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Merged
tbowers7 merged 16 commits into from
Jan 5, 2026
Merged

Update RBSI to 2026 libraries and breaking changes #91

tbowers7 merged 16 commits into from
Jan 5, 2026

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@tbowers7
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@tbowers7 tbowers7 commented Jan 5, 2026

  • Update libraries to "2026beta"
  • Fix breaking changes in underlying libraries
  • Update template-based code from AdvantageKit

@tbowers7
New template-syncing Action
c1b309e 
	modified:   .github/workflows/create-dependabot-labels.yaml
@tbowers7
WIP: Add 2026-beta vendordeps
17b1fa7 
Some issues still extant with relating previous code to new vendor dep codes.

	modified:   .gitignore
	modified:   .vscode/launch.json
	modified:   .vscode/settings.json
	modified:   .wpilib/wpilib_preferences.json
	modified:   WPILib-License.md
	modified:   build.gradle
	modified:   gradle/wrapper/gradle-wrapper.properties
	modified:   gradlew
	modified:   gradlew.bat
	modified:   settings.gradle
	modified:   src/main/java/frc/robot/util/PowerMonitoring.java
	modified:   vendordeps/AdvantageKit.json
	modified:   vendordeps/ChoreoLib2025.json
	modified:   vendordeps/PathplannerLib.json
	new file:   vendordeps/Phoenix5-5.36.0-beta-1.json
	deleted:    vendordeps/Phoenix5-frc2025-latest.json
	new file:   vendordeps/Phoenix6-26.0.0-beta-1.json
	deleted:    vendordeps/Phoenix6-frc2025-latest.json
	modified:   vendordeps/REVLib.json
	modified:   vendordeps/ReduxLib-2025.0.1.json
	deleted:    vendordeps/Studica-2025.0.1.json
	new file:   vendordeps/Studica-2026.0.0-beta.json
	new file:   vendordeps/StudicaLib.json
	modified:   vendordeps/ThriftyLib.json
	modified:   vendordeps/URCL.json
	modified:   vendordeps/WPILibNewCommands.json
	modified:   vendordeps/maple-sim.json
	modified:   vendordeps/photonlib.json
	modified:   vendordeps/yagsl-2025.8.0.json
@tbowers7
WPI: Still working on making 2026 vendir libs work
e8ba09e 
	modified:   src/main/java/frc/robot/subsystems/drive/ModuleIOBlended.java
	modified:   src/main/java/frc/robot/subsystems/drive/ModuleIOSpark.java
	modified:   src/main/java/frc/robot/subsystems/drive/ModuleIOSparkCANcoder.java
	modified:   src/main/java/frc/robot/subsystems/flywheel_example/FlywheelIOSpark.java
	modified:   src/main/java/frc/robot/util/PowerMonitoring.java
@tbowers7
WIP: Trying to clean up the CI build
01cb862 
	deleted:    vendordeps/StudicaLib.json
@tbowers7
Working minus AdvantageKit bug
4d75c9f 
Seems to be all working now minus a bug in AdvantageKit related to the
logging of power monitoring.  It seems the upstream issue solely a public/
private issue with one of the classes.

	modified:   .gitignore
	modified:   .vscode/launch.json
	modified:   .vscode/settings.json
	modified:   .wpilib/wpilib_preferences.json
	modified:   WPILib-License.md
	modified:   build.gradle
	modified:   src/main/java/frc/robot/subsystems/drive/ModuleIO.java
	modified:   src/main/java/frc/robot/subsystems/drive/ModuleIOBlended.java
	modified:   src/main/java/frc/robot/subsystems/drive/ModuleIOSpark.java
	modified:   src/main/java/frc/robot/subsystems/drive/ModuleIOSparkCANcoder.java
	modified:   src/main/java/frc/robot/subsystems/flywheel_example/FlywheelIOSpark.java
	modified:   src/main/java/frc/robot/util/PowerMonitoring.java
	modified:   vendordeps/AdvantageKit.json
	modified:   vendordeps/Phoenix5-5.36.0-beta-1.json
	modified:   vendordeps/Phoenix6-26.0.0-beta-1.json
	modified:   vendordeps/REVLib.json
	modified:   vendordeps/Studica-2026.0.0-beta.json
@tbowers7
Update copyright
2524061 
	modified:   src/main/java/frc/robot/Constants.java
	modified:   src/main/java/frc/robot/Main.java
	modified:   src/main/java/frc/robot/Robot.java
	modified:   src/main/java/frc/robot/RobotContainer.java
	modified:   src/main/java/frc/robot/commands/ChoreoAutoController.java
	modified:   src/main/java/frc/robot/commands/DriveCommands.java
	modified:   src/main/java/frc/robot/subsystems/accelerometer/Accelerometer.java
	modified:   src/main/java/frc/robot/subsystems/drive/Drive.java
	modified:   src/main/java/frc/robot/subsystems/drive/GyroIO.java
	modified:   src/main/java/frc/robot/subsystems/drive/GyroIONavX.java
	modified:   src/main/java/frc/robot/subsystems/drive/GyroIOPigeon2.java
	modified:   src/main/java/frc/robot/subsystems/drive/Module.java
	modified:   src/main/java/frc/robot/subsystems/drive/ModuleIO.java
	modified:   src/main/java/frc/robot/subsystems/drive/ModuleIOBlended.java
	modified:   src/main/java/frc/robot/subsystems/drive/ModuleIOSim.java
	modified:   src/main/java/frc/robot/subsystems/drive/ModuleIOSpark.java
	modified:   src/main/java/frc/robot/subsystems/drive/ModuleIOSparkCANcoder.java
	modified:   src/main/java/frc/robot/subsystems/drive/ModuleIOTalonFX.java
	modified:   src/main/java/frc/robot/subsystems/drive/PhoenixOdometryThread.java
	modified:   src/main/java/frc/robot/subsystems/drive/SparkOdometryThread.java
	modified:   src/main/java/frc/robot/subsystems/drive/SwerveConstants.java
	modified:   src/main/java/frc/robot/subsystems/flywheel_example/Flywheel.java
	modified:   src/main/java/frc/robot/subsystems/flywheel_example/FlywheelIO.java
	modified:   src/main/java/frc/robot/subsystems/flywheel_example/FlywheelIOSim.java
	modified:   src/main/java/frc/robot/subsystems/flywheel_example/FlywheelIOSpark.java
	modified:   src/main/java/frc/robot/subsystems/flywheel_example/FlywheelIOTalonFX.java
	modified:   src/main/java/frc/robot/subsystems/vision/Vision.java
	modified:   src/main/java/frc/robot/subsystems/vision/VisionIO.java
	modified:   src/main/java/frc/robot/subsystems/vision/VisionIOLimelight.java
	modified:   src/main/java/frc/robot/subsystems/vision/VisionIOPhotonVision.java
	modified:   src/main/java/frc/robot/subsystems/vision/VisionIOPhotonVisionSim.java
	modified:   src/main/java/frc/robot/util/Alert.java
	modified:   src/main/java/frc/robot/util/GeomUtil.java
	modified:   src/main/java/frc/robot/util/GetJoystickValue.java
	modified:   src/main/java/frc/robot/util/LocalADStarAK.java
	modified:   src/main/java/frc/robot/util/LoggedTunableNumber.java
	modified:   src/main/java/frc/robot/util/OverrideSwitches.java
	modified:   src/main/java/frc/robot/util/PhoenixUtil.java
	modified:   src/main/java/frc/robot/util/PowerMonitoring.java
	modified:   src/main/java/frc/robot/util/RBSIEnum.java
	modified:   src/main/java/frc/robot/util/RBSIIO.java
	modified:   src/main/java/frc/robot/util/RBSIParsing.java
	modified:   src/main/java/frc/robot/util/RBSISubsystem.java
	modified:   src/main/java/frc/robot/util/RobotDeviceId.java
	modified:   src/main/java/frc/robot/util/SparkUtil.java
	modified:   src/main/java/frc/robot/util/VirtualSubsystem.java
	modified:   src/main/java/frc/robot/util/YagslConstants.java
	modified:   src/test/CurrentLimitTests.java
	modified:   src/test/FusedCANcoderTests.java
	modified:   src/test/LatencyCompensationTests.java
	modified:   src/test/RobotContainerTest.java
@tbowers7
Use kZero for WPILib geometry classes; Update AKit license notices
6931b72 
The `kZero` constant was added to many WPILib geometry classes in 2025.
It exists as a preallocated, static final field in classes like Rotation2d,
Translation2d, Translation3d, and Transform3d to avoid unnecessary memory
allocations for common zero-value objects. This is particularly useful for
optimizing performance and garbage collection on the roboRIO.

Also, AKit moved from GPL3 -> BSD 3-clause.

	modified:   AdvantageKit-License.md
	modified:   src/main/java/frc/robot/Constants.java
	modified:   src/main/java/frc/robot/Main.java
	modified:   src/main/java/frc/robot/Robot.java
	modified:   src/main/java/frc/robot/RobotContainer.java
	modified:   src/main/java/frc/robot/commands/ChoreoAutoController.java
	modified:   src/main/java/frc/robot/commands/DriveCommands.java
	modified:   src/main/java/frc/robot/subsystems/accelerometer/Accelerometer.java
	modified:   src/main/java/frc/robot/subsystems/drive/Drive.java
	modified:   src/main/java/frc/robot/subsystems/drive/GyroIO.java
	modified:   src/main/java/frc/robot/subsystems/drive/GyroIONavX.java
	modified:   src/main/java/frc/robot/subsystems/drive/GyroIOPigeon2.java
	modified:   src/main/java/frc/robot/subsystems/drive/Module.java
	modified:   src/main/java/frc/robot/subsystems/drive/ModuleIO.java
	modified:   src/main/java/frc/robot/subsystems/drive/ModuleIOBlended.java
	modified:   src/main/java/frc/robot/subsystems/drive/ModuleIOSim.java
	modified:   src/main/java/frc/robot/subsystems/drive/ModuleIOSpark.java
	modified:   src/main/java/frc/robot/subsystems/drive/ModuleIOSparkCANcoder.java
	modified:   src/main/java/frc/robot/subsystems/drive/ModuleIOTalonFX.java
	new file:   src/main/java/frc/robot/subsystems/drive/ModuleIOTalonFXS.java
	modified:   src/main/java/frc/robot/subsystems/drive/PhoenixOdometryThread.java
	modified:   src/main/java/frc/robot/subsystems/drive/SparkOdometryThread.java
	modified:   src/main/java/frc/robot/subsystems/drive/SwerveConstants.java
	modified:   src/main/java/frc/robot/subsystems/flywheel_example/Flywheel.java
	modified:   src/main/java/frc/robot/subsystems/flywheel_example/FlywheelIO.java
	modified:   src/main/java/frc/robot/subsystems/flywheel_example/FlywheelIOSim.java
	modified:   src/main/java/frc/robot/subsystems/flywheel_example/FlywheelIOSpark.java
	modified:   src/main/java/frc/robot/subsystems/flywheel_example/FlywheelIOTalonFX.java
	modified:   src/main/java/frc/robot/subsystems/vision/Vision.java
	modified:   src/main/java/frc/robot/subsystems/vision/VisionIO.java
	modified:   src/main/java/frc/robot/subsystems/vision/VisionIOLimelight.java
	modified:   src/main/java/frc/robot/subsystems/vision/VisionIOPhotonVision.java
	modified:   src/main/java/frc/robot/subsystems/vision/VisionIOPhotonVisionSim.java
	modified:   src/main/java/frc/robot/util/Alert.java
	modified:   src/main/java/frc/robot/util/GeomUtil.java
	modified:   src/main/java/frc/robot/util/GetJoystickValue.java
	modified:   src/main/java/frc/robot/util/LocalADStarAK.java
	modified:   src/main/java/frc/robot/util/LoggedTunableNumber.java
	modified:   src/main/java/frc/robot/util/OverrideSwitches.java
	modified:   src/main/java/frc/robot/util/PhoenixUtil.java
	modified:   src/main/java/frc/robot/util/PowerMonitoring.java
	modified:   src/main/java/frc/robot/util/RBSIEnum.java
	modified:   src/main/java/frc/robot/util/RBSIIO.java
	modified:   src/main/java/frc/robot/util/RBSIParsing.java
	new file:   src/main/java/frc/robot/util/RBSIPowerMonitor.java
	modified:   src/main/java/frc/robot/util/RBSISubsystem.java
	modified:   src/main/java/frc/robot/util/RobotDeviceId.java
	modified:   src/main/java/frc/robot/util/SparkUtil.java
	modified:   src/main/java/frc/robot/util/VirtualSubsystem.java
	modified:   src/main/java/frc/robot/util/YagslConstants.java
	modified:   src/test/CurrentLimitTests.java
	modified:   src/test/FusedCANcoderTests.java
	modified:   src/test/LatencyCompensationTests.java
@tbowers7
Fix breaking changes in CTRE / RevLib 2026
51aee91 
There were various breaking changes in the 2026 versions of the motor
control libraries.  This commit deals with all of them (as of right now).

	modified:   src/main/java/frc/robot/Robot.java
	modified:   src/main/java/frc/robot/RobotContainer.java
	modified:   src/main/java/frc/robot/subsystems/drive/GyroIOPigeon2.java
	modified:   src/main/java/frc/robot/subsystems/drive/ModuleIOBlended.java
	modified:   src/main/java/frc/robot/subsystems/drive/ModuleIOSpark.java
	modified:   src/main/java/frc/robot/subsystems/drive/ModuleIOSparkCANcoder.java
	modified:   src/main/java/frc/robot/subsystems/drive/ModuleIOTalonFX.java
	modified:   src/main/java/frc/robot/subsystems/drive/ModuleIOTalonFXS.java
	modified:   src/main/java/frc/robot/subsystems/drive/SwerveConstants.java
	modified:   src/main/java/frc/robot/subsystems/flywheel_example/FlywheelIOSpark.java
	modified:   src/main/java/frc/robot/subsystems/flywheel_example/FlywheelIOTalonFX.java
	deleted:    src/main/java/frc/robot/util/PowerMonitoring.java
	modified:   src/main/java/frc/robot/util/RBSIPowerMonitor.java
	modified:   src/main/java/frc/robot/util/RobotDeviceId.java
@tbowers7
Clean up CI with caching and directed jobs
4ad02dd 
	new file:   gradle.properties
@tbowers7
Starting to update install docs.
3f2f63d 
	modified:   INSTALL.md
@tbowers7
Revert "New template-syncing Action"
0413927 
This reverts commit c1b309e.
@tbowers7
Add pointer to where to place LoggedPower when available
1d023cd 
	modified:   src/main/java/frc/robot/Robot.java
@tbowers7
Align with AK26
ff7e0a6 
	deleted:    gradle.properties
	modified:   src/main/java/frc/robot/Robot.java
	modified:   src/main/java/frc/robot/subsystems/drive/PhoenixOdometryThread.java
@tbowers7
Update AKit copyright notices
3de4208 
	modified:   AdvantageKit-License.md
	modified:   src/main/java/frc/robot/Constants.java
	modified:   src/main/java/frc/robot/RobotContainer.java
	modified:   src/main/java/frc/robot/commands/DriveCommands.java
	modified:   src/main/java/frc/robot/subsystems/drive/Drive.java
	modified:   src/main/java/frc/robot/subsystems/drive/GyroIO.java
	modified:   src/main/java/frc/robot/subsystems/drive/GyroIONavX.java
	modified:   src/main/java/frc/robot/subsystems/drive/GyroIOPigeon2.java
	modified:   src/main/java/frc/robot/subsystems/drive/Module.java
	modified:   src/main/java/frc/robot/subsystems/drive/ModuleIO.java
	modified:   src/main/java/frc/robot/subsystems/drive/ModuleIOSim.java
	modified:   src/main/java/frc/robot/subsystems/drive/ModuleIOSpark.java
	modified:   src/main/java/frc/robot/subsystems/drive/ModuleIOSparkCANcoder.java
	modified:   src/main/java/frc/robot/subsystems/drive/ModuleIOTalonFX.java
	modified:   src/main/java/frc/robot/subsystems/drive/ModuleIOTalonFXS.java
	modified:   src/main/java/frc/robot/subsystems/drive/PhoenixOdometryThread.java
	modified:   src/main/java/frc/robot/subsystems/drive/SparkOdometryThread.java
	modified:   src/main/java/frc/robot/subsystems/flywheel_example/Flywheel.java
	modified:   src/main/java/frc/robot/subsystems/flywheel_example/FlywheelIO.java
	modified:   src/main/java/frc/robot/subsystems/flywheel_example/FlywheelIOSim.java
	modified:   src/main/java/frc/robot/subsystems/flywheel_example/FlywheelIOSpark.java
	modified:   src/main/java/frc/robot/subsystems/flywheel_example/FlywheelIOTalonFX.java
	modified:   src/main/java/frc/robot/subsystems/vision/Vision.java
	modified:   src/main/java/frc/robot/subsystems/vision/VisionIO.java
	modified:   src/main/java/frc/robot/subsystems/vision/VisionIOLimelight.java
	modified:   src/main/java/frc/robot/subsystems/vision/VisionIOPhotonVision.java
	modified:   src/main/java/frc/robot/subsystems/vision/VisionIOPhotonVisionSim.java
	modified:   src/main/java/frc/robot/util/PhoenixUtil.java
	modified:   src/main/java/frc/robot/util/RBSIEnum.java
	modified:   src/main/java/frc/robot/util/SparkUtil.java
@tbowers7
Pull in AK26 updates
606d71a 
	modified:   AdvantageScope Swerve Calibration.json
	modified:   src/main/java/frc/robot/Robot.java
@tbowers7
Update CI pointer in README.md
26ed350 
	modified:   README.md
@tbowers7 tbowers7 merged commit 0fd92c8 into develop Jan 5, 2026
5 checks passed
@tbowers7 tbowers7 deleted the 2026 branch January 5, 2026 00:58
@tbowers7 tbowers7 added this to the v26.0.0 milestone Jan 8, 2026
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