Team_2648/2026-Robot-Code
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Merge pull request 'Bringing in basic drivetrain stuff' (#1) from brads-tinkering into main

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Reviewed-on: #1
This commit was merged in pull request #1.
This commit is contained in:
Bradley
2026-01-13 16:13:59 -05:00
parent ec73c42cfb 58a6971704
commit 9e247389e8
20 changed files with 1752 additions and 3 deletions
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8
build.gradle
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@@ -50,6 +50,11 @@ wpi.java.debugJni = false
// Set this to true to enable desktop support.
def includeDesktopSupport = true
task(replayWatch, type: JavaExec) {
mainClass = "org.littletonrobotics.junction.ReplayWatch"
classpath = sourceSets.main.runtimeClasspath
}
// Defining my dependencies. In this case, WPILib (+ friends), and vendor libraries.
// Also defines JUnit 5.
dependencies {
@@ -73,6 +78,9 @@ dependencies {
testImplementation 'org.junit.jupiter:junit-jupiter:5.10.1'
testRuntimeOnly 'org.junit.platform:junit-platform-launcher'
def akitJson = new groovy.json.JsonSlurper().parseText(new File(projectDir.getAbsolutePath() + "/vendordeps/AdvantageKit.json").text)
annotationProcessor "org.littletonrobotics.akit:akit-autolog:$akitJson.version"
}
test {

32
src/main/java/frc/robot/Robot.java
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@@ -4,16 +4,44 @@
package frc.robot;
import edu.wpi.first.wpilibj.TimedRobot;
import org.littletonrobotics.junction.LogFileUtil;
import org.littletonrobotics.junction.LoggedRobot;
import org.littletonrobotics.junction.Logger;
import org.littletonrobotics.junction.networktables.NT4Publisher;
import org.littletonrobotics.junction.wpilog.WPILOGReader;
import org.littletonrobotics.junction.wpilog.WPILOGWriter;
import edu.wpi.first.wpilibj.PowerDistribution;
import edu.wpi.first.wpilibj.PowerDistribution.ModuleType;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.CommandScheduler;
import frc.robot.constants.CompetitionConstants;
public class Robot extends TimedRobot {
public class Robot extends LoggedRobot {
private Command m_autonomousCommand;
private final RobotContainer m_robotContainer;
public Robot() {
Logger.recordMetadata("ProjectName", "2026_Robot_Code");
if(isReal()) {
if(CompetitionConstants.logToNetworkTables) {
Logger.addDataReceiver(new NT4Publisher());
}
Logger.addDataReceiver(new WPILOGWriter());
new PowerDistribution(1, ModuleType.kRev);
} else {
setUseTiming(false);
String logPath = LogFileUtil.findReplayLog();
Logger.setReplaySource(new WPILOGReader(logPath));
Logger.addDataReceiver(new WPILOGWriter(LogFileUtil.addPathSuffix(logPath, "_sim")));
}
Logger.start();
m_robotContainer = new RobotContainer();
}

22
src/main/java/frc/robot/RobotContainer.java
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@@ -6,13 +6,33 @@ package frc.robot;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.Commands;
import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
import frc.robot.constants.OIConstants;
import frc.robot.subsystems.Drivetrain;
public class RobotContainer {
private Drivetrain drivetrain;
private CommandXboxController driver;
public RobotContainer() {
drivetrain = new Drivetrain();
driver = new CommandXboxController(OIConstants.kDriverControllerPort);
configureBindings();
}
private void configureBindings() {}
private void configureBindings() {
drivetrain.setDefaultCommand(
drivetrain.drive(
driver::getLeftX,
driver::getLeftY,
driver::getRightX,
() -> true
)
);
}
public Command getAutonomousCommand() {
return Commands.print("No autonomous command configured");

6
src/main/java/frc/robot/constants/CompetitionConstants.java Normal file
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@@ -0,0 +1,6 @@
package frc.robot.constants;
public class CompetitionConstants {
// THIS SHOULD BE FALSE DURING COMPETITION PLAY
public static final boolean logToNetworkTables = true;
}

62
src/main/java/frc/robot/constants/DrivetrainConstants.java Normal file
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@@ -0,0 +1,62 @@
package frc.robot.constants;
import edu.wpi.first.math.geometry.Translation2d;
import edu.wpi.first.math.kinematics.SwerveDriveKinematics;
import edu.wpi.first.math.util.Units;
public class DrivetrainConstants {
// TODO Hold over from 2025, adjust?
public static final double kMaxSpeedMetersPerSecond = 4.125;
public static final double kMaxAngularSpeed = 2 * Math.PI;
// TODO Replace zeros with real numbers
public static final double kTrackWidth = Units.inchesToMeters(0);
public static final double kWheelBase = Units.inchesToMeters(0);
// TODO Replace zeros with real numbers
// These values should be determinable by writing the magnetic encoder output
// to the dashboard, and manually aligning all wheels such that the bevel gears
// on the side of the wheel all face left. Some known straight edge (like 1x1 or similar)
// should be used as the alignment medium. If done correctly, and the modules aren't disassembled,
// then these values should work throughout the season the first time they are set.
public static final double kFrontLeftMagEncoderOffset = 0;
public static final double kFrontRightMagEncoderOffset = 0;
public static final double kRearLeftMagEncoderOffset = 0;
public static final double kRearRightMagEncoderOffset = 0;
// Kraken CAN IDs
// TODO Real CAN IDs
public static final int kFrontLeftDrivingCANID = 0;
public static final int kFrontRightDrivingCANID = 0;
public static final int kRearLeftDrivingCANID = 0;
public static final int kRearRightDrivingCANID = 0;
// SparkMAX CAN IDs
// TODO Real CAN IDs
public static final int kFrontLeftTurningCANID = 0;
public static final int kFrontRightTurningCANID = 0;
public static final int kRearLeftTurningCANID = 0;
public static final int kRearRightTurningCANID = 0;
// Analog Encoder Input Ports
// TODO Real Port IDs
public static final int kFrontLeftAnalogInPort = 0;
public static final int kFrontRightAnalogInPort = 0;
public static final int kRearLeftAnalogInPort = 0;
public static final int kRearRightAnalogInPort = 0;
public static final boolean kGyroReversed = true;
// TODO Hold over from 2025, adjust?
public static final double kHeadingP = .1;
public static final double kXTranslationP = .5;
public static final double kYTranslationP = .5;
// YOU SHOULDN'T NEED TO CHANGE ANYTHING BELOW THIS LINE UNLESS YOU'RE ADDING A NEW CONFIGURATION ITEM
public static final SwerveDriveKinematics kDriveKinematics = new SwerveDriveKinematics(
new Translation2d(kWheelBase / 2, kTrackWidth / 2),
new Translation2d(kWheelBase / 2, -kTrackWidth / 2),
new Translation2d(-kWheelBase / 2, kTrackWidth / 2),
new Translation2d(-kWheelBase / 2, -kTrackWidth / 2)
);
}

5
src/main/java/frc/robot/constants/KrakenMotorConstants.java Normal file
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@@ -0,0 +1,5 @@
package frc.robot.constants;
public class KrakenMotorConstants {
public static final double kFreeSpeedRPM = 6000;
}

102
src/main/java/frc/robot/constants/ModuleConstants.java Normal file
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@@ -0,0 +1,102 @@
package frc.robot.constants;
import com.ctre.phoenix6.configs.AudioConfigs;
import com.ctre.phoenix6.configs.CurrentLimitsConfigs;
import com.ctre.phoenix6.configs.FeedbackConfigs;
import com.ctre.phoenix6.configs.MotorOutputConfigs;
import com.ctre.phoenix6.configs.Slot0Configs;
import com.ctre.phoenix6.signals.InvertedValue;
import com.ctre.phoenix6.signals.NeutralModeValue;
import com.revrobotics.spark.FeedbackSensor;
import com.revrobotics.spark.config.SparkMaxConfig;
import com.revrobotics.spark.config.SparkBaseConfig.IdleMode;
import edu.wpi.first.math.util.Units;
public class ModuleConstants {
// DRIVING MOTOR CONFIG (Kraken)
// TODO Replace with something other than 0
public static final double kDrivingMotorReduction = 0;
public static final double kDrivingMotorFeedSpeedRPS = KrakenMotorConstants.kFreeSpeedRPM / 60;
public static final double kWheelDiameterMeters = Units.inchesToMeters(4);
public static final double kWheelCircumferenceMeters = kWheelDiameterMeters * Math.PI;
public static final double kDriveWheelFreeSpeedRPS = (kDrivingMotorFeedSpeedRPS * kWheelCircumferenceMeters) /
kDrivingMotorReduction;
public static final double kDrivingFactor = kWheelDiameterMeters * Math.PI / kDrivingMotorReduction;
public static final double kDrivingVelocityFeedForward = 1 / kDriveWheelFreeSpeedRPS;
// TODO Hold over from 2025, adjust?
public static final double kDriveP = .04;
public static final double kDriveI = 0;
public static final double kDriveD = 0;
public static final double kDriveS = 0;
public static final double kDriveV = kDrivingVelocityFeedForward;
public static final double kDriveA = 0;
// TODO Hold over from 2025, adjust?
public static final int kDriveMotorStatorCurrentLimit = 100;
public static final int kDriveMotorSupplyCurrentLimit = 65;
// TODO Hold over from 2025, adjust?
public static final InvertedValue kDriveInversionState = InvertedValue.Clockwise_Positive;
public static final NeutralModeValue kDriveIdleMode = NeutralModeValue.Brake;
// TURNING MOTOR CONFIG (NEO)
// TODO Hold over from 2025, adjust?
public static final double kTurningMotorReduction = 0;
public static final double kTurningFactor = 2 * Math.PI / kTurningMotorReduction;
public static final double kTurnP = 1;
public static final double kTurnI = 0;
public static final double kTurnD = 0;
public static final int kTurnMotorCurrentLimit = 20;
public static final IdleMode kTurnIdleMode = IdleMode.kBrake;
// YOU SHOULDN'T NEED TO CHANGE ANYTHING BELOW THIS LINE UNLESS YOU'RE ADDING A CONFIGURATION ITEM
public static final SparkMaxConfig turningConfig = new SparkMaxConfig();
public static final FeedbackConfigs kDriveFeedConfig = new FeedbackConfigs();
public static final CurrentLimitsConfigs kDriveCurrentLimitConfig = new CurrentLimitsConfigs();
public static final MotorOutputConfigs kDriveMotorConfig = new MotorOutputConfigs();
public static final AudioConfigs kAudioConfig = new AudioConfigs();
public static final Slot0Configs kDriveSlot0Config = new Slot0Configs();
static {
kDriveFeedConfig.SensorToMechanismRatio = kDrivingMotorReduction;
kDriveCurrentLimitConfig.StatorCurrentLimitEnable = true;
kDriveCurrentLimitConfig.SupplyCurrentLimitEnable = true;
kDriveCurrentLimitConfig.StatorCurrentLimit = kDriveMotorStatorCurrentLimit;
kDriveCurrentLimitConfig.SupplyCurrentLimit = kDriveMotorSupplyCurrentLimit;
kDriveMotorConfig.Inverted = kDriveInversionState;
kDriveMotorConfig.NeutralMode = kDriveIdleMode;
kAudioConfig.AllowMusicDurDisable = true;
kDriveSlot0Config.kP = kDriveP;
kDriveSlot0Config.kI = kDriveI;
kDriveSlot0Config.kD = kDriveD;
kDriveSlot0Config.kS = kDriveS;
kDriveSlot0Config.kV = kDriveV;
kDriveSlot0Config.kA = kDriveA;
turningConfig
.idleMode(kTurnIdleMode)
.smartCurrentLimit(kTurnMotorCurrentLimit);
turningConfig.encoder
.inverted(true)
.positionConversionFactor(kTurningFactor)
.velocityConversionFactor(kTurningFactor / 60.0);
turningConfig.closedLoop
.feedbackSensor(FeedbackSensor.kPrimaryEncoder)
.pid(kTurnP, kTurnI, kTurnD)
.outputRange(-1, 1)
.positionWrappingEnabled(true)
.positionWrappingInputRange(0, 2 * Math.PI);
}
}

0
src/main/java/frc/robot/constants/OIConstants.java Normal file
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40
src/main/java/frc/robot/interfaces/IAprilTagProvider.java Normal file
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@@ -0,0 +1,40 @@
package frc.robot.interfaces;
import java.util.OptionalDouble;
/**
* An interface which ensures a class can provide common AprilTag oriented
* information from various sources in a consistent way.
*/
public interface IAprilTagProvider {
/**
* A method to get the tags currently in the camera's field of view
* @return
*/
public int[] getVisibleTagIDs();
/**
* A method to get the distance from <i>the camera</i> to the AprilTag specified
*
* @param id The ID of the AprilTag to give a distance to
* @param targetHeightMeters The height of the AprilTag off the ground, in meters
* @return The distance, in meters, to the target, or OptionalDouble.empty() if the tag is not present in the camera's view
*/
public OptionalDouble getTagDistanceFromCameraByID(int id, double targetHeightMeters);
/**
* A method to get the pitch from the center of the image of a particular AprilTag
*
* @param id The ID of the AprilTag to get the pitch of
* @return The pitch, in degrees, of the target, or OptionalDouble.empty() if the tag is not present in the camera's view
*/
public OptionalDouble getTagPitchByID(int id);
/**
* A method to get the yaw from the center of the image of a particular AprilTag
*
* @param id The ID of the AprilTag to get the yaw of
* @return The yaw, in degrees, of the target, or OptionalDouble.empty() if the tag is not present in the camera's view
*/
public OptionalDouble getTagYawByID(int id);
}

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src/main/java/frc/robot/interfaces/IVisualPoseProvider.java Normal file
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@@ -0,0 +1,27 @@
package frc.robot.interfaces;
import java.util.Optional;
import edu.wpi.first.math.geometry.Pose2d;
/**
* An interface which ensures a class' ability to provide visual pose information
* in a consistent way
*/
public interface IVisualPoseProvider {
/**
* A record that can contain the two elements necessary for a WPILIB
* pose estimator to use the information from a vision system as part of a full
* robot pose estimation
*/
public record VisualPose(Pose2d visualPose, double timestamp) {}
/**
* Return a VisualPose or null if an empty Optional if none is available.
* Implementation should provide an empty response if it's unable to provide
* a reliable pose, or any pose at all.
*
* @return An Optional containing a VisualPose, or empty if no VisualPose can reliably be provided
*/
public Optional<VisualPose> getVisualPose();
}

194
src/main/java/frc/robot/subsystems/Drivetrain.java Normal file
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@@ -0,0 +1,194 @@
package frc.robot.subsystems;
import java.util.function.BooleanSupplier;
import java.util.function.DoubleSupplier;
import org.littletonrobotics.junction.Logger;
import com.studica.frc.AHRS;
import com.studica.frc.AHRS.NavXComType;
import edu.wpi.first.math.MathUtil;
import edu.wpi.first.math.estimator.SwerveDrivePoseEstimator;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.kinematics.ChassisSpeeds;
import edu.wpi.first.math.kinematics.SwerveDriveKinematics;
import edu.wpi.first.math.kinematics.SwerveModulePosition;
import edu.wpi.first.math.kinematics.SwerveModuleState;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc.robot.constants.DrivetrainConstants;
import frc.robot.constants.OIConstants;
import frc.robot.utilities.SwerveModule;
public class Drivetrain extends SubsystemBase {
private SwerveModule frontLeft;
private SwerveModule frontRight;
private SwerveModule rearLeft;
private SwerveModule rearRight;
private AHRS gyro;
private SwerveDrivePoseEstimator estimator;
public Drivetrain() {
frontLeft = new SwerveModule(
"FrontLeft",
DrivetrainConstants.kFrontLeftDrivingCANID,
DrivetrainConstants.kFrontLeftTurningCANID,
DrivetrainConstants.kFrontLeftAnalogInPort,
DrivetrainConstants.kFrontLeftMagEncoderOffset
);
frontRight = new SwerveModule(
"FrontRight",
DrivetrainConstants.kFrontRightDrivingCANID,
DrivetrainConstants.kFrontRightTurningCANID,
DrivetrainConstants.kFrontRightAnalogInPort,
DrivetrainConstants.kFrontRightMagEncoderOffset
);
rearLeft = new SwerveModule(
"RearLeft",
DrivetrainConstants.kRearLeftDrivingCANID,
DrivetrainConstants.kRearLeftTurningCANID,
DrivetrainConstants.kRearLeftAnalogInPort,
DrivetrainConstants.kRearLeftMagEncoderOffset
);
rearRight = new SwerveModule(
"RearRight",
DrivetrainConstants.kRearRightDrivingCANID,
DrivetrainConstants.kRearRightTurningCANID,
DrivetrainConstants.kRearRightAnalogInPort,
DrivetrainConstants.kRearRightMagEncoderOffset
);
gyro = new AHRS(NavXComType.kMXP_SPI);
// TODO 2025 used non-standard deviations for encoder/gyro inputs and vision, will need to be tuned for 2026 in the future
estimator = new SwerveDrivePoseEstimator(
DrivetrainConstants.kDriveKinematics,
Rotation2d.fromDegrees(getGyroValue()),
new SwerveModulePosition[] {
frontLeft.getPosition(),
frontRight.getPosition(),
rearLeft.getPosition(),
rearRight.getPosition()
},
new Pose2d()
);
}
@Override
public void periodic() {
estimator.update(
Rotation2d.fromDegrees(getGyroValue()),
new SwerveModulePosition[] {
frontLeft.getPosition(),
frontRight.getPosition(),
rearLeft.getPosition(),
rearRight.getPosition()
}
);
frontLeft.periodic();
frontRight.periodic();
rearLeft.periodic();
rearRight.periodic();
Logger.recordOutput("Drivetrain/Pose", getPose());
Logger.recordOutput("Drivetrain/Heading", getHeading());
}
public Command drive(DoubleSupplier xSpeed, DoubleSupplier ySpeed, DoubleSupplier rotation, BooleanSupplier fieldRelative) {
// TODO Inversions? Specific Alliance code?
return run(() -> {
drive(
MathUtil.applyDeadband(xSpeed.getAsDouble(), OIConstants.kDriveDeadband),
MathUtil.applyDeadband(ySpeed.getAsDouble(), OIConstants.kDriveDeadband),
MathUtil.applyDeadband(rotation.getAsDouble(), OIConstants.kDriveDeadband),
fieldRelative.getAsBoolean()
);
});
}
public Command setX() {
return run(() -> {
frontLeft.setDesiredState(new SwerveModuleState(0, Rotation2d.fromDegrees(45)));
frontRight.setDesiredState(new SwerveModuleState(0, Rotation2d.fromDegrees(-45)));
rearLeft.setDesiredState(new SwerveModuleState(0, Rotation2d.fromDegrees(-45)));
rearRight.setDesiredState(new SwerveModuleState(0, Rotation2d.fromDegrees(45)));
});
}
public void resetEncoders() {
frontLeft.resetEncoders();
frontRight.resetEncoders();
rearLeft.resetEncoders();
rearRight.resetEncoders();
}
public void drive(double xSpeed, double ySpeed, double rotation, boolean fieldRelative) {
double p = Math.sqrt(Math.pow(xSpeed, 2) + Math.pow(ySpeed, 2));
double xSpeedDelivered = 0;
double ySpeedDelivered = 0;
if(p != 0){
xSpeedDelivered = xSpeed * (Math.pow(p, OIConstants.kJoystickExponential) / p) * DrivetrainConstants.kMaxSpeedMetersPerSecond;
ySpeedDelivered = ySpeed * (Math.pow(p, OIConstants.kJoystickExponential) / p) * DrivetrainConstants.kMaxSpeedMetersPerSecond;
}else{
xSpeedDelivered = 0;
ySpeedDelivered = 0;
}
double rotationDelivered = rotation * DrivetrainConstants.kMaxAngularSpeed;
SwerveModuleState[] swerveModuleStates = DrivetrainConstants.kDriveKinematics.toSwerveModuleStates(
fieldRelative ?
ChassisSpeeds.fromFieldRelativeSpeeds(xSpeedDelivered, ySpeedDelivered, rotationDelivered,
estimator.getEstimatedPosition().getRotation()) :
new ChassisSpeeds(xSpeedDelivered, ySpeedDelivered, rotationDelivered)
);
setModuleStates(swerveModuleStates);
}
public void driveWithChassisSpeeds(ChassisSpeeds speeds) {
ChassisSpeeds discreteSpeeds = ChassisSpeeds.discretize(speeds, 0.2);
SwerveModuleState[] newStates = DrivetrainConstants.kDriveKinematics.toSwerveModuleStates(discreteSpeeds);
setModuleStates(newStates);
}
public void setModuleStates(SwerveModuleState[] desiredStates) {
SwerveDriveKinematics.desaturateWheelSpeeds(
desiredStates, DrivetrainConstants.kMaxSpeedMetersPerSecond);
frontLeft.setDesiredState(desiredStates[0]);
frontRight.setDesiredState(desiredStates[1]);
rearLeft.setDesiredState(desiredStates[2]);
rearRight.setDesiredState(desiredStates[3]);
}
public ChassisSpeeds getCurrentChassisSpeeds() {
return DrivetrainConstants.kDriveKinematics.toChassisSpeeds(
frontLeft.getState(),
frontRight.getState(),
rearLeft.getState(),
rearRight.getState()
);
}
public Pose2d getPose() {
return estimator.getEstimatedPosition();
}
public double getGyroValue() {
return gyro.getAngle() * (DrivetrainConstants.kGyroReversed ? -1 : 1);
}
public double getHeading() {
return estimator.getEstimatedPosition().getRotation().getDegrees();
}
}

166
src/main/java/frc/robot/utilities/PhotonVision.java Normal file
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package frc.robot.utilities;
import java.io.IOException;
import java.util.List;
import java.util.Optional;
import java.util.OptionalDouble;
import org.photonvision.EstimatedRobotPose;
import org.photonvision.PhotonCamera;
import org.photonvision.PhotonPoseEstimator;
import org.photonvision.PhotonPoseEstimator.PoseStrategy;
import org.photonvision.PhotonUtils;
import org.photonvision.targeting.PhotonPipelineResult;
import org.photonvision.targeting.PhotonTrackedTarget;
import edu.wpi.first.apriltag.AprilTagFieldLayout;
import edu.wpi.first.apriltag.AprilTagFields;
import edu.wpi.first.math.geometry.Transform3d;
import edu.wpi.first.math.util.Units;
import frc.robot.interfaces.IAprilTagProvider;
import frc.robot.interfaces.IVisualPoseProvider;
public class PhotonVision implements IAprilTagProvider,IVisualPoseProvider {
private final PhotonCamera camera;
private final PhotonPoseEstimator photonPoseEstimator;
private final double cameraHeightMeters;
private final double cameraPitchRadians;
private PhotonPipelineResult latestResult;
public PhotonVision(String cameraName, Transform3d robotToCam, double cameraHeightMeters, double cameraPitchRadians) throws IOException {
camera = new PhotonCamera(cameraName);
photonPoseEstimator = new PhotonPoseEstimator(
AprilTagFieldLayout.loadFromResource(
AprilTagFields.kDefaultField.m_resourceFile
),
PoseStrategy.MULTI_TAG_PNP_ON_COPROCESSOR,
robotToCam
);
this.cameraHeightMeters = cameraHeightMeters;
this.cameraPitchRadians = cameraPitchRadians;
this.latestResult = null;
}
public void periodic() {
// TODO Do we care about missed results? Probably not, if we're taking long enough to miss results something else is wrong
List<PhotonPipelineResult> results = camera.getAllUnreadResults();
if(!results.isEmpty()) {
latestResult = results.get(results.size() - 1);
}
}
@Override
public Optional<VisualPose> getVisualPose() {
if(latestResult == null) {
return Optional.empty();
}
Optional<EstimatedRobotPose> pose = photonPoseEstimator.update(latestResult);
if (pose.isEmpty()) {
return Optional.empty();
}
return Optional.of(
new VisualPose(
pose.get().estimatedPose.toPose2d(),
pose.get().timestampSeconds
)
);
}
@Override
public OptionalDouble getTagDistanceFromCameraByID(int id, double targetHeightMeters) {
if (latestResult == null) {
return OptionalDouble.empty();
}
if (!latestResult.hasTargets()) {
return OptionalDouble.empty();
}
Optional<PhotonTrackedTarget> desiredTarget = getTargetFromList(latestResult.getTargets(), id);
if (desiredTarget.isEmpty()) {
return OptionalDouble.empty();
}
return OptionalDouble.of(
PhotonUtils.calculateDistanceToTargetMeters(
cameraHeightMeters,
targetHeightMeters,
cameraPitchRadians,
Units.degreesToRadians(desiredTarget.get().getPitch()))
);
}
@Override
public OptionalDouble getTagPitchByID(int id) {
if(latestResult == null) {
OptionalDouble.empty();
}
if (!latestResult.hasTargets()) {
return OptionalDouble.empty();
}
Optional<PhotonTrackedTarget> desiredTarget = getTargetFromList(latestResult.getTargets(), id);
if (desiredTarget.isEmpty()) {
return OptionalDouble.empty();
}
return OptionalDouble.of(
desiredTarget.get().getPitch()
);
}
@Override
public OptionalDouble getTagYawByID(int id) {
if(latestResult == null) {
OptionalDouble.empty();
}
if (!latestResult.hasTargets()) {
return OptionalDouble.empty();
}
Optional<PhotonTrackedTarget> desiredTarget = getTargetFromList(latestResult.getTargets(), id);
if (desiredTarget.isEmpty()) {
return OptionalDouble.empty();
}
return OptionalDouble.of(
desiredTarget.get().getYaw()
);
}
private Optional<PhotonTrackedTarget> getTargetFromList(List<PhotonTrackedTarget> targets, int id) {
for (PhotonTrackedTarget target : targets) {
if (target.getFiducialId() == id) {
return Optional.of(target);
}
}
return Optional.empty();
}
@Override
public int[] getVisibleTagIDs() {
if(latestResult == null) {
return new int[] {};
}
return latestResult.getTargets().stream().mapToInt(PhotonTrackedTarget::getFiducialId).toArray();
}
}

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src/main/java/frc/robot/utilities/SwerveModule.java Normal file
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package frc.robot.utiltiies;
import org.littletonrobotics.junction.Logger;
import com.ctre.phoenix6.controls.VelocityVoltage;
import com.ctre.phoenix6.hardware.TalonFX;
import com.revrobotics.PersistMode;
import com.revrobotics.RelativeEncoder;
import com.revrobotics.ResetMode;
import com.revrobotics.spark.SparkClosedLoopController;
import com.revrobotics.spark.SparkMax;
import com.revrobotics.spark.SparkBase.ControlType;
import com.revrobotics.spark.SparkLowLevel.MotorType;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.kinematics.SwerveModulePosition;
import edu.wpi.first.math.kinematics.SwerveModuleState;
import edu.wpi.first.wpilibj.AnalogEncoder;
import frc.robot.constants.ModuleConstants;
/*
* This thread
*
* https://www.chiefdelphi.com/t/best-easiest-way-to-connect-wire-and-program-thrifty-absolute-magnetic-encoder-to-rev-spark-max-motor-controller/439040/30
*
* implies that the best use of the thrifty absolute encoder is to use it as a reference for the Spark relative encoder and then
* used the closed loop control on the controller for turning
*
* IDK if that's really necessary, the read rate of the analog ports is 100HZ, I suppose the only benefit is the higher rate of
* the controller closed loop controller.
*/
public class SwerveModule {
private TalonFX drive;
private SparkMax turning;
private RelativeEncoder turningRelativeEncoder;
private AnalogEncoder turningAbsoluteEncoder;
private SparkClosedLoopController turningClosedLoopController;
private VelocityVoltage driveVelocityRequest;
private String moduleName;
public SwerveModule(String moduleName, int drivingCANID, int turningCANID, int analogEncoderID, double analogEncoderOffset) {
drive = new TalonFX(drivingCANID);
turning = new SparkMax(turningCANID, MotorType.kBrushless);
turningRelativeEncoder = turning.getEncoder();
turningAbsoluteEncoder = new AnalogEncoder(analogEncoderID, 2 * Math.PI, analogEncoderOffset);
turningClosedLoopController = turning.getClosedLoopController();
drive.getConfigurator().apply(ModuleConstants.kDriveCurrentLimitConfig);
drive.getConfigurator().apply(ModuleConstants.kDriveFeedConfig);
drive.getConfigurator().apply(ModuleConstants.kDriveMotorConfig);
drive.getConfigurator().apply(ModuleConstants.kAudioConfig);
drive.getConfigurator().apply(ModuleConstants.kDriveSlot0Config);
turning.configure(
ModuleConstants.turningConfig,
ResetMode.kResetSafeParameters,
PersistMode.kPersistParameters
);
turningRelativeEncoder.setPosition(turningAbsoluteEncoder.get());
drive.setPosition(0);
this.moduleName = "Drivetrain/Modules/" + moduleName;
}
public void periodic() {
Logger.recordOutput(moduleName + "/AbsoluteEncoder/Position", turningAbsoluteEncoder.get());
Logger.recordOutput(moduleName + "/SwerveModuleState", getState());
Logger.recordOutput(moduleName + "/SwerveModulePosition", getPosition());
}
public SwerveModuleState getState() {
return new SwerveModuleState(
drive.getVelocity().getValueAsDouble() * ModuleConstants.kWheelCircumferenceMeters,
new Rotation2d(turningRelativeEncoder.getPosition())
);
}
public SwerveModulePosition getPosition() {
return new SwerveModulePosition(
drive.getPosition().getValueAsDouble() * ModuleConstants.kWheelCircumferenceMeters,
new Rotation2d(turningRelativeEncoder.getPosition())
);
}
public void setDesiredState(SwerveModuleState desiredState) {
// TODO is this really necessary, the offset is managed by the Absolute Encoder
// and its "source of truth" behavior in relation to the relative encoder
// Probably doesn't *hurt* that it's here, but it may not be needed
desiredState.optimize(new Rotation2d(turningRelativeEncoder.getPosition()));
drive.setControl(
driveVelocityRequest.withVelocity(
desiredState.speedMetersPerSecond / ModuleConstants.kWheelCircumferenceMeters
).withFeedForward(
desiredState.speedMetersPerSecond / ModuleConstants.kWheelCircumferenceMeters
)
);
turningClosedLoopController.setSetpoint(
desiredState.angle.getRadians(),
ControlType.kPosition
);
}
public void resetEncoders() {
drive.setPosition(0);
zeroTurningEncoder();
}
public void zeroTurningEncoder() {
turningRelativeEncoder.setPosition(turningAbsoluteEncoder.get());
}
}

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vendordeps/AdvantageKit.json Normal file
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{
"fileName": "AdvantageKit.json",
"name": "AdvantageKit",
"version": "26.0.0",
"uuid": "d820cc26-74e3-11ec-90d6-0242ac120003",
"frcYear": "2026",
"mavenUrls": [
"https://frcmaven.wpi.edu/artifactory/littletonrobotics-mvn-release/"
],
"jsonUrl": "https://github.com/Mechanical-Advantage/AdvantageKit/releases/latest/download/AdvantageKit.json",
"javaDependencies": [
{
"groupId": "org.littletonrobotics.akit",
"artifactId": "akit-java",
"version": "26.0.0"
}
],
"jniDependencies": [
{
"groupId": "org.littletonrobotics.akit",
"artifactId": "akit-wpilibio",
"version": "26.0.0",
"skipInvalidPlatforms": false,
"isJar": false,
"validPlatforms": [
"linuxathena",
"linuxx86-64",
"linuxarm64",
"osxuniversal",
"windowsx86-64"
]
}
],
"cppDependencies": []
}

38
vendordeps/PathplannerLib-2026.1.2.json Normal file
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{
"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"
]
}
]
}

171
vendordeps/Phoenix5-5.36.0.json Normal file
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{
"fileName": "Phoenix5-5.36.0.json",
"name": "CTRE-Phoenix (v5)",
"version": "5.36.0",
"frcYear": "2026",
"uuid": "ab676553-b602-441f-a38d-f1296eff6537",
"mavenUrls": [
"https://maven.ctr-electronics.com/release/"
],
"jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix/Phoenix5-frc2026-latest.json",
"requires": [
{
"uuid": "e995de00-2c64-4df5-8831-c1441420ff19",
"errorMessage": "Phoenix 5 requires low-level libraries from Phoenix 6. Please add the Phoenix 6 vendordep before adding Phoenix 5.",
"offlineFileName": "Phoenix6-frc2026-latest.json",
"onlineUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2026-latest.json"
}
],
"conflictsWith": [
{
"uuid": "e7900d8d-826f-4dca-a1ff-182f658e98af",
"errorMessage": "Users must use the Phoenix 5 replay vendordep when using the Phoenix 6 replay vendordep.",
"offlineFileName": "Phoenix6-replay-frc2026-latest.json"
},
{
"uuid": "fbc886a4-2cec-40c0-9835-71086a8cc3df",
"errorMessage": "Users cannot have both the replay and regular Phoenix 5 vendordeps in their robot program.",
"offlineFileName": "Phoenix5-replay-frc2026-latest.json"
}
],
"javaDependencies": [
{
"groupId": "com.ctre.phoenix",
"artifactId": "api-java",
"version": "5.36.0"
},
{
"groupId": "com.ctre.phoenix",
"artifactId": "wpiapi-java",
"version": "5.36.0"
}
],
"jniDependencies": [
{
"groupId": "com.ctre.phoenix",
"artifactId": "cci",
"version": "5.36.0",
"isJar": false,
"skipInvalidPlatforms": true,
"validPlatforms": [
"windowsx86-64",
"linuxx86-64",
"linuxarm64",
"linuxathena"
],
"simMode": "hwsim"
},
{
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"artifactId": "cci-sim",
"version": "5.36.0",
"isJar": false,
"skipInvalidPlatforms": true,
"validPlatforms": [
"windowsx86-64",
"linuxx86-64",
"linuxarm64",
"osxuniversal"
],
"simMode": "swsim"
}
],
"cppDependencies": [
{
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"artifactId": "wpiapi-cpp",
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"libName": "CTRE_Phoenix_WPI",
"headerClassifier": "headers",
"sharedLibrary": true,
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],
"simMode": "hwsim"
},
{
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"sharedLibrary": true,
"skipInvalidPlatforms": true,
"binaryPlatforms": [
"windowsx86-64",
"linuxx86-64",
"linuxarm64",
"linuxathena"
],
"simMode": "hwsim"
},
{
"groupId": "com.ctre.phoenix",
"artifactId": "cci",
"version": "5.36.0",
"libName": "CTRE_PhoenixCCI",
"headerClassifier": "headers",
"sharedLibrary": true,
"skipInvalidPlatforms": true,
"binaryPlatforms": [
"windowsx86-64",
"linuxx86-64",
"linuxarm64",
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],
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},
{
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"libName": "CTRE_Phoenix_WPISim",
"headerClassifier": "headers",
"sharedLibrary": true,
"skipInvalidPlatforms": true,
"binaryPlatforms": [
"windowsx86-64",
"linuxx86-64",
"linuxarm64",
"osxuniversal"
],
"simMode": "swsim"
},
{
"groupId": "com.ctre.phoenix.sim",
"artifactId": "api-cpp-sim",
"version": "5.36.0",
"libName": "CTRE_PhoenixSim",
"headerClassifier": "headers",
"sharedLibrary": true,
"skipInvalidPlatforms": true,
"binaryPlatforms": [
"windowsx86-64",
"linuxx86-64",
"linuxarm64",
"osxuniversal"
],
"simMode": "swsim"
},
{
"groupId": "com.ctre.phoenix.sim",
"artifactId": "cci-sim",
"version": "5.36.0",
"libName": "CTRE_PhoenixCCISim",
"headerClassifier": "headers",
"sharedLibrary": true,
"skipInvalidPlatforms": true,
"binaryPlatforms": [
"windowsx86-64",
"linuxx86-64",
"linuxarm64",
"osxuniversal"
],
"simMode": "swsim"
}
]
}

449
vendordeps/Phoenix6-26.1.0.json Normal file
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{
"fileName": "Phoenix6-26.1.0.json",
"name": "CTRE-Phoenix (v6)",
"version": "26.1.0",
"frcYear": "2026",
"uuid": "e995de00-2c64-4df5-8831-c1441420ff19",
"mavenUrls": [
"https://maven.ctr-electronics.com/release/"
],
"jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2026-latest.json",
"conflictsWith": [
{
"uuid": "e7900d8d-826f-4dca-a1ff-182f658e98af",
"errorMessage": "Users can not have both the replay and regular Phoenix 6 vendordeps in their robot program.",
"offlineFileName": "Phoenix6-replay-frc2026-latest.json"
}
],
"javaDependencies": [
{
"groupId": "com.ctre.phoenix6",
"artifactId": "wpiapi-java",
"version": "26.1.0"
}
],
"jniDependencies": [
{
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"artifactId": "api-cpp",
"version": "26.1.0",
"isJar": false,
"skipInvalidPlatforms": true,
"validPlatforms": [
"windowsx86-64",
"linuxx86-64",
"linuxarm64",
"linuxathena"
],
"simMode": "hwsim"
},
{
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"artifactId": "tools",
"version": "26.1.0",
"isJar": false,
"skipInvalidPlatforms": true,
"validPlatforms": [
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"linuxx86-64",
"linuxarm64",
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],
"simMode": "hwsim"
},
{
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"artifactId": "api-cpp-sim",
"version": "26.1.0",
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"validPlatforms": [
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"linuxarm64",
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],
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},
{
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"artifactId": "tools-sim",
"version": "26.1.0",
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"validPlatforms": [
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],
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},
{
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"artifactId": "simTalonSRX",
"version": "26.1.0",
"isJar": false,
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"linuxarm64",
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],
"simMode": "swsim"
},
{
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"artifactId": "simVictorSPX",
"version": "26.1.0",
"isJar": false,
"skipInvalidPlatforms": true,
"validPlatforms": [
"windowsx86-64",
"linuxx86-64",
"linuxarm64",
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],
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},
{
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"artifactId": "simPigeonIMU",
"version": "26.1.0",
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"validPlatforms": [
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],
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},
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simProTalonFX",
"version": "26.1.0",
"isJar": false,
"skipInvalidPlatforms": true,
"validPlatforms": [
"windowsx86-64",
"linuxx86-64",
"linuxarm64",
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],
"simMode": "swsim"
},
{
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"artifactId": "simProTalonFXS",
"version": "26.1.0",
"isJar": false,
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"validPlatforms": [
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],
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},
{
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"artifactId": "simProCANcoder",
"version": "26.1.0",
"isJar": false,
"skipInvalidPlatforms": true,
"validPlatforms": [
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],
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},
{
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"artifactId": "simProPigeon2",
"version": "26.1.0",
"isJar": false,
"skipInvalidPlatforms": true,
"validPlatforms": [
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],
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},
{
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"artifactId": "simProCANrange",
"version": "26.1.0",
"isJar": false,
"skipInvalidPlatforms": true,
"validPlatforms": [
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],
"simMode": "swsim"
},
{
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"artifactId": "simProCANdi",
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},
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],
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}
],
"cppDependencies": [
{
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"artifactId": "wpiapi-cpp",
"version": "26.1.0",
"libName": "CTRE_Phoenix6_WPI",
"headerClassifier": "headers",
"sharedLibrary": true,
"skipInvalidPlatforms": true,
"binaryPlatforms": [
"windowsx86-64",
"linuxx86-64",
"linuxarm64",
"linuxathena"
],
"simMode": "hwsim"
},
{
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"artifactId": "tools",
"version": "26.1.0",
"libName": "CTRE_PhoenixTools",
"headerClassifier": "headers",
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"skipInvalidPlatforms": true,
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],
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},
{
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"artifactId": "wpiapi-cpp-sim",
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],
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},
{
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"headerClassifier": "headers",
"sharedLibrary": true,
"skipInvalidPlatforms": true,
"binaryPlatforms": [
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"linuxx86-64",
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],
"simMode": "swsim"
},
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simTalonSRX",
"version": "26.1.0",
"libName": "CTRE_SimTalonSRX",
"headerClassifier": "headers",
"sharedLibrary": true,
"skipInvalidPlatforms": true,
"binaryPlatforms": [
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"linuxx86-64",
"linuxarm64",
"osxuniversal"
],
"simMode": "swsim"
},
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simVictorSPX",
"version": "26.1.0",
"libName": "CTRE_SimVictorSPX",
"headerClassifier": "headers",
"sharedLibrary": true,
"skipInvalidPlatforms": true,
"binaryPlatforms": [
"windowsx86-64",
"linuxx86-64",
"linuxarm64",
"osxuniversal"
],
"simMode": "swsim"
},
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simPigeonIMU",
"version": "26.1.0",
"libName": "CTRE_SimPigeonIMU",
"headerClassifier": "headers",
"sharedLibrary": true,
"skipInvalidPlatforms": true,
"binaryPlatforms": [
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"linuxarm64",
"osxuniversal"
],
"simMode": "swsim"
},
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simProTalonFX",
"version": "26.1.0",
"libName": "CTRE_SimProTalonFX",
"headerClassifier": "headers",
"sharedLibrary": true,
"skipInvalidPlatforms": true,
"binaryPlatforms": [
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"linuxx86-64",
"linuxarm64",
"osxuniversal"
],
"simMode": "swsim"
},
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simProTalonFXS",
"version": "26.1.0",
"libName": "CTRE_SimProTalonFXS",
"headerClassifier": "headers",
"sharedLibrary": true,
"skipInvalidPlatforms": true,
"binaryPlatforms": [
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"linuxx86-64",
"linuxarm64",
"osxuniversal"
],
"simMode": "swsim"
},
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simProCANcoder",
"version": "26.1.0",
"libName": "CTRE_SimProCANcoder",
"headerClassifier": "headers",
"sharedLibrary": true,
"skipInvalidPlatforms": true,
"binaryPlatforms": [
"windowsx86-64",
"linuxx86-64",
"linuxarm64",
"osxuniversal"
],
"simMode": "swsim"
},
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simProPigeon2",
"version": "26.1.0",
"libName": "CTRE_SimProPigeon2",
"headerClassifier": "headers",
"sharedLibrary": true,
"skipInvalidPlatforms": true,
"binaryPlatforms": [
"windowsx86-64",
"linuxx86-64",
"linuxarm64",
"osxuniversal"
],
"simMode": "swsim"
},
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simProCANrange",
"version": "26.1.0",
"libName": "CTRE_SimProCANrange",
"headerClassifier": "headers",
"sharedLibrary": true,
"skipInvalidPlatforms": true,
"binaryPlatforms": [
"windowsx86-64",
"linuxx86-64",
"linuxarm64",
"osxuniversal"
],
"simMode": "swsim"
},
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simProCANdi",
"version": "26.1.0",
"libName": "CTRE_SimProCANdi",
"headerClassifier": "headers",
"sharedLibrary": true,
"skipInvalidPlatforms": true,
"binaryPlatforms": [
"windowsx86-64",
"linuxx86-64",
"linuxarm64",
"osxuniversal"
],
"simMode": "swsim"
},
{
"groupId": "com.ctre.phoenix6.sim",
"artifactId": "simProCANdle",
"version": "26.1.0",
"libName": "CTRE_SimProCANdle",
"headerClassifier": "headers",
"sharedLibrary": true,
"skipInvalidPlatforms": true,
"binaryPlatforms": [
"windowsx86-64",
"linuxx86-64",
"linuxarm64",
"osxuniversal"
],
"simMode": "swsim"
}
]
}

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vendordeps/REVLib.json Normal file
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{
"fileName": "REVLib.json",
"name": "REVLib",
"version": "2026.0.0",
"frcYear": "2026",
"uuid": "3f48eb8c-50fe-43a6-9cb7-44c86353c4cb",
"mavenUrls": [
"https://maven.revrobotics.com/"
],
"jsonUrl": "https://software-metadata.revrobotics.com/REVLib-2026.json",
"javaDependencies": [
{
"groupId": "com.revrobotics.frc",
"artifactId": "REVLib-java",
"version": "2026.0.0"
}
],
"jniDependencies": [
{
"groupId": "com.revrobotics.frc",
"artifactId": "REVLib-driver",
"version": "2026.0.0",
"skipInvalidPlatforms": true,
"isJar": false,
"validPlatforms": [
"windowsx86-64",
"linuxarm64",
"linuxx86-64",
"linuxathena",
"linuxarm32",
"osxuniversal"
]
},
{
"groupId": "com.revrobotics.frc",
"artifactId": "RevLibBackendDriver",
"version": "2026.0.0",
"skipInvalidPlatforms": true,
"isJar": false,
"validPlatforms": [
"windowsx86-64",
"linuxarm64",
"linuxx86-64",
"linuxathena",
"linuxarm32",
"osxuniversal"
]
},
{
"groupId": "com.revrobotics.frc",
"artifactId": "RevLibWpiBackendDriver",
"version": "2026.0.0",
"skipInvalidPlatforms": true,
"isJar": false,
"validPlatforms": [
"windowsx86-64",
"linuxarm64",
"linuxx86-64",
"linuxathena",
"linuxarm32",
"osxuniversal"
]
}
],
"cppDependencies": [
{
"groupId": "com.revrobotics.frc",
"artifactId": "REVLib-cpp",
"version": "2026.0.0",
"libName": "REVLib",
"headerClassifier": "headers",
"sharedLibrary": false,
"skipInvalidPlatforms": true,
"binaryPlatforms": [
"windowsx86-64",
"linuxarm64",
"linuxx86-64",
"linuxathena",
"linuxarm32",
"osxuniversal"
]
},
{
"groupId": "com.revrobotics.frc",
"artifactId": "REVLib-driver",
"version": "2026.0.0",
"libName": "REVLibDriver",
"headerClassifier": "headers",
"sharedLibrary": false,
"skipInvalidPlatforms": true,
"binaryPlatforms": [
"windowsx86-64",
"linuxarm64",
"linuxx86-64",
"linuxathena",
"linuxarm32",
"osxuniversal"
]
},
{
"groupId": "com.revrobotics.frc",
"artifactId": "RevLibBackendDriver",
"version": "2026.0.0",
"libName": "BackendDriver",
"sharedLibrary": true,
"skipInvalidPlatforms": true,
"binaryPlatforms": [
"windowsx86-64",
"linuxarm64",
"linuxx86-64",
"linuxathena",
"linuxarm32",
"osxuniversal"
]
},
{
"groupId": "com.revrobotics.frc",
"artifactId": "RevLibWpiBackendDriver",
"version": "2026.0.0",
"libName": "REVLibWpi",
"sharedLibrary": true,
"skipInvalidPlatforms": true,
"binaryPlatforms": [
"windowsx86-64",
"linuxarm64",
"linuxx86-64",
"linuxathena",
"linuxarm32",
"osxuniversal"
]
}
]
}

71
vendordeps/Studica.json Normal file
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@@ -0,0 +1,71 @@
{
"fileName": "Studica.json",
"name": "Studica",
"version": "2026.0.0",
"frcYear": "2026",
"uuid": "cb311d09-36e9-4143-a032-55bb2b94443b",
"mavenUrls": [
"https://dev.studica.com/maven/release/2026/"
],
"jsonUrl": "https://dev.studica.com/maven/release/2026/json/Studica-2026.0.0.json",
"javaDependencies": [
{
"groupId": "com.studica.frc",
"artifactId": "Studica-java",
"version": "2026.0.0"
}
],
"jniDependencies": [
{
"groupId": "com.studica.frc",
"artifactId": "Studica-driver",
"version": "2026.0.0",
"skipInvalidPlatforms": true,
"isJar": false,
"validPlatforms": [
"windowsx86-64",
"linuxarm64",
"linuxx86-64",
"linuxathena",
"linuxarm32",
"osxuniversal"
]
}
],
"cppDependencies": [
{
"groupId": "com.studica.frc",
"artifactId": "Studica-cpp",
"version": "2026.0.0",
"libName": "Studica",
"headerClassifier": "headers",
"sharedLibrary": false,
"skipInvalidPlatforms": true,
"binaryPlatforms": [
"windowsx86-64",
"linuxarm64",
"linuxx86-64",
"linuxathena",
"linuxarm32",
"osxuniversal"
]
},
{
"groupId": "com.studica.frc",
"artifactId": "Studica-driver",
"version": "2026.0.0",
"libName": "StudicaDriver",
"headerClassifier": "headers",
"sharedLibrary": false,
"skipInvalidPlatforms": true,
"binaryPlatforms": [
"windowsx86-64",
"linuxarm64",
"linuxx86-64",
"linuxathena",
"linuxarm32",
"osxuniversal"
]
}
]
}

71
vendordeps/photonlib.json Normal file
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@@ -0,0 +1,71 @@
{
"fileName": "photonlib.json",
"name": "photonlib",
"version": "v2026.0.1-beta",
"uuid": "515fe07e-bfc6-11fa-b3de-0242ac130004",
"frcYear": "2026",
"mavenUrls": [
"https://maven.photonvision.org/repository/internal",
"https://maven.photonvision.org/repository/snapshots"
],
"jsonUrl": "https://maven.photonvision.org/repository/internal/org/photonvision/photonlib-json/1.0/photonlib-json-1.0.json",
"jniDependencies": [
{
"groupId": "org.photonvision",
"artifactId": "photontargeting-cpp",
"version": "v2026.0.1-beta",
"skipInvalidPlatforms": true,
"isJar": false,
"validPlatforms": [
"windowsx86-64",
"linuxathena",
"linuxx86-64",
"osxuniversal"
]
}
],
"cppDependencies": [
{
"groupId": "org.photonvision",
"artifactId": "photonlib-cpp",
"version": "v2026.0.1-beta",
"libName": "photonlib",
"headerClassifier": "headers",
"sharedLibrary": true,
"skipInvalidPlatforms": true,
"binaryPlatforms": [
"windowsx86-64",
"linuxathena",
"linuxx86-64",
"osxuniversal"
]
},
{
"groupId": "org.photonvision",
"artifactId": "photontargeting-cpp",
"version": "v2026.0.1-beta",
"libName": "photontargeting",
"headerClassifier": "headers",
"sharedLibrary": true,
"skipInvalidPlatforms": true,
"binaryPlatforms": [
"windowsx86-64",
"linuxathena",
"linuxx86-64",
"osxuniversal"
]
}
],
"javaDependencies": [
{
"groupId": "org.photonvision",
"artifactId": "photonlib-java",
"version": "v2026.0.1-beta"
},
{
"groupId": "org.photonvision",
"artifactId": "photontargeting-java",
"version": "v2026.0.1-beta"
}
]
}