocity(ShooterState state, LinearVelocity linearVelocity) {}
 

src/main/java/frc4388/robot/subsystems/shooter/ShooterReal.java

@@ -12,25 +12,25 @@ import edu.wpi.first.units.measure.*;
 
 public class ShooterReal implements ShooterIO {
 
-    TalonFX m_angleMotor;
+    // TalonFX m_angleMotor;
-    TalonFX m_pitchMotor;
+    // TalonFX m_pitchMotor;
     TalonFX m_flywheelMotor;
     TalonFX m_feederMotor;
 
     public ShooterReal(
-        TalonFX angleMotor,
+        // TalonFX angleMotor,
-        TalonFX pitchMotor,
+        // TalonFX pitchMotor,
         TalonFX flywheelMotor,
         TalonFX feederMotor
     ) {
-        m_angleMotor = angleMotor;
+        // m_angleMotor = angleMotor;
-        m_pitchMotor = pitchMotor;
+        // m_pitchMotor = pitchMotor;
         m_flywheelMotor = flywheelMotor;
         m_feederMotor = feederMotor;
 
         // Apply the configs
-        m_angleMotor.getConfigurator().apply(ShooterConstants.ANGLE_MOTOR_CONFIG);
+        // m_angleMotor.getConfigurator().apply(ShooterConstants.ANGLE_MOTOR_CONFIG);
-        m_pitchMotor.getConfigurator().apply(ShooterConstants.PITCH_MOTOR_CONFIG);
+        // m_pitchMotor.getConfigurator().apply(ShooterConstants.PITCH_MOTOR_CONFIG);
         m_flywheelMotor.getConfigurator().apply(ShooterConstants.FLYWHEEL_MOTOR_CONFIG);
         m_feederMotor.getConfigurator().apply(ShooterConstants.FEEDER_MOTOR_CONFIG);
     }
@@ -45,35 +45,35 @@ public class ShooterReal implements ShooterIO {
         }
     }
 
-    // TODO: Test
+    // // TODO: Test
-    @Override
+    // @Override
-    public void setShooterAngle(ShooterState state, Angle angle) {
+    // public void setShooterAngle(ShooterState state, Angle angle) {
-        state.shooterTargetAngle = angle;
+    //     state.shooterTargetAngle = angle;
-        // Assume that the angle is always accurate, because I think we will use a shaft encoder
+    //     // Assume that the angle is always accurate, because I think we will use a shaft encoder
-        // Assume that 0 degrees = forwards. Might need an offset here
+    //     // Assume that 0 degrees = forwards. Might need an offset here
 
-        Angle boundedAngle = clampAng(angle, ShooterConstants.ANGLE_LIMIT_LEFT, ShooterConstants.ANGLE_LIMIT_RIGHT);
+    //     Angle boundedAngle = clampAng(angle, ShooterConstants.ANGLE_LIMIT_LEFT, ShooterConstants.ANGLE_LIMIT_RIGHT);
-        // (REAL_ROT) * (MOTOR_ROT / REAL_ROT) = MOTOR_ROT
+    //     // (REAL_ROT) * (MOTOR_ROT / REAL_ROT) = MOTOR_ROT
-        double motorTargetAngle = boundedAngle.in(Rotations) / ShooterConstants.ANGLE_MOTOR_GEAR_RATIO;
+    //     double motorTargetAngle = boundedAngle.in(Rotations) / ShooterConstants.ANGLE_MOTOR_GEAR_RATIO;
-        PositionDutyCycle posRequest = new PositionDutyCycle(motorTargetAngle);
+    //     PositionDutyCycle posRequest = new PositionDutyCycle(motorTargetAngle);
-        m_angleMotor.setControl(posRequest);
+    //     m_angleMotor.setControl(posRequest);
-    }
+    // }
 
 
     // TODO: Test
-    @Override
+    // @Override
-    public void setShooterPitch(ShooterState state, Angle angle) {
+    // public void setShooterPitch(ShooterState state, Angle angle) {
-        state.shooterTargetPitch = angle;
+    //     state.shooterTargetPitch = angle;
-        // TODO: Test
+    //     // TODO: Test
-        // This assumes that the 0 is paralell to the ground. Might need an offset here
+    //     // This assumes that the 0 is paralell to the ground. Might need an offset here
 
 
-        Angle boundedAngle = clampAng(angle, ShooterConstants.PITCH_LIMIT_UPPER, ShooterConstants.PITCH_LIMIT_LOWER);
+    //     Angle boundedAngle = clampAng(angle, ShooterConstants.PITCH_LIMIT_UPPER, ShooterConstants.PITCH_LIMIT_LOWER);
-        // (REAL_ROT) * (MOTOR_ROT / REAL_ROT) = MOTOR_ROT
+    //     // (REAL_ROT) * (MOTOR_ROT / REAL_ROT) = MOTOR_ROT
-        double motorTargetAngle = boundedAngle.in(Rotations) / ShooterConstants.PITCH_MOTOR_GEAR_RATIO;
+    //     double motorTargetAngle = boundedAngle.in(Rotations) / ShooterConstants.PITCH_MOTOR_GEAR_RATIO;
-        PositionDutyCycle posRequest = new PositionDutyCycle(motorTargetAngle);
+    //     PositionDutyCycle posRequest = new PositionDutyCycle(motorTargetAngle);
-        m_angleMotor.setControl(posRequest);
+    //     m_pitchMotor.setControl(posRequest);
-    }
+    // }
     
     @Override
     public void setFlywheelVelocity(ShooterState state, AngularVelocity angularVelocity) {
@@ -95,11 +95,11 @@ public class ShooterReal implements ShooterIO {
 
     @Override
     public void updateInputs(ShooterState state) {
-        state.shooterAngle = m_angleMotor.getPosition().getValue().times(ShooterConstants.ANGLE_MOTOR_GEAR_RATIO);
+        // state.shooterAngle = m_angleMotor.getPosition().getValue().times(ShooterConstants.ANGLE_MOTOR_GEAR_RATIO);
-        state.angleMotorCurrent = m_angleMotor.getStatorCurrent(false).getValue();
+        // state.angleMotorCurrent = m_angleMotor.getStatorCurrent(false).getValue();
 
-        state.shooterPitch = m_pitchMotor.getPosition().getValue().times(ShooterConstants.PITCH_MOTOR_GEAR_RATIO);
+        // state.shooterPitch = m_pitchMotor.getPosition().getValue().times(ShooterConstants.PITCH_MOTOR_GEAR_RATIO);
-        state.pitchMotorCurrent = m_pitchMotor.getStatorCurrent().getValue();
+        // state.pitchMotorCurrent = m_pitchMotor.getStatorCurrent().getValue();
 
         state.flywheelVelocity = m_flywheelMotor.getVelocity().getValue();
         state.flywheelMotorCurrent = m_flywheelMotor.getStatorCurrent().getValue();

vendordeps/PathplannerLib-2026.1.2.json

@@ -0,0 +1,38 @@
+{
+    "fileName": "PathplannerLib-2026.1.2.json",
+    "name": "PathplannerLib",
+    "version": "2026.1.2",
+    "uuid": "1b42324f-17c6-4875-8e77-1c312bc8c786",
+    "frcYear": "2026",
+    "mavenUrls": [
+        "https://3015rangerrobotics.github.io/pathplannerlib/repo"
+    ],
+    "jsonUrl": "https://3015rangerrobotics.github.io/pathplannerlib/PathplannerLib.json",
+    "javaDependencies": [
+        {
+            "groupId": "com.pathplanner.lib",
+            "artifactId": "PathplannerLib-java",
+            "version": "2026.1.2"
+        }
+    ],
+    "jniDependencies": [],
+    "cppDependencies": [
+        {
+            "groupId": "com.pathplanner.lib",
+            "artifactId": "PathplannerLib-cpp",
+            "version": "2026.1.2",
+            "libName": "PathplannerLib",
+            "headerClassifier": "headers",
+            "sharedLibrary": false,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "osxuniversal",
+                "linuxathena",
+                "linuxarm32",
+                "linuxarm64"
+            ]
+        }
+    ]
+}