diff --git a/src/main/java/frc4388/robot/RobotMap.java b/src/main/java/frc4388/robot/RobotMap.java index cc680c3..a9f19e9 100644 --- a/src/main/java/frc4388/robot/RobotMap.java +++ b/src/main/java/frc4388/robot/RobotMap.java @@ -98,9 +98,9 @@ public class RobotMap { TalonFX indexer = new TalonFX(ShooterConstants.INDEXER_ID.id, Constants.CANIVORE_CANBUS); //Configure Intake 20,21 - TalonFX arm = new TalonFX(IntakeConstants.ARM_ID.id, Constants.CANIVORE_CANBUS); + SparkMax arm = new SparkMax(IntakeConstants.ARM_ID.id, com.revrobotics.spark.SparkLowLevel.MotorType.kBrushless); SparkMax roller = new SparkMax(IntakeConstants.ROLLER_ID.id, com.revrobotics.spark.SparkLowLevel.MotorType.kBrushless); - DigitalInput armLimitSwitch = new DigitalInput(IntakeConstants.ARM_LIMIT_SWITCH_CHANNEL); + // DigitalInput armLimitSwitch = new DigitalInput(IntakeConstants.ARM_LIMIT_SWITCH_CHANNEL); // DigitalInput basinLimitSwitch = new DigitalInput(ElevatorConstants.BASIN_LIMIT_SWITCH); // DigitalInput endeffectorLimitSwitch = new DigitalInput(ElevatorConstants.ENDEFFECTOR_LIMIT_SWITCH); // DigitalInput IRIntakeBeam = new DigitalInput(ElevatorConstants.INTAKE_LIMIT_SWITCH); @@ -109,7 +109,7 @@ public class RobotMap { // shooterIO = new ShooterIO() {}; shooterIO = new ShooterReal(shooter1, shooter2, indexer); - intakeIO = new IntakeReal(armLimitSwitch, arm, roller); + intakeIO = new IntakeReal(arm, roller); // Fault FaultPidgeon2.addDevice(swerveDrivetrainReal.getPigeon2(), "Gyro"); @@ -118,7 +118,7 @@ public class RobotMap { FaultTalonFX.addDevice(shooter1, "Shooter1"); FaultTalonFX.addDevice(shooter2, "Shooter2"); FaultTalonFX.addDevice(indexer, "Indexer"); - FaultTalonFX.addDevice(arm, "Arm"); + // FaultTalonFX.addDevice(arm, "Arm"); // FaultTalonFX.addDevice(roller, "Roller"); FaultTalonFX.addDevice(swerveDrivetrainReal.getModule(0).getDriveMotor(), "Module 0 Drive"); diff --git a/src/main/java/frc4388/robot/constants/BuildConstants.java b/src/main/java/frc4388/robot/constants/BuildConstants.java index d7cb571..78ac3f6 100644 --- a/src/main/java/frc4388/robot/constants/BuildConstants.java +++ b/src/main/java/frc4388/robot/constants/BuildConstants.java @@ -5,14 +5,14 @@ package frc4388.robot.constants; */ public final class BuildConstants { public static final String MAVEN_GROUP = ""; - public static final String MAVEN_NAME = "2026KPopRobotHunters-new"; + public static final String MAVEN_NAME = "2026KPopRobotHunters"; public static final String VERSION = "unspecified"; - public static final int GIT_REVISION = 184; - public static final String GIT_SHA = "c6b0d29acdb24728ed566b25d6434a45fbd963c7"; - public static final String GIT_DATE = "2026-03-25 11:15:46 MDT"; + public static final int GIT_REVISION = 185; + public static final String GIT_SHA = "7eba3d8faa208df9222599c53db1e11da82d7a96"; + public static final String GIT_DATE = "2026-03-25 11:39:55 MDT"; public static final String GIT_BRANCH = "New-Intake"; - public static final String BUILD_DATE = "2026-03-25 11:17:58 MDT"; - public static final long BUILD_UNIX_TIME = 1774459078868L; + public static final String BUILD_DATE = "2026-03-28 09:26:32 MDT"; + public static final long BUILD_UNIX_TIME = 1774711592752L; public static final int DIRTY = 1; private BuildConstants(){} diff --git a/src/main/java/frc4388/robot/subsystems/intake/Intake.java b/src/main/java/frc4388/robot/subsystems/intake/Intake.java index b73cb8f..0246ddd 100644 --- a/src/main/java/frc4388/robot/subsystems/intake/Intake.java +++ b/src/main/java/frc4388/robot/subsystems/intake/Intake.java @@ -96,19 +96,19 @@ public class Intake extends SubsystemBase { switch (mode) { case Extended: - io.setArmAngle(state, Rotations.of(IntakeConstants.ARM_LIMIT_EXTENDED.get())); - io.setRollerOutput(state, IntakeConstants.ROLLER_PERCENT_OUTPUT.get()); + // io.setArmAngle(state, Rotations.of(IntakeConstants.ARM_LIMIT_EXTENDED.get())); + // io.setRollerOutput(state, IntakeConstants.ROLLER_PERCENT_OUTPUT.get()); break; case Retracted: - io.setArmAngle(state, Rotations.of(IntakeConstants.ARM_LIMIT_RETRACTED.get())); - io.setRollerOutput(state, 0); + // io.setArmAngle(state, Rotations.of(IntakeConstants.ARM_LIMIT_RETRACTED.get())); + // io.setRollerOutput(state, 0); break; case Extending: - io.setArmAngle(state, Rotations.of(IntakeConstants.ARM_EXTEND_PERCENT_OUTPUT.get())); + io.armOutput(IntakeConstants.ARM_EXTEND_PERCENT_OUTPUT.get()); io.setRollerOutput(state, IntakeConstants.ROLLER_PERCENT_OUTPUT.get()); break; case Retracting: - io.setArmAngle(state, Rotations.of(IntakeConstants.ARM_RETRACT_PERCENT_OUTPUT.get())); + io.armOutput(IntakeConstants.ARM_RETRACT_PERCENT_OUTPUT.get()); io.setRollerOutput(state, 0); break; case Bouncing: diff --git a/src/main/java/frc4388/robot/subsystems/intake/IntakeConstants.java b/src/main/java/frc4388/robot/subsystems/intake/IntakeConstants.java index 7aa88cc..e82ceea 100644 --- a/src/main/java/frc4388/robot/subsystems/intake/IntakeConstants.java +++ b/src/main/java/frc4388/robot/subsystems/intake/IntakeConstants.java @@ -1,16 +1,10 @@ package frc4388.robot.subsystems.intake; -import static edu.wpi.first.units.Units.Amps; -import static edu.wpi.first.units.Units.RotationsPerSecond; +import com.revrobotics.spark.FeedbackSensor; +import com.revrobotics.spark.config.SparkMaxConfig; +import com.revrobotics.spark.config.LimitSwitchConfig.Behavior; +import com.revrobotics.spark.config.LimitSwitchConfig.Type; -import com.ctre.phoenix6.configs.CurrentLimitsConfigs; -import com.ctre.phoenix6.configs.MotorOutputConfigs; -import com.ctre.phoenix6.configs.Slot0Configs; -import com.ctre.phoenix6.configs.TalonFXConfiguration; -import com.ctre.phoenix6.signals.NeutralModeValue; - -import edu.wpi.first.units.measure.AngularVelocity; -import edu.wpi.first.units.measure.Current; import frc4388.utility.configurable.ConfigurableDouble; import frc4388.utility.status.CanDevice; @@ -33,7 +27,7 @@ public class IntakeConstants { public static final CanDevice ARM_ID = new CanDevice("ARM", 20); public static final CanDevice ROLLER_ID = new CanDevice("INTAKE_ROLLER", 21); - public static final int ARM_LIMIT_SWITCH_CHANNEL = 9; + // public static final int ARM_LIMIT_SWITCH_CHANNEL = 9; // Limits @@ -46,7 +40,7 @@ public class IntakeConstants { // public static final Angle ARM_LIMIT_UPPER = Degrees.of(-90); public static final ConfigurableDouble ARM_LIMIT_RETRACTED = new ConfigurableDouble("Arm angle retracted", 0.1); - public static final ConfigurableDouble ARM_LIMIT_EXTENDED = new ConfigurableDouble("Arm angle extended", 0.33); + public static final ConfigurableDouble ARM_ssLIMIT_EXTENDED = new ConfigurableDouble("Arm angle extended", 0.33); public static final ConfigurableDouble ARM_EXTEND_PERCENT_OUTPUT = new ConfigurableDouble("Arm extend % output", 0.4); public static final ConfigurableDouble ARM_RETRACT_PERCENT_OUTPUT = new ConfigurableDouble("Arm retract % output", -0.4); public static final ConfigurableDouble ROLLER_PERCENT_OUTPUT = new ConfigurableDouble("Roller Percent Output", .70); @@ -56,16 +50,16 @@ public class IntakeConstants { // public static final AngularVelocity ROLLER_STOP = RotationsPerSecond.of(0.0); - public static final Slot0Configs ARM_PID = new Slot0Configs() - .withKP(0.08) - .withKI(0.0) - .withKD(0.05); + // public static final Slot0Configs ARM_PID = new Slot0Configs() + // .withKP(0.08) + // .withKI(0.0) + // .withKD(0.05); - public static ConfigurableDouble arm_kP = new ConfigurableDouble("ARM KP", 0.08); - public static ConfigurableDouble arm_kI = new ConfigurableDouble("ARM KI", 0); - public static ConfigurableDouble arm_kD = new ConfigurableDouble("ARM KD", 0.05); + // public static ConfigurableDouble arm_kP = new ConfigurableDouble("ARM KP", 0.08); + // public static ConfigurableDouble arm_kI = new ConfigurableDouble("ARM KI", 0); + // public static ConfigurableDouble arm_kD = new ConfigurableDouble("ARM KD", 0.05); @@ -75,25 +69,37 @@ public class IntakeConstants { // public static final Angle PITCH_LIMIT_LOWER = Degrees.of(0); // Motor configs - public static final TalonFXConfiguration ARM_MOTOR_CONFIG = new TalonFXConfiguration() - .withCurrentLimits( - new CurrentLimitsConfigs() - .withStatorCurrentLimit(15) // TODO: tune??? - .withStatorCurrentLimitEnable(true) - ).withMotorOutput( - new MotorOutputConfigs() - .withNeutralMode(NeutralModeValue.Brake) // Must be break because this has to be accurate - .withDutyCycleNeutralDeadband(0.04) // TODO: Figure out what this means - ); - public static final TalonFXConfiguration ROLLER_MOTOR_CONFIG = new TalonFXConfiguration() - .withCurrentLimits( - new CurrentLimitsConfigs() - .withStatorCurrentLimit(40) // TODO: tune??? - .withStatorCurrentLimitEnable(true) - ).withMotorOutput( - new MotorOutputConfigs() - .withNeutralMode(NeutralModeValue.Coast) // Must be coast because this is spinny spinny - .withDutyCycleNeutralDeadband(0.04) // TODO: Figure out what this means - ); + public static final SparkMaxConfig ARM_MOTOR_CONFIG = new SparkMaxConfig(); + public static final SparkMaxConfig ROLELR_MOTOR_CONFIG = new SparkMaxConfig(); + + static { + ARM_MOTOR_CONFIG.limitSwitch + .reverseLimitSwitchType(Type.kNormallyClosed) + .limitSwitchPositionSensor(FeedbackSensor.kPrimaryEncoder) + .forwardLimitSwitchPosition(0) + .forwardLimitSwitchTriggerBehavior(Behavior.kStopMovingMotorAndSetPosition); + } + + // public static final TalonFXConfiguration ARM_MOTOR_CONFIG = new TalonFXConfiguration() + // .withCurrentLimits( + // new CurrentLimitsConfigs() + // .withStatorCurrentLimit(15) // TODO: tune??? + // .withStatorCurrentLimitEnable(true) + // ).withMotorOutput( + // new MotorOutputConfigs() + // .withNeutralMode(NeutralModeValue.Brake) // Must be break because this has to be accurate + // .withDutyCycleNeutralDeadband(0.04) // TODO: Figure out what this means + // ); + + // public static final TalonFXConfiguration ROLLER_MOTOR_CONFIG = new TalonFXConfiguration() + // .withCurrentLimits( + // new CurrentLimitsConfigs() + // .withStatorCurrentLimit(40) // TODO: tune??? + // .withStatorCurrentLimitEnable(true) + // ).withMotorOutput( + // new MotorOutputConfigs() + // .withNeutralMode(NeutralModeValue.Coast) // Must be coast because this is spinny spinny + // .withDutyCycleNeutralDeadband(0.04) // TODO: Figure out what this means + // ); } diff --git a/src/main/java/frc4388/robot/subsystems/intake/IntakeIO.java b/src/main/java/frc4388/robot/subsystems/intake/IntakeIO.java index 8d1e803..4308c26 100644 --- a/src/main/java/frc4388/robot/subsystems/intake/IntakeIO.java +++ b/src/main/java/frc4388/robot/subsystems/intake/IntakeIO.java @@ -23,7 +23,7 @@ public interface IntakeIO { Current armMotorCurrent = Amps.of(0); AngularVelocity armMotorVelocity = RotationsPerSecond.of(0); - AngularAcceleration armMotorAcceleration = RotationsPerSecondPerSecond.of(0); + // AngularAcceleration armMotorAcceleration = RotationsPerSecondPerSecond.of(0); // Angle shooterPitch = Rotations.of(0); // Angle shooterTargetPitch = Rotations.of(0); diff --git a/src/main/java/frc4388/robot/subsystems/intake/IntakeReal.java b/src/main/java/frc4388/robot/subsystems/intake/IntakeReal.java index 1e13f86..f170880 100644 --- a/src/main/java/frc4388/robot/subsystems/intake/IntakeReal.java +++ b/src/main/java/frc4388/robot/subsystems/intake/IntakeReal.java @@ -1,7 +1,10 @@ package frc4388.robot.subsystems.intake; import static edu.wpi.first.units.Units.Amps; +import static edu.wpi.first.units.Units.Rotation; import static edu.wpi.first.units.Units.Rotations; +import static edu.wpi.first.units.Units.RotationsPerSecond; +import static edu.wpi.first.units.Units.RotationsPerSecondPerSecond; import com.ctre.phoenix6.controls.DutyCycleOut; import com.ctre.phoenix6.controls.PositionDutyCycle; @@ -15,44 +18,24 @@ import edu.wpi.first.units.measure.Acceleration; import edu.wpi.first.units.measure.Angle; import edu.wpi.first.units.measure.Velocity; import edu.wpi.first.wpilibj.DigitalInput; +import edu.wpi.first.wpilibj.DutyCycleEncoder; public class IntakeReal implements IntakeIO { - TalonFX m_armMotor; + SparkMax m_armMotor; SparkMax m_rollerMotor; - DigitalInput m_armLimitSwitch; - - PositionDutyCycle armPosition = new PositionDutyCycle(0); - DutyCycleOut armPercentOutput = new DutyCycleOut(0); + DutyCycleEncoder encoder; public IntakeReal( - DigitalInput armLimitSwitch, - TalonFX armMotor, + // DigitalInput armLimitSwitch, + SparkMax armMotor, SparkMax rollerMotor ) { // m_angleMotor = angleMotor; // m_pitchMotor = pitchMotor; m_armMotor = armMotor; m_rollerMotor = rollerMotor; - m_armLimitSwitch = armLimitSwitch; - - // Apply the configs - m_armMotor.getConfigurator().apply(IntakeConstants.ARM_PID); - m_armMotor.getConfigurator().apply(IntakeConstants.ARM_MOTOR_CONFIG); - // m_rollerMotor.getConfigurator().apply(IntakeConstants.ROLLER_MOTOR_CONFIG); - - armPosition.Slot = 0; - // rollerVelocity.Slot = 0; - } - - private Angle clampAng(Angle x, Angle min, Angle max){ - if(x.gt(max)) { - return max; - }else if(x.lt(min)) { - return min; - }else{ - return x; - } + // m_armLimitSwitch = armLimitSwitch; } @@ -77,40 +60,14 @@ public class IntakeReal implements IntakeIO { Angle motorAngle = angle.times(IntakeConstants.ARM_MOTOR_GEAR_RATIO); // PositionDutyCycle posRequest = new PositionDutyCycle(motorTargetAngle); - m_armMotor.setControl( - armPosition - .withPosition(motorAngle) - .withLimitReverseMotion(!m_armLimitSwitch.get()) - ); + // m_armMotor.setControl( + // armPosition + // .withPosition(motorAngle) + // .withLimitReverseMotion(!m_armLimitSwitch.get()) + // ); } - @Override - public void testSetArmAngle(IntakeState state, Angle angle){ - state.armTargetAngle = angle; - Angle motorAngle = angle.times(IntakeConstants.ARM_MOTOR_GEAR_RATIO); - - final TrapezoidProfile m_profile = new TrapezoidProfile( - new TrapezoidProfile.Constraints(80, 160) - ); - - // Final target of motorAngle rot, 0 rps - // Convert the Angle to a numeric degree value before creating the profile state - TrapezoidProfile.State m_goal = new TrapezoidProfile.State(motorAngle.in(Rotations), 0); - TrapezoidProfile.State m_setpoint = new TrapezoidProfile.State(); - - // create a position closed-loop request, voltage output, slot 0 configs - final PositionVoltage m_request = new PositionVoltage(0).withSlot(0); - - // calculate the next profile setpoint - m_setpoint = m_profile.calculate(0.020, m_setpoint, m_goal); - - // send the request to the device - m_request.Position = m_setpoint.position; - m_request.Velocity = m_setpoint.velocity; - m_armMotor.setControl(m_request); - } - @Override public void stopArm(){ m_armMotor.set(0); @@ -119,36 +76,33 @@ public class IntakeReal implements IntakeIO { @Override public void armOutput(double percentOutput){ - m_armMotor.setControl( - armPercentOutput.withOutput(percentOutput) - .withLimitReverseMotion(!m_armLimitSwitch.get()) - ); + m_armMotor.set(percentOutput); } @Override public void updateInputs(IntakeState state) { - state.armAngle = m_armMotor.getPosition().getValue().div(IntakeConstants.ARM_MOTOR_GEAR_RATIO); - state.armMotorCurrent = m_armMotor.getStatorCurrent().getValue(); + state.armAngle = Rotations.of(m_armMotor.getEncoder().getPosition()).div(IntakeConstants.ARM_MOTOR_GEAR_RATIO); + state.armMotorVelocity = RotationsPerSecond.of(m_armMotor.getEncoder().getVelocity()).div(IntakeConstants.ARM_MOTOR_GEAR_RATIO); + // state.armMotorAcceleration = RotationsPerSecondPerSecond.of(m_armMotor.getEncoder().ge); + state.armMotorCurrent = Amps.of(m_armMotor.getOutputCurrent()); + state.rollerOutput = m_rollerMotor.get(); state.rollerMotorCurrent = Amps.of(m_rollerMotor.getOutputCurrent()); - state.retractedLimit = !m_armLimitSwitch.get(); - - state.armMotorVelocity = m_armMotor.getVelocity().getValue(); - state.armMotorAcceleration = m_armMotor.getAcceleration().getValue(); - if(state.retractedLimit) { - // Set the arm motor to be zero if the limit switch is pressed - m_armMotor.setPosition(0., 0); - } + + // if(state.retractedLimit) { + // // Set the arm motor to be zero if the limit switch is pressed + // m_armMotor.setPosition(0., 0); + // } } @Override public void updateGains() { - IntakeConstants.ARM_PID.kP = IntakeConstants.arm_kP.get(); - IntakeConstants.ARM_PID.kI = IntakeConstants.arm_kI.get(); - IntakeConstants.ARM_PID.kD = IntakeConstants.arm_kD.get(); - m_armMotor.getConfigurator().apply(IntakeConstants.ARM_PID); + // IntakeConstants.ARM_PID.kP = IntakeConstants.arm_kP.get(); + // IntakeConstants.ARM_PID.kI = IntakeConstants.arm_kI.get(); + // IntakeConstants.ARM_PID.kD = IntakeConstants.arm_kD.get(); + // m_armMotor.getConfigurator().apply(IntakeConstants.ARM_PID); } } diff --git a/vendordeps/AdvantageKit.json b/vendordeps/AdvantageKit.json index 162ad66..b4e470d 100644 --- a/vendordeps/AdvantageKit.json +++ b/vendordeps/AdvantageKit.json @@ -1,7 +1,7 @@ { "fileName": "AdvantageKit.json", "name": "AdvantageKit", - "version": "26.0.0", + "version": "26.0.2", "uuid": "d820cc26-74e3-11ec-90d6-0242ac120003", "frcYear": "2026", "mavenUrls": [ @@ -12,14 +12,14 @@ { "groupId": "org.littletonrobotics.akit", "artifactId": "akit-java", - "version": "26.0.0" + "version": "26.0.2" } ], "jniDependencies": [ { "groupId": "org.littletonrobotics.akit", "artifactId": "akit-wpilibio", - "version": "26.0.0", + "version": "26.0.2", "skipInvalidPlatforms": false, "isJar": false, "validPlatforms": [ diff --git a/vendordeps/Phoenix6-26.1.0.json b/vendordeps/Phoenix6-26.1.3.json similarity index 92% rename from vendordeps/Phoenix6-26.1.0.json rename to vendordeps/Phoenix6-26.1.3.json index dc5dc62..d5bc4a2 100644 --- a/vendordeps/Phoenix6-26.1.0.json +++ b/vendordeps/Phoenix6-26.1.3.json @@ -1,7 +1,7 @@ { - "fileName": "Phoenix6-26.1.0.json", + "fileName": "Phoenix6-26.1.3.json", "name": "CTRE-Phoenix (v6)", - "version": "26.1.0", + "version": "26.1.3", "frcYear": "2026", "uuid": "e995de00-2c64-4df5-8831-c1441420ff19", "mavenUrls": [ @@ -19,14 +19,14 @@ { "groupId": "com.ctre.phoenix6", "artifactId": "wpiapi-java", - "version": "26.1.0" + "version": "26.1.3" } ], "jniDependencies": [ { "groupId": "com.ctre.phoenix6", "artifactId": "api-cpp", - "version": "26.1.0", + "version": "26.1.3", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -40,7 +40,7 @@ { "groupId": "com.ctre.phoenix6", "artifactId": "tools", - "version": "26.1.0", + "version": "26.1.3", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -54,7 +54,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "api-cpp-sim", - "version": "26.1.0", + "version": "26.1.3", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -68,7 +68,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "tools-sim", - "version": "26.1.0", + "version": "26.1.3", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -82,7 +82,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simTalonSRX", - "version": "26.1.0", + "version": "26.1.3", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -96,7 +96,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simVictorSPX", - "version": "26.1.0", + "version": "26.1.3", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -110,7 +110,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simPigeonIMU", - "version": "26.1.0", + "version": "26.1.3", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -124,7 +124,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProTalonFX", - "version": "26.1.0", + "version": "26.1.3", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -138,7 +138,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProTalonFXS", - "version": "26.1.0", + "version": "26.1.3", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -152,7 +152,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProCANcoder", - "version": "26.1.0", + "version": "26.1.3", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -166,7 +166,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProPigeon2", - "version": "26.1.0", + "version": "26.1.3", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -180,7 +180,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProCANrange", - "version": "26.1.0", + "version": "26.1.3", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -194,7 +194,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProCANdi", - "version": "26.1.0", + "version": "26.1.3", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -208,7 +208,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProCANdle", - "version": "26.1.0", + "version": "26.1.3", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -224,7 +224,7 @@ { "groupId": "com.ctre.phoenix6", "artifactId": "wpiapi-cpp", - "version": "26.1.0", + "version": "26.1.3", "libName": "CTRE_Phoenix6_WPI", "headerClassifier": "headers", "sharedLibrary": true, @@ -240,7 +240,7 @@ { "groupId": "com.ctre.phoenix6", "artifactId": "tools", - "version": "26.1.0", + "version": "26.1.3", "libName": "CTRE_PhoenixTools", "headerClassifier": "headers", "sharedLibrary": true, @@ -256,7 +256,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "wpiapi-cpp-sim", - "version": "26.1.0", + "version": "26.1.3", "libName": "CTRE_Phoenix6_WPISim", "headerClassifier": "headers", "sharedLibrary": true, @@ -272,7 +272,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "tools-sim", - "version": "26.1.0", + "version": "26.1.3", "libName": "CTRE_PhoenixTools_Sim", "headerClassifier": "headers", "sharedLibrary": true, @@ -288,7 +288,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simTalonSRX", - "version": "26.1.0", + "version": "26.1.3", "libName": "CTRE_SimTalonSRX", "headerClassifier": "headers", "sharedLibrary": true, @@ -304,7 +304,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simVictorSPX", - "version": "26.1.0", + "version": "26.1.3", "libName": "CTRE_SimVictorSPX", "headerClassifier": "headers", "sharedLibrary": true, @@ -320,7 +320,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simPigeonIMU", - "version": "26.1.0", + "version": "26.1.3", "libName": "CTRE_SimPigeonIMU", "headerClassifier": "headers", "sharedLibrary": true, @@ -336,7 +336,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProTalonFX", - "version": "26.1.0", + "version": "26.1.3", "libName": "CTRE_SimProTalonFX", "headerClassifier": "headers", "sharedLibrary": true, @@ -352,7 +352,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProTalonFXS", - "version": "26.1.0", + "version": "26.1.3", "libName": "CTRE_SimProTalonFXS", "headerClassifier": "headers", "sharedLibrary": true, @@ -368,7 +368,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProCANcoder", - "version": "26.1.0", + "version": "26.1.3", "libName": "CTRE_SimProCANcoder", "headerClassifier": "headers", "sharedLibrary": true, @@ -384,7 +384,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProPigeon2", - "version": "26.1.0", + "version": "26.1.3", "libName": "CTRE_SimProPigeon2", "headerClassifier": "headers", "sharedLibrary": true, @@ -400,7 +400,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProCANrange", - "version": "26.1.0", + "version": "26.1.3", "libName": "CTRE_SimProCANrange", "headerClassifier": "headers", "sharedLibrary": true, @@ -416,7 +416,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProCANdi", - "version": "26.1.0", + "version": "26.1.3", "libName": "CTRE_SimProCANdi", "headerClassifier": "headers", "sharedLibrary": true, @@ -432,7 +432,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProCANdle", - "version": "26.1.0", + "version": "26.1.3", "libName": "CTRE_SimProCANdle", "headerClassifier": "headers", "sharedLibrary": true, diff --git a/vendordeps/photonlib.json b/vendordeps/photonlib.json index 9699738..a4ec272 100644 --- a/vendordeps/photonlib.json +++ b/vendordeps/photonlib.json @@ -1,7 +1,7 @@ { "fileName": "photonlib.json", "name": "photonlib", - "version": "v2025.3.1", + "version": "v2026.3.2", "uuid": "515fe07e-bfc6-11fa-b3de-0242ac130004", "frcYear": "2026", "mavenUrls": [ @@ -13,7 +13,7 @@ { "groupId": "org.photonvision", "artifactId": "photontargeting-cpp", - "version": "v2025.3.1", + "version": "v2026.3.2", "skipInvalidPlatforms": true, "isJar": false, "validPlatforms": [ @@ -28,7 +28,7 @@ { "groupId": "org.photonvision", "artifactId": "photonlib-cpp", - "version": "v2025.3.1", + "version": "v2026.3.2", "libName": "photonlib", "headerClassifier": "headers", "sharedLibrary": true, @@ -43,7 +43,7 @@ { "groupId": "org.photonvision", "artifactId": "photontargeting-cpp", - "version": "v2025.3.1", + "version": "v2026.3.2", "libName": "photontargeting", "headerClassifier": "headers", "sharedLibrary": true, @@ -60,12 +60,12 @@ { "groupId": "org.photonvision", "artifactId": "photonlib-java", - "version": "v2025.3.1" + "version": "v2026.3.2" }, { "groupId": "org.photonvision", "artifactId": "photontargeting-java", - "version": "v2025.3.1" + "version": "v2026.3.2" } ] } \ No newline at end of file