Sparkmax for arm motor

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");

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 int GIT_REVISION = 185;
-  public static final String GIT_SHA = "c6b0d29acdb24728ed566b25d6434a45fbd963c7";
+  public static final String GIT_SHA = "7eba3d8faa208df9222599c53db1e11da82d7a96";
-  public static final String GIT_DATE = "2026-03-25 11:15:46 MDT";
+  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 String BUILD_DATE = "2026-03-28 09:26:32 MDT";
-  public static final long BUILD_UNIX_TIME = 1774459078868L;
+  public static final long BUILD_UNIX_TIME = 1774711592752L;
   public static final int DIRTY = 1;
 
   private BuildConstants(){}

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.setArmAngle(state, Rotations.of(IntakeConstants.ARM_LIMIT_EXTENDED.get()));
-                io.setRollerOutput(state, IntakeConstants.ROLLER_PERCENT_OUTPUT.get());
+            //     io.setRollerOutput(state, IntakeConstants.ROLLER_PERCENT_OUTPUT.get());
                 break;
             case Retracted:
-                io.setArmAngle(state, Rotations.of(IntakeConstants.ARM_LIMIT_RETRACTED.get()));
+            //     io.setArmAngle(state, Rotations.of(IntakeConstants.ARM_LIMIT_RETRACTED.get()));
-                io.setRollerOutput(state, 0);
+            //     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:

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 com.revrobotics.spark.FeedbackSensor;
-import static edu.wpi.first.units.Units.RotationsPerSecond;
+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()
+    // public static final Slot0Configs ARM_PID = new Slot0Configs()
-        .withKP(0.08)
+    //     .withKP(0.08)
-        .withKI(0.0)
+    //     .withKI(0.0)
-        .withKD(0.05);
+    //     .withKD(0.05);
 
     
 
-    public static ConfigurableDouble arm_kP = new ConfigurableDouble("ARM KP", 0.08);
+    // 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_kI = new ConfigurableDouble("ARM KI", 0);
-    public static ConfigurableDouble arm_kD = new ConfigurableDouble("ARM KD", 0.05);
+    // 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()
+    public static final SparkMaxConfig ARM_MOTOR_CONFIG = new SparkMaxConfig();
-        .withCurrentLimits(
+    public static final SparkMaxConfig ROLELR_MOTOR_CONFIG = new SparkMaxConfig();
-            new CurrentLimitsConfigs()
+
-                .withStatorCurrentLimit(40) // TODO: tune???
+    static {
-                .withStatorCurrentLimitEnable(true)
+        ARM_MOTOR_CONFIG.limitSwitch
-            ).withMotorOutput(
+            .reverseLimitSwitchType(Type.kNormallyClosed)
-                new MotorOutputConfigs()
+            .limitSwitchPositionSensor(FeedbackSensor.kPrimaryEncoder)
-                    .withNeutralMode(NeutralModeValue.Coast) // Must be coast because this is spinny spinny
+            .forwardLimitSwitchPosition(0)
-                    .withDutyCycleNeutralDeadband(0.04) // TODO: Figure out what this means
+            .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
+    // );
 }

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);

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;
+    DutyCycleEncoder encoder;
-
-    PositionDutyCycle armPosition = new PositionDutyCycle(0);
-    DutyCycleOut armPercentOutput = new DutyCycleOut(0);
 
     public IntakeReal(
-        DigitalInput armLimitSwitch,
+        // DigitalInput armLimitSwitch,
-        TalonFX armMotor,
+        SparkMax armMotor,
         SparkMax rollerMotor
     ) {
         // m_angleMotor = angleMotor;
         // m_pitchMotor = pitchMotor;
         m_armMotor = armMotor;
         m_rollerMotor = rollerMotor;
-        m_armLimitSwitch = armLimitSwitch;
+        // 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;
-        }
     }
 
 
@@ -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(
+        // m_armMotor.setControl(
-            armPosition
+        //     armPosition
-                .withPosition(motorAngle)
+        //         .withPosition(motorAngle)
-                .withLimitReverseMotion(!m_armLimitSwitch.get())
+        //         .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(
+        m_armMotor.set(percentOutput);
-            armPercentOutput.withOutput(percentOutput)
-                .withLimitReverseMotion(!m_armLimitSwitch.get())
-            );
     }
 
     @Override
     public void updateInputs(IntakeState state) {
-        state.armAngle = m_armMotor.getPosition().getValue().div(IntakeConstants.ARM_MOTOR_GEAR_RATIO);
+        state.armAngle = Rotations.of(m_armMotor.getEncoder().getPosition()).div(IntakeConstants.ARM_MOTOR_GEAR_RATIO);
-        state.armMotorCurrent = m_armMotor.getStatorCurrent().getValue();
+        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) {
+        // if(state.retractedLimit) {
-            // Set the arm motor to be zero if the limit switch is pressed
+        //     // Set the arm motor to be zero if the limit switch is pressed
-            m_armMotor.setPosition(0., 0); 
+        //     m_armMotor.setPosition(0., 0); 
-        }
+        // }
     }
 
     @Override 
     public void updateGains() {
 
-        IntakeConstants.ARM_PID.kP = IntakeConstants.arm_kP.get();
+        // IntakeConstants.ARM_PID.kP = IntakeConstants.arm_kP.get();
-        IntakeConstants.ARM_PID.kI = IntakeConstants.arm_kI.get();
+        // IntakeConstants.ARM_PID.kI = IntakeConstants.arm_kI.get();
-        IntakeConstants.ARM_PID.kD = IntakeConstants.arm_kD.get();
+        // IntakeConstants.ARM_PID.kD = IntakeConstants.arm_kD.get();
-        m_armMotor.getConfigurator().apply(IntakeConstants.ARM_PID);
+        // m_armMotor.getConfigurator().apply(IntakeConstants.ARM_PID);
 
     }
 }

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": [

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,

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"
         }
     ]
 }