A bunch of random work on Subsystems, lots of work left to do

.vscode/launch.json

@@ -13,7 +13,7 @@
     },
     {
       "type": "wpilib",
-      "name": "WPILib roboRIO Debug",
+      "name": "WPILib Systemcore Debug",
       "request": "launch",
       "desktop": false,
     }

.vscode/settings.json

@@ -37,7 +37,7 @@
     "org.mockito.Mockito.*",
     "org.mockito.ArgumentMatchers.*",
     "org.mockito.Answers.*",
-    "edu.wpi.first.units.Units.*"
+    "org.wpilib.units.Units.*"
   ],
   "java.completion.filteredTypes": [
     "java.awt.*",
@@ -53,9 +53,10 @@
     "javax.swing.*",
     "javax.management.*",
     "javax.smartcardio.*",
-    "edu.wpi.first.math.proto.*",
+    "org.wpilib.math.proto.*",
-    "edu.wpi.first.math.**.proto.*",
+    "org.wpilib.math.**.proto.*",
-    "edu.wpi.first.math.**.struct.*",
+    "org.wpilib.math.**.struct.*",
   ],
+  "java.debug.settings.enableRunDebugCodeLens": false,
   "java.dependency.enableDependencyCheckup": false
 }

.wpilib/wpilib_preferences.json

@@ -1,6 +1,6 @@
 {
     "enableCppIntellisense": false,
     "currentLanguage": "java",
-    "projectYear": "2026",
+    "projectYear": "2027_alpha7",
-    "teamNumber": 2648
+    "teamNumber": 9999
 }

build.gradle

@@ -1,39 +1,45 @@
 plugins {
     id "java"
-    id "edu.wpi.first.GradleRIO" version "2026.2.1"
+    id "application"
+    id "org.wpilib.GradleRIO" version "2027.0.0-alpha-7"
 }
 
 java {
-    sourceCompatibility = JavaVersion.VERSION_17
+    sourceCompatibility = JavaVersion.VERSION_25
-    targetCompatibility = JavaVersion.VERSION_17
+    targetCompatibility = JavaVersion.VERSION_25
 }
 
-def ROBOT_MAIN_CLASS = "frc.robot.Main"
+def ROBOT_MAIN_CLASS = "first.Main"
 
-// Define my targets (RoboRIO) and artifacts (deployable files)
+// Define my targets (SystemCore) and artifacts (deployable files)
 // This is added by GradleRIO's backing project DeployUtils.
 deploy {
     targets {
-        roborio(getTargetTypeClass('RoboRIO')) {
+        systemcore(getTargetTypeClass('SystemCore')) {
             // Team number is loaded either from the .wpilib/wpilib_preferences.json
             // or from command line. If not found an exception will be thrown.
             // You can use getTeamOrDefault(team) instead of getTeamNumber if you
             // want to store a team number in this file.
-            team = project.frc.getTeamNumber()
+            team = project.wpilib.getTeamNumber()
-            debug = project.frc.getDebugOrDefault(false)
+            // Use the default systemcore host name. This must be called after setting team
+            // as happens on the line above
+            useDefaultSystemcoreHostName()
+            debug = project.wpilib.getDebugOrDefault(false)
 
             artifacts {
                 // First part is artifact name, 2nd is artifact type
                 // getTargetTypeClass is a shortcut to get the class type using a string
 
-                frcJava(getArtifactTypeClass('FRCJavaArtifact')) {
+                wpilibJava(getArtifactTypeClass('WPILibJavaArtifact')) {
+                    // Set to true to use debug including JNI, which will drastically impact performance.
+                    debugJni = false
                 }
 
                 // Static files artifact
-                frcStaticFileDeploy(getArtifactTypeClass('FileTreeArtifact')) {
+                wpilibStaticFileDeploy(getArtifactTypeClass('FileTreeArtifact')) {
                     files = project.fileTree('src/main/deploy')
-                    directory = '/home/lvuser/deploy'
+                    directory = '/home/systemcore/deploy'
-                    deleteOldFiles = false // Change to true to delete files on roboRIO that no
+                    deleteOldFiles = false // Change to true to delete files on systemcore that no
                                            // longer exist in deploy directory of this project
                 }
             }
@@ -41,20 +47,14 @@ deploy {
     }
 }
 
-def deployArtifact = deploy.targets.roborio.artifacts.frcJava
+def deployArtifact = deploy.targets.systemcore.artifacts.wpilibJava
 
-// Set to true to use debug for all targets including JNI, which will drastically impact
+// Set to true to use debug for simulation including JNI
-// performance.
+wpi.java.runSimWithDebugJni = false
-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 {
@@ -62,11 +62,11 @@ dependencies {
     implementation wpi.java.deps.wpilib()
     implementation wpi.java.vendor.java()
 
-    roborioDebug wpi.java.deps.wpilibJniDebug(wpi.platforms.roborio)
+    systemcoreDebug wpi.java.deps.wpilibJniDebug(wpi.platforms.systemcore)
-    roborioDebug wpi.java.vendor.jniDebug(wpi.platforms.roborio)
+    systemcoreDebug wpi.java.vendor.jniDebug(wpi.platforms.systemcore)
 
-    roborioRelease wpi.java.deps.wpilibJniRelease(wpi.platforms.roborio)
+    systemcoreRelease wpi.java.deps.wpilibJniRelease(wpi.platforms.systemcore)
-    roborioRelease wpi.java.vendor.jniRelease(wpi.platforms.roborio)
+    systemcoreRelease wpi.java.vendor.jniRelease(wpi.platforms.systemcore)
 
     nativeDebug wpi.java.deps.wpilibJniDebug(wpi.platforms.desktop)
     nativeDebug wpi.java.vendor.jniDebug(wpi.platforms.desktop)
@@ -78,9 +78,6 @@ 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 {
@@ -92,23 +89,18 @@ test {
 wpi.sim.addGui().defaultEnabled = true
 wpi.sim.addDriverstation()
 
-// Setting up my Jar File. In this case, adding all libraries into the main jar ('fat jar')
+application.mainClass = ROBOT_MAIN_CLASS
-// in order to make them all available at runtime. Also adding the manifest so WPILib
+
-// knows where to look for our Robot Class.
+deployArtifact.configureApplication(application)
+wpi.java.configureApplication(application)
+wpi.java.configureTestTasks(test)
+
 jar {
-    from { configurations.runtimeClasspath.collect { it.isDirectory() ? it : zipTree(it) } }
     from('src') { into 'backup/src' }
     from('vendordeps') { into 'backup/vendordeps' }
     from('build.gradle') { into 'backup' }
-    manifest edu.wpi.first.gradlerio.GradleRIOPlugin.javaManifest(ROBOT_MAIN_CLASS)
-    duplicatesStrategy = DuplicatesStrategy.INCLUDE
 }
 
-// Configure jar and deploy tasks
-deployArtifact.jarTask = jar
-wpi.java.configureExecutableTasks(jar)
-wpi.java.configureTestTasks(test)
-
 // Configure string concat to always inline compile
 tasks.withType(JavaCompile) {
     options.compilerArgs.add '-XDstringConcat=inline'

gradle/wrapper/gradle-wrapper.properties

@@ -1,6 +1,6 @@
 distributionBase=GRADLE_USER_HOME
 distributionPath=permwrapper/dists
-distributionUrl=https\://services.gradle.org/distributions/gradle-8.11-bin.zip
+distributionUrl=https\://services.gradle.org/distributions/gradle-9.4.1-bin.zip
 networkTimeout=10000
 validateDistributionUrl=true
 zipStoreBase=GRADLE_USER_HOME

gradlew

@@ -1,7 +1,7 @@
 #!/bin/sh
 
 #
-# Copyright © 2015-2021 the original authors.
+# Copyright © 2015 the original authors.
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.
@@ -57,7 +57,7 @@
 #       Darwin, MinGW, and NonStop.
 #
 #   (3) This script is generated from the Groovy template
-#       https://github.com/gradle/gradle/blob/HEAD/platforms/jvm/plugins-application/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt
+#       https://github.com/gradle/gradle/blob/2d6327017519d23b96af35865dc997fcb544fb40/platforms/jvm/plugins-application/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt
 #       within the Gradle project.
 #
 #       You can find Gradle at https://github.com/gradle/gradle/.
@@ -86,8 +86,7 @@ done
 # shellcheck disable=SC2034
 APP_BASE_NAME=${0##*/}
 # Discard cd standard output in case $CDPATH is set (https://github.com/gradle/gradle/issues/25036)
-APP_HOME=$( cd -P "${APP_HOME:-./}" > /dev/null && printf '%s
+APP_HOME=$( cd -P "${APP_HOME:-./}" > /dev/null && printf '%s\n' "$PWD" ) || exit
-' "$PWD" ) || exit
 
 # Use the maximum available, or set MAX_FD != -1 to use that value.
 MAX_FD=maximum
@@ -115,7 +114,6 @@ case "$( uname )" in                #(
   NONSTOP* )        nonstop=true ;;
 esac
 
-CLASSPATH=$APP_HOME/gradle/wrapper/gradle-wrapper.jar
 
 
 # Determine the Java command to use to start the JVM.
@@ -173,7 +171,6 @@ fi
 # For Cygwin or MSYS, switch paths to Windows format before running java
 if "$cygwin" || "$msys" ; then
     APP_HOME=$( cygpath --path --mixed "$APP_HOME" )
-    CLASSPATH=$( cygpath --path --mixed "$CLASSPATH" )
 
     JAVACMD=$( cygpath --unix "$JAVACMD" )
 
@@ -206,15 +203,14 @@ fi
 DEFAULT_JVM_OPTS='"-Xmx64m" "-Xms64m"'
 
 # Collect all arguments for the java command:
-#   * DEFAULT_JVM_OPTS, JAVA_OPTS, JAVA_OPTS, and optsEnvironmentVar are not allowed to contain shell fragments,
+#   * DEFAULT_JVM_OPTS, JAVA_OPTS, and optsEnvironmentVar are not allowed to contain shell fragments,
 #     and any embedded shellness will be escaped.
 #   * For example: A user cannot expect ${Hostname} to be expanded, as it is an environment variable and will be
 #     treated as '${Hostname}' itself on the command line.
 
 set -- \
         "-Dorg.gradle.appname=$APP_BASE_NAME" \
-        -classpath "$CLASSPATH" \
+        -jar "$APP_HOME/gradle/wrapper/gradle-wrapper.jar" \
-        org.gradle.wrapper.GradleWrapperMain \
         "$@"
 
 # Stop when "xargs" is not available.

gradlew.bat

@@ -70,11 +70,10 @@ goto fail
 :execute
 @rem Setup the command line
 
-set CLASSPATH=%APP_HOME%\gradle\wrapper\gradle-wrapper.jar
 
 
 @rem Execute Gradle
-"%JAVA_EXE%" %DEFAULT_JVM_OPTS% %JAVA_OPTS% %GRADLE_OPTS% "-Dorg.gradle.appname=%APP_BASE_NAME%" -classpath "%CLASSPATH%" org.gradle.wrapper.GradleWrapperMain %*
+"%JAVA_EXE%" %DEFAULT_JVM_OPTS% %JAVA_OPTS% %GRADLE_OPTS% "-Dorg.gradle.appname=%APP_BASE_NAME%" -jar "%APP_HOME%\gradle\wrapper\gradle-wrapper.jar" %*
 
 :end
 @rem End local scope for the variables with windows NT shell

settings.gradle

@@ -2,27 +2,35 @@ import org.gradle.internal.os.OperatingSystem
 
 pluginManagement {
     repositories {
-        mavenLocal()
+        String wpilibYear = '2027_alpha7'
-        gradlePluginPortal()
+        File wpilibHome
-        String frcYear = '2026'
+        def os = OperatingSystem.current()
-        File frcHome
+        if (os.isWindows()) {
-        if (OperatingSystem.current().isWindows()) {
             String publicFolder = System.getenv('PUBLIC')
             if (publicFolder == null) {
                 publicFolder = "C:\\Users\\Public"
             }
             def homeRoot = new File(publicFolder, "wpilib")
-            frcHome = new File(homeRoot, frcYear)
+            wpilibHome = new File(homeRoot, wpilibYear)
+        } else if (os.isLinux()) {
+            String xdgDataHome = System.getenv('XDG_DATA_HOME')
+            if (xdgDataHome == null || xdgDataHome.trim().isEmpty() || !new File(xdgDataHome).isAbsolute()) {
+                xdgDataHome = new File(System.getProperty("user.home"), ".local/share").getPath()
+            }
+            def homeRoot = new File(xdgDataHome, "wpilib")
+            wpilibHome = new File(homeRoot, wpilibYear)
         } else {
             def userFolder = System.getProperty("user.home")
-            def homeRoot = new File(userFolder, "wpilib")
+            def homeRoot = new File(userFolder, ".wpilib")
-            frcHome = new File(homeRoot, frcYear)
+            wpilibHome = new File(homeRoot, wpilibYear)
         }
-        def frcHomeMaven = new File(frcHome, 'maven')
+        def wpilibHomeMaven = new File(wpilibHome, 'maven')
         maven {
-            name = 'frcHome'
+            name = 'wpilibHome'
-            url = frcHomeMaven
+            url = wpilibHomeMaven
         }
+        mavenLocal()
+        gradlePluginPortal()
     }
 }
 

src/main/deploy/example.txt

@@ -1,3 +1,3 @@
-Files placed in this directory will be deployed to the RoboRIO into the
+Files placed in this directory will be deployed to the Systemcore into the
 'deploy' directory in the home folder. Use the 'Filesystem.getDeployDirectory' wpilib function
 to get a proper path relative to the deploy directory.

src/main/deploy/pathplanner/autos/Center to Shoot.auto

@@ -1,37 +0,0 @@
-{
-  "version": "2025.0",
-  "command": {
-    "type": "sequential",
-    "data": {
-      "commands": [
-        {
-          "type": "named",
-          "data": {
-            "name": "intake down"
-          }
-        },
-        {
-          "type": "named",
-          "data": {
-            "name": "spinup"
-          }
-        },
-        {
-          "type": "path",
-          "data": {
-            "pathName": "Center to Shoot"
-          }
-        },
-        {
-          "type": "named",
-          "data": {
-            "name": "shoot close"
-          }
-        }
-      ]
-    }
-  },
-  "resetOdom": true,
-  "folder": null,
-  "choreoAuto": false
-}

src/main/deploy/pathplanner/autos/Left Shoot.auto

@@ -1,67 +0,0 @@
-{
-  "version": "2025.0",
-  "command": {
-    "type": "sequential",
-    "data": {
-      "commands": [
-        {
-          "type": "named",
-          "data": {
-            "name": "intake down"
-          }
-        },
-        {
-          "type": "named",
-          "data": {
-            "name": "spinup"
-          }
-        },
-        {
-          "type": "path",
-          "data": {
-            "pathName": "start to score left"
-          }
-        },
-        {
-          "type": "named",
-          "data": {
-            "name": "shoot close"
-          }
-        },
-        {
-          "type": "path",
-          "data": {
-            "pathName": "Left to Outpost"
-          }
-        },
-        {
-          "type": "named",
-          "data": {
-            "name": "stop spindexer"
-          }
-        },
-        {
-          "type": "path",
-          "data": {
-            "pathName": "trough to shot"
-          }
-        },
-        {
-          "type": "named",
-          "data": {
-            "name": "spinup"
-          }
-        },
-        {
-          "type": "named",
-          "data": {
-            "name": "shoot N jimmy"
-          }
-        }
-      ]
-    }
-  },
-  "resetOdom": true,
-  "folder": null,
-  "choreoAuto": false
-}

src/main/deploy/pathplanner/autos/Outpost.auto

@@ -1,31 +0,0 @@
-{
-  "version": "2025.0",
-  "command": {
-    "type": "sequential",
-    "data": {
-      "commands": [
-        {
-          "type": "path",
-          "data": {
-            "pathName": "Start to outpost"
-          }
-        },
-        {
-          "type": "path",
-          "data": {
-            "pathName": "Outpost to Ranged Shot"
-          }
-        },
-        {
-          "type": "named",
-          "data": {
-            "name": "Auto Shoot"
-          }
-        }
-      ]
-    }
-  },
-  "resetOdom": true,
-  "folder": null,
-  "choreoAuto": false
-}

src/main/deploy/pathplanner/autos/left to center.auto

@@ -1,43 +0,0 @@
-{
-  "version": "2025.0",
-  "command": {
-    "type": "sequential",
-    "data": {
-      "commands": [
-        {
-          "type": "named",
-          "data": {
-            "name": "intake down"
-          }
-        },
-        {
-          "type": "path",
-          "data": {
-            "pathName": "left start to center"
-          }
-        },
-        {
-          "type": "path",
-          "data": {
-            "pathName": "over bump to pile"
-          }
-        },
-        {
-          "type": "path",
-          "data": {
-            "pathName": "back from center"
-          }
-        },
-        {
-          "type": "named",
-          "data": {
-            "name": "auto shoot"
-          }
-        }
-      ]
-    }
-  },
-  "resetOdom": true,
-  "folder": null,
-  "choreoAuto": false
-}

src/main/deploy/pathplanner/navgrid.json

@@ -1 +0,0 @@
-{"field_size":{"x":16.54,"y":8.07},"nodeSizeMeters":0.3,"grid":[[true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true],[true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,true,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,true,true,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true],[true,true,true,true,true,false,false,false,false,false,false,false,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,true,true,true],[true,true,true,true,true,true,false,false,false,false,false,true,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,true,true,true,true,false,false,false,false,false,true,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,true,true,true,true,true],[true,true,true,true,true,true,false,false,false,false,false,true,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,false,false,false,false,false,false,true,true,true,true,true,true],[true,true,true,true,true,true,false,false,false,false,false,true,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,false,false,false,false,false,false,true,true,true,true,true,true],[true,true,true,true,true,true,false,false,false,false,false,true,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,false,false,false,false,false,false,true,true,true,true,true,true],[true,true,true,true,true,false,false,false,false,false,false,true,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,tLine truncated

src/main/deploy/pathplanner/paths/Center to Shoot.path

@@ -1,54 +0,0 @@
-{
-  "version": "2025.0",
-  "waypoints": [
-    {
-      "anchor": {
-        "x": 3.622028469750891,
-        "y": 4.008102016607354
-      },
-      "prevControl": null,
-      "nextControl": {
-        "x": 3.266975088967973,
-        "y": 4.0403795966785285
-      },
-      "isLocked": false,
-      "linkedName": null
-    },
-    {
-      "anchor": {
-        "x": 3.1271055753262162,
-        "y": 4.008102016607354
-      },
-      "prevControl": {
-        "x": 4.0416370106761565,
-        "y": 4.0403795966785285
-      },
-      "nextControl": null,
-      "isLocked": false,
-      "linkedName": null
-    }
-  ],
-  "rotationTargets": [],
-  "constraintZones": [],
-  "pointTowardsZones": [],
-  "eventMarkers": [],
-  "globalConstraints": {
-    "maxVelocity": 2.0,
-    "maxAcceleration": 1.5,
-    "maxAngularVelocity": 540.0,
-    "maxAngularAcceleration": 720.0,
-    "nominalVoltage": 12.0,
-    "unlimited": false
-  },
-  "goalEndState": {
-    "velocity": 0,
-    "rotation": 0.0
-  },
-  "reversed": false,
-  "folder": null,
-  "idealStartingState": {
-    "velocity": 0,
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src/main/deploy/pathplanner/paths/Example Path.path

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-{
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src/main/deploy/pathplanner/paths/Left to Outpost.path

@@ -1,80 +0,0 @@
-{
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src/main/deploy/pathplanner/paths/My Bumpers Arent All The Way Over.path

@@ -1,151 +0,0 @@
-{
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src/main/deploy/pathplanner/paths/Outpost to Ranged Shot.path

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-{
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src/main/deploy/pathplanner/paths/Start to outpost.path

@@ -1,66 +0,0 @@
-{
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src/main/deploy/pathplanner/paths/back from center.path

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src/main/deploy/pathplanner/paths/left start to center.path

@@ -1,98 +0,0 @@
-{
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src/main/deploy/pathplanner/paths/over bump to pile.path

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-{
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src/main/deploy/pathplanner/paths/start to score left.path

@@ -1,54 +0,0 @@
-{
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src/main/deploy/pathplanner/paths/trough to shot.path

@@ -1,54 +0,0 @@
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-  "folder": null,
-  "idealStartingState": {
-    "velocity": 0,
-    "rotation": 178.80651057601818
-  },
-  "useDefaultConstraints": true
-}

src/main/deploy/pathplanner/settings.json

@@ -1,36 +0,0 @@
-{
-  "robotWidth": 0.921,
-  "robotLength": 0.787,
-  "holonomicMode": true,
-  "pathFolders": [
-    "Right Outpost"
-  ],
-  "autoFolders": [],
-  "defaultMaxVel": 2.0,
-  "defaultMaxAccel": 1.5,
-  "defaultMaxAngVel": 540.0,
-  "defaultMaxAngAccel": 720.0,
-  "defaultNominalVoltage": 12.0,
-  "robotMass": 64.864,
-  "robotMOI": 37.809,
-  "robotTrackwidth": 0.546,
-  "driveWheelRadius": 0.051,
-  "driveGearing": 6.122,
-  "maxDriveSpeed": 4.66,
-  "driveMotorType": "krakenX60",
-  "driveCurrentLimit": 65.0,
-  "wheelCOF": 1.2,
-  "flModuleX": 0.238,
-  "flModuleY": 0.3015,
-  "frModuleX": 0.238,
-  "frModuleY": -0.3015,
-  "blModuleX": -0.238,
-  "blModuleY": 0.3015,
-  "brModuleX": -0.238,
-  "brModuleY": -0.3015,
-  "bumperOffsetX": 0.0,
-  "bumperOffsetY": 0.0,
-  "robotFeatures": [
-    "{\"name\":\"Rectangle\",\"type\":\"rounded_rect\",\"data\":{\"center\":{\"x\":0.55,\"y\":0.0},\"size\":{\"width\":0.921,\"length\":0.305},\"borderRadius\":0.05,\"strokeWidth\":0.02,\"filled\":false}}"
-  ]
-}

src/main/java/first/Main.java

@@ -0,0 +1,25 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package first;
+
+import org.wpilib.framework.RobotBase;
+
+/**
+ * Do NOT add any static variables to this class, or any initialization at all. Unless you know what
+ * you are doing, do not modify this file except to change the parameter class to the startRobot
+ * call.
+ */
+public final class Main {
+  private Main() {}
+
+  /**
+   * Main initialization function. Do not perform any initialization here.
+   *
+   * <p>If you change your main robot class, change the parameter type.
+   */
+  public static void main(String... args) {
+    RobotBase.startRobot(first.robot.Robot::new);
+  }
+}

src/main/java/first/robot/Robot.java

@@ -0,0 +1,76 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package first.robot;
+
+import org.wpilib.command2.Command;
+import org.wpilib.command2.CommandScheduler;
+import org.wpilib.epilogue.Epilogue;
+import org.wpilib.epilogue.Logged;
+import org.wpilib.framework.TimedRobot;
+
+@Logged
+public class Robot extends TimedRobot {
+  private Command autonomousCommand;
+
+  private final RobotContainer robotContainer;
+
+  public Robot() {
+    robotContainer = new RobotContainer();
+  }
+
+  @Override
+  public void robotPeriodic() {
+    CommandScheduler.getInstance().run();
+    Epilogue.update(this);
+  }
+
+  @Override
+  public void disabledInit() {}
+
+  @Override
+  public void disabledPeriodic() {}
+
+  @Override
+  public void disabledExit() {}
+
+  @Override
+  public void autonomousInit() {
+    autonomousCommand = robotContainer.getAutonomousCommand();
+
+    if (autonomousCommand != null) {
+      CommandScheduler.getInstance().schedule(autonomousCommand);
+    }
+  }
+
+  @Override
+  public void autonomousPeriodic() {}
+
+  @Override
+  public void autonomousExit() {
+    if (autonomousCommand != null) {
+      autonomousCommand.cancel();
+    }
+  }
+
+  @Override
+  public void teleopInit() {}
+
+  @Override
+  public void teleopPeriodic() {}
+
+  @Override
+  public void teleopExit() {}
+
+  @Override
+  public void utilityInit() {
+    CommandScheduler.getInstance().cancelAll();
+  }
+
+  @Override
+  public void utilityPeriodic() {}
+
+  @Override
+  public void utilityExit() {}
+}

src/main/java/first/robot/RobotContainer.java

@@ -0,0 +1,22 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package first.robot;
+
+import org.wpilib.command2.Command;
+import org.wpilib.command2.Commands;
+import org.wpilib.epilogue.Logged;
+
+@Logged
+public class RobotContainer {
+  public RobotContainer() {
+    configureBindings();
+  }
+
+  private void configureBindings() {}
+
+  public Command getAutonomousCommand() {
+    return Commands.print("No autonomous command configured");
+  }
+}

src/main/java/first/robot/constants/AutoConstants.java

@@ -1,18 +1,15 @@
-package frc.robot.constants;
+package first.robot.constants;
 
 import java.io.IOException;
 
 import org.json.simple.parser.ParseException;
+import org.wpilib.math.trajectory.TrapezoidProfile;
 
 import com.pathplanner.lib.config.PIDConstants;
 import com.pathplanner.lib.config.RobotConfig;
 import com.pathplanner.lib.controllers.PPHolonomicDriveController;
 import com.pathplanner.lib.path.PathConstraints;
 
-import edu.wpi.first.math.trajectory.TrapezoidProfile;
-import edu.wpi.first.math.util.Units;
-
-// TODO This is all hold over from 2025, does any of it need to change?
 public class AutoConstants {
     public static final double kMaxSpeedMetersPerSecond = 4;
     public static final double kMaxAccelerationMetersPerSecondSquared = 4;

src/main/java/first/robot/constants/ClimberConstants.java

@@ -1,8 +1,10 @@
-package frc.robot.constants;
+package first.robot.constants;
+
+import org.wpilib.hardware.bus.CANPort;
 
 import com.revrobotics.spark.FeedbackSensor;
-import com.revrobotics.spark.config.SparkMaxConfig;
 import com.revrobotics.spark.config.SparkBaseConfig.IdleMode;
+import com.revrobotics.spark.config.SparkMaxConfig;
 
 public class ClimberConstants {
     // TODO Real values
@@ -22,6 +24,8 @@ public class ClimberConstants {
         }
     }
 
+    public static final CANPort kCANPort = CANPort.CAN_S0;
+
     public static final int kMotorCANID = 0;
 
     public static final double kConversionFactor = 0;
@@ -49,6 +53,9 @@ public class ClimberConstants {
             .smartCurrentLimit(kCurrentLimit)
             .idleMode(kIdleMode);
         kMotorConfig.encoder
+            // Ignoring the red here for now. REVLib 2027alpha8 is entirely missing
+            // a solution for this. Issue is open and pending
+            // https://github.com/wpilibsuite/SystemcoreTesting/issues/401
             .positionConversionFactor(kConversionFactor)
             .velocityConversionFactor(kConversionFactor / 60);
         kMotorConfig.closedLoop

src/main/java/first/robot/constants/CompetitionConstants.java

@@ -1,19 +1,14 @@
-package frc.robot.constants;
+package first.robot.constants;
 
-import edu.wpi.first.apriltag.AprilTagFieldLayout;
+import org.wpilib.fields.Field;
-import edu.wpi.first.apriltag.AprilTagFields;
+import org.wpilib.fields.Fields;
-import edu.wpi.first.math.geometry.Pose2d;
+import org.wpilib.math.geometry.Pose2d;
-import edu.wpi.first.math.geometry.Rotation2d;
+import org.wpilib.math.geometry.Rotation2d;
-import edu.wpi.first.math.geometry.Transform3d;
+import org.wpilib.math.geometry.Transform3d;
-import edu.wpi.first.math.util.Units;
+import org.wpilib.math.util.Units;
 
 public class CompetitionConstants {
-    // THIS SHOULD BE FALSE DURING COMPETITION PLAY
+    public static final Field kField = Fields.FRC_2026_REBUILT_ANDY_MARK.loadField();
-    public static final boolean kLogToNetworkTables = true;
-
-    public static final AprilTagFieldLayout kTagLayout = AprilTagFieldLayout.loadField(
-        AprilTagFields.kDefaultField
-    );
 
     public static final double kHubGoalHeightMeters = Units.inchesToMeters(72);
 

src/main/java/first/robot/constants/DrivetrainConstants.java

@@ -1,12 +1,13 @@
-package frc.robot.constants;
+package first.robot.constants;
 
-import edu.wpi.first.math.Matrix;
+import org.wpilib.hardware.bus.CANPort;
-import edu.wpi.first.math.VecBuilder;
+import org.wpilib.math.geometry.Translation2d;
-import edu.wpi.first.math.geometry.Translation2d;
+import org.wpilib.math.kinematics.SwerveDriveKinematics;
-import edu.wpi.first.math.kinematics.SwerveDriveKinematics;
+import org.wpilib.math.linalg.Matrix;
-import edu.wpi.first.math.numbers.N1;
+import org.wpilib.math.linalg.VecBuilder;
-import edu.wpi.first.math.numbers.N3;
+import org.wpilib.math.numbers.N1;
-import edu.wpi.first.math.util.Units;
+import org.wpilib.math.numbers.N3;
+import org.wpilib.math.util.Units;
 
 public class DrivetrainConstants {
     public static final double kMaxSpeedMetersPerSecond = 4.663;
@@ -20,6 +21,8 @@ public class DrivetrainConstants {
     public static final double kRearLeftMagEncoderOffset = 3.761;
     public static final double kRearRightMagEncoderOffset = 2.573;
 
+    public static final CANPort kCANPort = CANPort.CAN_S0;
+
     public static final int kFrontLeftDrivingCANID = 4;
     public static final int kFrontRightDrivingCANID = 3;
     public static final int kRearLeftDrivingCANID = 1;
@@ -46,7 +49,7 @@ public class DrivetrainConstants {
     // TODO How much do we trust gyro and encoders vs vision estimates.
     // NOTE: Bigger values indicate LESS trust. Generally all three values for a given matrix should be the same
     public static final Matrix<N3, N1> kSensorFusionOdometryStdDevs = VecBuilder.fill(0.1, 0.1, 0.1);
-    public static final Matrix<N3, N1> kVisionOdometryStdDevs = VecBuilder.fill(0.9, 0.9, 0.9);
+    public static final Matrix<N3, N1> kVisionOdometryStdDevs = VecBuilder.fill(0.3, 0.3, 0.3);
 
     // 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(

src/main/java/first/robot/constants/HoodConstants.java

@@ -1,24 +1,22 @@
-package frc.robot.constants;
+package first.robot.constants;
 
-import java.io.BufferedReader;
-import java.io.File;
-import java.io.FileReader;
-import java.io.IOException;
-import java.nio.file.Path;
 import java.util.Map;
 
+import org.wpilib.hardware.bus.CANPort;
+import org.wpilib.math.interpolation.InterpolatingDoubleTreeMap;
+import org.wpilib.math.util.Units;
+
 import com.revrobotics.spark.ClosedLoopSlot;
 import com.revrobotics.spark.FeedbackSensor;
-import com.revrobotics.spark.config.SparkMaxConfig;
 import com.revrobotics.spark.config.SparkBaseConfig.IdleMode;
+import com.revrobotics.spark.config.SparkMaxConfig;
 
-import edu.wpi.first.math.interpolation.InterpolatingDoubleTreeMap;
+import first.robot.constants.ShooterConstants.ShooterSpeeds;
-import edu.wpi.first.math.util.Units;
-import edu.wpi.first.wpilibj.Filesystem;
-import frc.robot.constants.ShooterConstants.ShooterSpeeds;
 
 public class HoodConstants {
     // TODO Real Values
+    public static final CANPort kCANPort = CANPort.CAN_S0;
+    
     public static final int kMotorCANID = 12;
 
     public static final double kConversionFactor = (1.0/3.0)*(8.0/147.0)*2*Math.PI;
@@ -59,6 +57,9 @@ public class HoodConstants {
             .inverted(kInverted)
             .smartCurrentLimit(kCurrentLimit);
         kConfig.encoder
+            // Ignoring the red here for now. REVLib 2027alpha8 is entirely missing
+            // a solution for this. Issue is open and pending
+            // https://github.com/wpilibsuite/SystemcoreTesting/issues/401
             .positionConversionFactor(kConversionFactor)
             .velocityConversionFactor(kConversionFactor / 60);
         kConfig.closedLoop

src/main/java/first/robot/constants/IntakePivotConstants.java

@@ -1,24 +1,34 @@
-package frc.robot.constants;
+package first.robot.constants;
+
+import org.wpilib.hardware.bus.CANPort;
 
 import com.revrobotics.spark.FeedbackSensor;
-import com.revrobotics.spark.config.SparkMaxConfig;
 import com.revrobotics.spark.config.SparkBaseConfig.IdleMode;
+import com.revrobotics.spark.config.SparkMaxConfig;
 
 public class IntakePivotConstants {
-    // TODO Real values
     public enum IntakePivotPosition {
         kUp(Math.toRadians(116.0)),
         kDown(Math.toRadians(0.0));
+
         private double positionRadians;
+        private double positionRotations;
 
         private IntakePivotPosition(double positionRadians) {
             this.positionRadians = positionRadians;
+            this.positionRotations = positionRadians / kConversionFactor;
         }
 
         public double getPositionRadians() {
             return positionRadians;
         }
+
+        public double getPositionRotations() {
+            return positionRotations;
         }
+    }
+
+    public static final CANPort kCANPort = CANPort.CAN_S0;
 
     public static final int kLeftMotorCANID = 16;
     public static final int kRightMotorCANID = 9;
@@ -53,6 +63,9 @@ public class IntakePivotConstants {
             .smartCurrentLimit(kCurrentLimit)
             .inverted(false);
         KLeftMotorConfig.encoder
+            // Ignoring the red here for now. REVLib 2027alpha8 is entirely missing
+            // a solution for this. Issue is open and pending
+            // https://github.com/wpilibsuite/SystemcoreTesting/issues/401
             .positionConversionFactor(kConversionFactor)
             .velocityConversionFactor(kConversionFactor / 60);
         KLeftMotorConfig.closedLoop
@@ -60,6 +73,9 @@ public class IntakePivotConstants {
             .pid(kP, kI, kD)
             .outputRange(-1, 1)
             .positionWrappingEnabled(true)
+            // Ignoring the red here for now. REVLib 2027alpha8 is entirely missing
+            // a solution for this. Issue is open and pending
+            // https://github.com/wpilibsuite/SystemcoreTesting/issues/401
             .positionWrappingInputRange(0, 2 * Math.PI)
             .feedForward
                 .svag(kS, kV, kA, kG);

src/main/java/first/robot/constants/IntakeRollerConstants.java

@@ -1,10 +1,14 @@
-package frc.robot.constants;
+package first.robot.constants;
 
-import com.revrobotics.spark.config.SparkMaxConfig;
 import com.revrobotics.spark.config.SparkBaseConfig.IdleMode;
 
+import org.wpilib.hardware.bus.CANPort;
+
+import com.revrobotics.spark.config.SparkMaxConfig;
+
 public class IntakeRollerConstants {
-    // TODO Real values
+    public static final CANPort kCANPort = CANPort.CAN_S0;
+    
     public static final int kRightMotorCANID = 20;
     public static final int kLeftMotorCANID = 1;
 
@@ -13,7 +17,8 @@ public class IntakeRollerConstants {
     public static final boolean kInvertLeftMotor = false;
     public static final boolean kInvertRightMotor = true;
 
-    public static final double kSpeed = 1;
+    public static final double kIntakeInSpeed = .9;
+    public static final double kIntakeOutSpeed = 1;
 
     public static final IdleMode kIdleMode = IdleMode.kCoast;
 

src/main/java/first/robot/constants/KrakenMotorConstants.java

@@ -1,4 +1,4 @@
-package frc.robot.constants;
+package first.robot.constants;
 
 public class KrakenMotorConstants {
     public static final double kFreeSpeedRPM = 6000;

src/main/java/first/robot/constants/ModuleConstants.java

@@ -1,4 +1,7 @@
-package frc.robot.constants;
+package first.robot.constants;
+
+import org.wpilib.hardware.bus.CANPort;
+import org.wpilib.math.util.Units;
 
 import com.ctre.phoenix6.configs.AudioConfigs;
 import com.ctre.phoenix6.configs.ClosedLoopRampsConfigs;
@@ -10,10 +13,8 @@ import com.ctre.phoenix6.signals.InvertedValue;
 import com.ctre.phoenix6.signals.NeutralModeValue;
 import com.revrobotics.spark.ClosedLoopSlot;
 import com.revrobotics.spark.FeedbackSensor;
-import com.revrobotics.spark.config.SparkMaxConfig;
 import com.revrobotics.spark.config.SparkBaseConfig.IdleMode;
-
+import com.revrobotics.spark.config.SparkMaxConfig;
-import edu.wpi.first.math.util.Units;
 
 public class ModuleConstants {
     public enum ModuleName {
@@ -29,7 +30,7 @@ public class ModuleConstants {
         }
 
         public String getLoggableName() {
-            return "Drivetrain/Modules/" + loggableName;
+            return loggableName;
         }
         
     }
@@ -56,7 +57,7 @@ public class ModuleConstants {
 
     // TODO Hold over from 2025, adjust?
     public static final int kDriveMotorStatorCurrentLimit = 90;
-    public static final int kDriveMotorSupplyCurrentLimit = 55;
+    public static final int kDriveMotorSupplyCurrentLimit = 40;
 
     // TODO Hold over from 2025, adjust?
     public static final InvertedValue kDriveInversionState = InvertedValue.Clockwise_Positive;
@@ -119,7 +120,9 @@ public class ModuleConstants {
             .smartCurrentLimit(kTurnMotorCurrentLimit)
             .inverted(true);
         turningConfig.encoder
-            //.inverted(true)
+            // Ignoring the red here for now. REVLib 2027alpha8 is entirely missing
+            // a solution for this. Issue is open and pending
+            // https://github.com/wpilibsuite/SystemcoreTesting/issues/401
             .positionConversionFactor(kTurningFactor)
             .velocityConversionFactor(kTurningFactor / 60.0);
         turningConfig.closedLoop
@@ -128,6 +131,9 @@ public class ModuleConstants {
             .outputRange(-1, 1)
             .allowedClosedLoopError(kTurnTolerance, ClosedLoopSlot.kSlot0)
             .positionWrappingEnabled(true)
+            // Ignoring the red here for now. REVLib 2027alpha8 is entirely missing
+            // a solution for this. Issue is open and pending
+            // https://github.com/wpilibsuite/SystemcoreTesting/issues/401
             .positionWrappingInputRange(0, 2 * Math.PI);
             
     }

src/main/java/first/robot/constants/OIConstants.java

@@ -1,6 +1,6 @@
-package frc.robot.constants;
+package first.robot.constants;
 
-import edu.wpi.first.wpilibj.util.Color;
+import org.wpilib.util.Color;
 
 public class OIConstants {
     public static final int kDriverControllerPort = 0;
@@ -15,15 +15,15 @@ public class OIConstants {
     public static final String kCurrentActiveHub = "Alliance Hub Currently Active";
 
     public static final String[] kRedBlueDisplay = {
-        Color.kRed.toHexString(),
+        Color.RED.toHexString(),
-        Color.kBlue.toHexString()
+        Color.BLUE.toHexString()
     };
 
     public static final String[] kRedDisplay = {
-        Color.kRed.toHexString()
+        Color.RED.toHexString()
     };
 
     public static final String[] kBlueDisplay = {
-        Color.kBlue.toHexString()
+        Color.BLUE.toHexString()
     };
 }

src/main/java/first/robot/constants/PhotonConstants.java

@@ -1,11 +1,12 @@
-package frc.robot.constants;
+package first.robot.constants;
 
 import java.util.List;
 
-import edu.wpi.first.math.geometry.Rotation3d;
+import org.wpilib.math.geometry.Rotation3d;
-import edu.wpi.first.math.geometry.Transform3d;
+import org.wpilib.math.geometry.Transform3d;
-import edu.wpi.first.math.util.Units;
+import org.wpilib.math.util.Units;
-import frc.robot.utilities.PhotonVisionConfig;
+
+import first.robot.utilities.PhotonVisionConfig;
 
 public class PhotonConstants {
     public static final String kCamera1Name = "CameraPV1";

src/main/java/first/robot/constants/RollerIndexerConstants.java

@@ -0,0 +1,28 @@
+package first.robot.constants;
+
+import com.revrobotics.spark.config.SparkBaseConfig.IdleMode;
+import com.revrobotics.spark.config.SparkMaxConfig;
+
+public class RollerIndexerConstants {
+    public static final int kMotor1CANID = 50;
+    public static final int kMotor2CANID = 4;
+
+    public static final int kCurrentLimit = 40;
+
+    public static final double kMotorSpeed = 1;
+
+    public static final boolean kMotorInverted = true;
+
+    public static final IdleMode kIdleMode = IdleMode.kBrake;
+
+    // YOU SHOULDN'T NEED TO CHANGE ANYTHING BELOW THIS LINE UNLESS YOU'RE ADDING A CONFIGURATION ITEM
+
+    public static final SparkMaxConfig kMotorConfig = new SparkMaxConfig();
+    
+    static {
+        kMotorConfig
+            .inverted(kMotorInverted)
+            .smartCurrentLimit(kCurrentLimit)
+            .idleMode(kIdleMode);
+    }
+}

src/main/java/first/robot/constants/ShooterConstants.java

@@ -1,13 +1,11 @@
-package frc.robot.constants;
+package first.robot.constants;
+
+import org.wpilib.math.util.Units;
 
 import com.revrobotics.spark.ClosedLoopSlot;
 import com.revrobotics.spark.FeedbackSensor;
-import com.revrobotics.spark.config.SparkMaxConfig;
 import com.revrobotics.spark.config.SparkBaseConfig.IdleMode;
-
+import com.revrobotics.spark.config.SparkMaxConfig;
-import edu.wpi.first.math.controller.SimpleMotorFeedforward;
-import edu.wpi.first.math.util.Units;
-
 
 public class ShooterConstants {
     public enum ShooterSpeeds {
@@ -43,14 +41,14 @@ public class ShooterConstants {
     public static final boolean kLeftShooterMotorInverted = true;
     public static final boolean kRightShooterMotorInverted = false;
 
-    public static final double kLeftP = 0.1;//0.01;//0.001;
+    public static final double kLeftP = 0.75;//0.01;//0.001;
     public static final double kLeftI = 0;
     public static final double kLeftD = 0;//0.1;//1.8;
     public static final double kLeftS = 0;
     public static final double kLeftV = 0.00129;
     public static final double kLeftA = 0;
 
-    public static final double kRightP = 0.1;//0.001;//0.001;
+    public static final double kRightP = 0.75;//0.001;//0.001;
     public static final double kRightI = 0;
     public static final double kRightD = 0;//0.1;
     public static final double kRightS = 0;
@@ -71,13 +69,15 @@ public class ShooterConstants {
     public static final SparkMaxConfig kLeftMotorConfig = new SparkMaxConfig();
     public static final SparkMaxConfig kRightMotorConfig = new SparkMaxConfig();
 
-
     static {
         kLeftMotorConfig
             .idleMode(kShooterIdleMode)
             .smartCurrentLimit(kCurrentLimit)
             .inverted(kLeftShooterMotorInverted);
         kLeftMotorConfig.absoluteEncoder
+            // Ignoring the red here for now. REVLib 2027alpha8 is entirely missing
+            // a solution for this. Issue is open and pending
+            // https://github.com/wpilibsuite/SystemcoreTesting/issues/401
             .positionConversionFactor(1)
             .velocityConversionFactor(60)
             .averageDepth(8); // VERY IMPORTANT FOR RESPONSE OF FLYWHEEL DEFAULTS ARE DOGWATER
@@ -94,6 +94,9 @@ public class ShooterConstants {
             .smartCurrentLimit(kCurrentLimit)
             .inverted(kRightShooterMotorInverted);
         kRightMotorConfig.absoluteEncoder
+            // Ignoring the red here for now. REVLib 2027alpha8 is entirely missing
+            // a solution for this. Issue is open and pending
+            // https://github.com/wpilibsuite/SystemcoreTesting/issues/401
             .positionConversionFactor(1)
             .velocityConversionFactor(60)
             .averageDepth(8)// VERY IMPORTANT FOR RESPONSE OF FLYWHEEL DEFAULTS ARE DOGWATER

src/main/java/first/robot/constants/SpindexerConstants.java

@@ -1,11 +1,11 @@
-package frc.robot.constants;
+package first.robot.constants;
 
 import com.ctre.phoenix6.configs.CurrentLimitsConfigs;
 import com.ctre.phoenix6.configs.MotorOutputConfigs;
 import com.ctre.phoenix6.signals.InvertedValue;
 import com.ctre.phoenix6.signals.NeutralModeValue;
-import com.revrobotics.spark.config.SparkMaxConfig;
 import com.revrobotics.spark.config.SparkBaseConfig.IdleMode;
+import com.revrobotics.spark.config.SparkMaxConfig;
 
 public class SpindexerConstants {
     // TODO Real values

src/main/java/first/robot/constants/SystemCoreConstants.java

@@ -0,0 +1,7 @@
+package first.robot.constants;
+
+import org.wpilib.hardware.imu.OnboardIMU.MountOrientation;
+
+public class SystemCoreConstants {
+    public static final MountOrientation kSystemCoreMountOrientation = MountOrientation.FLAT;
+}

src/main/java/first/robot/interfaces/IIndexer.java

@@ -0,0 +1,13 @@
+package first.robot.interfaces;
+
+import java.util.function.DoubleSupplier;
+
+import org.wpilib.command2.Command;
+
+public interface IIndexer {
+    public Command spinToShooter();
+    public Command spinToShooter(DoubleSupplier shooterSpeedRPM, double cutOffRPM);
+    public Command spinToIntake();
+    public Command stop();
+    public Command instantaneousStop();
+}

src/main/java/first/robot/subsystems/Climber.java

@@ -1,22 +1,23 @@
-package frc.robot.subsystems;
+package first.robot.subsystems;
 
 import java.util.function.DoubleSupplier;
 
-import org.littletonrobotics.junction.Logger;
+import org.wpilib.command2.Command;
+import org.wpilib.command2.SubsystemBase;
+import org.wpilib.epilogue.Logged;
 
 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.SparkLowLevel.ControlType;
-import com.revrobotics.spark.SparkBase.ControlType;
 import com.revrobotics.spark.SparkLowLevel.MotorType;
+import com.revrobotics.spark.SparkMax;
 
-import edu.wpi.first.wpilibj2.command.Command;
+import first.robot.constants.ClimberConstants;
-import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import first.robot.constants.ClimberConstants.ClimberPositions;
-import frc.robot.constants.ClimberConstants;
-import frc.robot.constants.ClimberConstants.ClimberPositions;
 
+@Logged
 public class Climber extends SubsystemBase {
     private SparkMax motor;
 
@@ -27,7 +28,11 @@ public class Climber extends SubsystemBase {
     private ClimberPositions targetPosition;
 
     public Climber() {
-        motor = new SparkMax(ClimberConstants.kMotorCANID, MotorType.kBrushless);
+        motor = new SparkMax(
+            ClimberConstants.kCANPort,
+            ClimberConstants.kMotorCANID, 
+            MotorType.kBrushless
+        );
 
         motor.configure(
             ClimberConstants.kMotorConfig, 
@@ -42,11 +47,20 @@ public class Climber extends SubsystemBase {
         targetPosition = null;
     }
 
-    @Override
+    public double getTargetPositionMeters() {
-    public void periodic() {
+        if (targetPosition == null) {
-        Logger.recordOutput("Climber/TargetPositionMeters", targetPosition == null ? -1 : targetPosition.getPositionMeters());
+            return -1;
-        Logger.recordOutput("Climber/CurrentPositionMeters", encoder.getPosition());
+        } else {
-        Logger.recordOutput("Climber/AtSetpoint", controller.isAtSetpoint());
+            return targetPosition.getPositionMeters();
+        }
+    }
+
+    public double getCurrentPositionMeters() {
+        return encoder.getPosition().get();
+    }
+
+    public boolean isAtSetpoint() {
+        return controller.isAtSetpoint().get();
     }
 
     public Command maintainPosition(ClimberPositions position) {
@@ -64,7 +78,7 @@ public class Climber extends SubsystemBase {
         return run(() -> {
             targetPosition = null;
 
-            motor.set(speed.getAsDouble());
+            motor.setThrottle(speed.getAsDouble());
         });
     }
 

src/main/java/first/robot/subsystems/Drivetrain.java

@@ -1,4 +1,4 @@
-package frc.robot.subsystems;
+package first.robot.subsystems;
 
 import java.util.List;
 import java.util.Optional;
@@ -6,33 +6,35 @@ import java.util.function.BooleanSupplier;
 import java.util.function.DoubleSupplier;
 import java.util.function.Supplier;
 
-import org.littletonrobotics.junction.Logger;
+import org.wpilib.command2.Command;
+import org.wpilib.command2.PrintCommand;
+import org.wpilib.command2.SubsystemBase;
+import org.wpilib.driverstation.Alliance;
+import org.wpilib.driverstation.DriverStation;
+import org.wpilib.driverstation.MatchState;
+import org.wpilib.hardware.imu.OnboardIMU;
+import org.wpilib.hardware.imu.OnboardIMU.MountOrientation;
+import org.wpilib.math.controller.PIDController;
+import org.wpilib.math.estimator.SwerveDrivePoseEstimator;
+import org.wpilib.math.geometry.Pose2d;
+import org.wpilib.math.geometry.Rotation2d;
+import org.wpilib.math.kinematics.ChassisVelocities;
+import org.wpilib.math.kinematics.SwerveDriveKinematics;
+import org.wpilib.math.kinematics.SwerveModulePosition;
+import org.wpilib.math.kinematics.SwerveModuleVelocity;
+import org.wpilib.math.util.MathUtil;
 
 import com.pathplanner.lib.auto.AutoBuilder;
 import com.pathplanner.lib.path.PathPlannerPath;
-import com.studica.frc.AHRS;
-import com.studica.frc.AHRS.NavXComType;
 
-import edu.wpi.first.math.MathUtil;
+import first.robot.constants.AutoConstants;
-import edu.wpi.first.math.controller.PIDController;
+import first.robot.constants.DrivetrainConstants;
-import edu.wpi.first.math.estimator.SwerveDrivePoseEstimator;
+import first.robot.constants.ModuleConstants.ModuleName;
-import edu.wpi.first.math.geometry.Pose2d;
+import first.robot.constants.OIConstants;
-import edu.wpi.first.math.geometry.Rotation2d;
+import first.robot.constants.SystemCoreConstants;
-import edu.wpi.first.math.kinematics.ChassisSpeeds;
+import first.robot.utilities.SwerveModule;
-import edu.wpi.first.math.kinematics.SwerveDriveKinematics;
+import first.robot.utilities.Utilities;
-import edu.wpi.first.math.kinematics.SwerveModulePosition;
+import first.robot.utilities.VisualPose;
-import edu.wpi.first.math.kinematics.SwerveModuleState;
-import edu.wpi.first.wpilibj.DriverStation;
-import edu.wpi.first.wpilibj2.command.Command;
-import edu.wpi.first.wpilibj2.command.PrintCommand;
-import edu.wpi.first.wpilibj2.command.SubsystemBase;
-import frc.robot.constants.AutoConstants;
-import frc.robot.constants.DrivetrainConstants;
-import frc.robot.constants.OIConstants;
-import frc.robot.constants.ModuleConstants.ModuleName;
-import frc.robot.utilities.SwerveModule;
-import frc.robot.utilities.Utilities;
-import frc.robot.utilities.VisualPose;
 
 public class Drivetrain extends SubsystemBase {
     private SwerveModule frontLeft;
@@ -40,7 +42,7 @@ public class Drivetrain extends SubsystemBase {
     private SwerveModule rearLeft;
     private SwerveModule rearRight;
 
-    private AHRS gyro;
+    private OnboardIMU imu;
 
     private SwerveDrivePoseEstimator estimator;
 
@@ -48,6 +50,7 @@ public class Drivetrain extends SubsystemBase {
 
     public Drivetrain(Pose2d startupPose) {
         frontLeft = new SwerveModule(
+            DrivetrainConstants.kCANPort,
             ModuleName.kFrontLeft, 
             DrivetrainConstants.kFrontLeftDrivingCANID, 
             DrivetrainConstants.kFrontLeftTurningCANID, 
@@ -56,6 +59,7 @@ public class Drivetrain extends SubsystemBase {
         );
 
         frontRight = new SwerveModule(
+            DrivetrainConstants.kCANPort,
             ModuleName.kFrontRight, 
             DrivetrainConstants.kFrontRightDrivingCANID, 
             DrivetrainConstants.kFrontRightTurningCANID, 
@@ -64,6 +68,7 @@ public class Drivetrain extends SubsystemBase {
         );
 
         rearLeft = new SwerveModule(
+            DrivetrainConstants.kCANPort,
             ModuleName.kRearLeft, 
             DrivetrainConstants.kRearLeftDrivingCANID, 
             DrivetrainConstants.kRearLeftTurningCANID, 
@@ -72,6 +77,7 @@ public class Drivetrain extends SubsystemBase {
         );
 
         rearRight = new SwerveModule(
+            DrivetrainConstants.kCANPort,
             ModuleName.kRearRight, 
             DrivetrainConstants.kRearRightDrivingCANID, 
             DrivetrainConstants.kRearRightTurningCANID, 
@@ -79,7 +85,7 @@ public class Drivetrain extends SubsystemBase {
             DrivetrainConstants.kRearRightMagEncoderOffset
         );
 
-        gyro = new AHRS(NavXComType.kMXP_SPI);
+        imu = new OnboardIMU(SystemCoreConstants.kSystemCoreMountOrientation);
 
         yawRotationController = new PIDController(
             DrivetrainConstants.kHeadingP, 
@@ -113,9 +119,9 @@ public class Drivetrain extends SubsystemBase {
                 AutoConstants.kPPDriveController, 
                 AutoConstants.kRobotConfig,
                 () -> {
-                    Optional<DriverStation.Alliance> alliance = DriverStation.getAlliance();
+                    Optional<Alliance> alliance = MatchState.getAlliance();
                         if (alliance.isPresent()) {
-                            return alliance.get() == DriverStation.Alliance.Red;
+                            return alliance.get() == Alliance.RED;
                         }
                         return false;
                 }, 
@@ -169,7 +175,7 @@ public class Drivetrain extends SubsystemBase {
         .get();
 
         return run(() -> {
-            module.setDesiredState(new SwerveModuleState(
+            module.setDesiredState(new SwerveModuleVelocity(
                 staticSpeed, 
                 Rotation2d.fromDegrees(staticAngleDegrees)
             ));
@@ -324,16 +330,16 @@ public class Drivetrain extends SubsystemBase {
 
     public Command setX() {
         return run(() -> {
-            frontLeft.setDesiredState(new SwerveModuleState(0, Rotation2d.fromDegrees(45)));
+            frontLeft.setDesiredState(new SwerveModuleVelocity(0, Rotation2d.fromDegrees(45)));
-            frontRight.setDesiredState(new SwerveModuleState(0, Rotation2d.fromDegrees(-45)));
+            frontRight.setDesiredState(new SwerveModuleVelocity(0, Rotation2d.fromDegrees(-45)));
-            rearLeft.setDesiredState(new SwerveModuleState(0, Rotation2d.fromDegrees(-45)));
+            rearLeft.setDesiredState(new SwerveModuleVelocity(0, Rotation2d.fromDegrees(-45)));
-            rearRight.setDesiredState(new SwerveModuleState(0, Rotation2d.fromDegrees(45)));
+            rearRight.setDesiredState(new SwerveModuleVelocity(0, Rotation2d.fromDegrees(45)));
         });
     }
 
     public Command zeroHeading() {
         return run(() -> {
-            gyro.reset();
+            imu.resetYaw();;
             estimator.resetRotation(new Rotation2d(0));
         });
     }
@@ -384,26 +390,25 @@ public class Drivetrain extends SubsystemBase {
 
         double rotationDelivered = rotation * DrivetrainConstants.kMaxAngularSpeed;
 
-        SwerveModuleState[] swerveModuleStates = DrivetrainConstants.kDriveKinematics.toSwerveModuleStates(
+        ChassisVelocities velocities = new ChassisVelocities(xSpeedDelivered, ySpeedDelivered, rotationDelivered);
+
+        SwerveModuleVelocity[] swerveModuleStates = DrivetrainConstants.kDriveKinematics.toSwerveModuleVelocities(
             fieldRelative ?
-                ChassisSpeeds.fromFieldRelativeSpeeds(xSpeedDelivered, ySpeedDelivered, rotationDelivered, 
+                velocities.toFieldRelative(Rotation2d.fromDegrees(getGyroValue())) : velocities 
-                    //estimator.getEstimatedPosition().getRotation()) :
-                    Rotation2d.fromDegrees(getGyroValue())) :
-                new ChassisSpeeds(xSpeedDelivered, ySpeedDelivered, rotationDelivered)   
         );
 
         setModuleStates(swerveModuleStates);
     }
 
-    public void driveWithChassisSpeeds(ChassisSpeeds speeds) {
+    public void driveWithChassisSpeeds(ChassisVelocities speeds) {
-        ChassisSpeeds discreteSpeeds = ChassisSpeeds.discretize(speeds, 0.2);
+        ChassisVelocities discreteSpeeds = speeds.discretize(0.2);
-        SwerveModuleState[] newStates = DrivetrainConstants.kDriveKinematics.toSwerveModuleStates(discreteSpeeds);
+        SwerveModuleVelocity[] newStates = DrivetrainConstants.kDriveKinematics.toSwerveModuleVelocities(discreteSpeeds);
 
         setModuleStates(newStates);
     }
 
-    public void setModuleStates(SwerveModuleState[] desiredStates) {
+    public void setModuleStates(SwerveModuleVelocity[] desiredStates) {
-        SwerveDriveKinematics.desaturateWheelSpeeds(
+        SwerveDriveKinematics.desaturateWheelVelocities(
             desiredStates, DrivetrainConstants.kMaxSpeedMetersPerSecond);
         frontLeft.setDesiredState(desiredStates[0]);
         frontRight.setDesiredState(desiredStates[1]);
@@ -411,8 +416,8 @@ public class Drivetrain extends SubsystemBase {
         rearRight.setDesiredState(desiredStates[3]);
     }
 
-    public ChassisSpeeds getCurrentChassisSpeeds() {
+    public ChassisVelocities getCurrentChassisSpeeds() {
-        return DrivetrainConstants.kDriveKinematics.toChassisSpeeds(
+        return DrivetrainConstants.kDriveKinematics.toChassisVelocities(
             frontLeft.getState(),
             frontRight.getState(),
             rearLeft.getState(),
@@ -425,7 +430,7 @@ public class Drivetrain extends SubsystemBase {
     }
 
     public double getGyroValue() {
-        return gyro.getAngle() * (DrivetrainConstants.kGyroReversed ? -1 : 1);
+        return imu.getYawRadians() * (DrivetrainConstants.kGyroReversed ? -1 : 1);
     }
 
     public Rotation2d getHeading() {
@@ -436,3 +441,4 @@ public class Drivetrain extends SubsystemBase {
         return estimator.getEstimatedPosition().getRotation().getDegrees();
     }
 }
+

src/main/java/first/robot/subsystems/Hood.java

@@ -1,30 +1,25 @@
-package frc.robot.subsystems;
+package first.robot.subsystems;
 
 import java.util.Optional;
 import java.util.function.DoubleSupplier;
 
-import org.littletonrobotics.junction.Logger;
+import org.wpilib.command2.Command;
+import org.wpilib.command2.SubsystemBase;
+import org.wpilib.math.geometry.Pose2d;
+import org.wpilib.math.interpolation.InterpolatingDoubleTreeMap;
+import org.wpilib.math.util.MathUtil;
 
 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.SparkLowLevel.ControlType;
-import com.revrobotics.spark.SparkBase.ControlType;
 import com.revrobotics.spark.SparkLowLevel.MotorType;
+import com.revrobotics.spark.SparkMax;
 
-import edu.wpi.first.math.MathUtil;
+import first.robot.constants.HoodConstants;
-import edu.wpi.first.math.geometry.Pose2d;
+import first.robot.constants.ShooterConstants.ShooterSpeeds;
-import edu.wpi.first.math.interpolation.InterpolatingDoubleTreeMap;
+import first.robot.utilities.Utilities;
-import edu.wpi.first.wpilibj.Timer;
-import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
-import edu.wpi.first.wpilibj2.command.Command;
-import edu.wpi.first.wpilibj2.command.InstantCommand;
-import edu.wpi.first.wpilibj2.command.SubsystemBase;
-import edu.wpi.first.wpilibj2.command.button.Trigger;
-import frc.robot.constants.HoodConstants;
-import frc.robot.constants.ShooterConstants.ShooterSpeeds;
-import frc.robot.utilities.Utilities;
 
 public class Hood extends SubsystemBase {
     private SparkMax motor;
@@ -41,7 +36,11 @@ public class Hood extends SubsystemBase {
     private double currentTargetDegrees;
 
     public Hood() {
-        motor = new SparkMax(HoodConstants.kMotorCANID, MotorType.kBrushless);
+        motor = new SparkMax(
+            HoodConstants.kCANPort, 
+            HoodConstants.kMotorCANID, 
+            MotorType.kBrushless
+        );
 
         motor.configure(
             HoodConstants.kConfig, 
@@ -170,7 +169,7 @@ public class Hood extends SubsystemBase {
         currentTargetDegrees = 0;
 
         return run(() -> {
-            motor.set(speed.getAsDouble() * HoodConstants.kMaxManualSpeedMultiplier);
+            motor.setThrottle(speed.getAsDouble() * HoodConstants.kMaxManualSpeedMultiplier);
         });
     }
 

src/main/java/first/robot/subsystems/IntakePivot.java

@@ -1,23 +1,22 @@
-package frc.robot.subsystems;
+package first.robot.subsystems;
 
 import java.util.Optional;
 import java.util.function.DoubleSupplier;
 
-import org.littletonrobotics.junction.Logger;
+import org.wpilib.command2.Command;
+import org.wpilib.command2.Commands;
+import org.wpilib.command2.SubsystemBase;
 
 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.SparkLowLevel.ControlType;
-import com.revrobotics.spark.SparkBase.ControlType;
 import com.revrobotics.spark.SparkLowLevel.MotorType;
+import com.revrobotics.spark.SparkMax;
 
-import edu.wpi.first.wpilibj2.command.Command;
+import first.robot.constants.IntakePivotConstants;
-import edu.wpi.first.wpilibj2.command.Commands;
+import first.robot.constants.IntakePivotConstants.IntakePivotPosition;
-import edu.wpi.first.wpilibj2.command.SubsystemBase;
-import frc.robot.constants.IntakePivotConstants;
-import frc.robot.constants.IntakePivotConstants.IntakePivotPosition;
 
 public class IntakePivot extends SubsystemBase {
     private SparkMax leftMotor;
@@ -30,8 +29,16 @@ public class IntakePivot extends SubsystemBase {
     private IntakePivotPosition currentTargetPosition;
 
     public IntakePivot() {
-        leftMotor = new SparkMax(IntakePivotConstants.kLeftMotorCANID, MotorType.kBrushless);
+        leftMotor = new SparkMax(
-        rightMotor = new SparkMax(IntakePivotConstants.kRightMotorCANID, MotorType.kBrushless);
+            IntakePivotConstants.kCANPort,
+            IntakePivotConstants.kLeftMotorCANID, 
+            MotorType.kBrushless
+        );
+        rightMotor = new SparkMax(
+            IntakePivotConstants.kCANPort,
+            IntakePivotConstants.kRightMotorCANID, 
+            MotorType.kBrushless
+        );
 
         leftMotor.configure(
             IntakePivotConstants.KLeftMotorConfig, 
@@ -76,8 +83,8 @@ public class IntakePivot extends SubsystemBase {
         return run(() -> {
             currentTargetPosition = null;
             
-            leftMotor.set(speed.getAsDouble() * IntakePivotConstants.kMaxManualSpeedMultiplier);
+            leftMotor.setThrottle(speed.getAsDouble() * IntakePivotConstants.kMaxManualSpeedMultiplier);
-            rightMotor.set(speed.getAsDouble() * IntakePivotConstants.kMaxManualSpeedMultiplier);
+            rightMotor.setThrottle(speed.getAsDouble() * IntakePivotConstants.kMaxManualSpeedMultiplier);
         });
     }
 
@@ -115,3 +122,4 @@ public class IntakePivot extends SubsystemBase {
         return Optional.ofNullable(currentTargetPosition);
     }
 }
+

src/main/java/first/robot/subsystems/IntakeRoller.java

@@ -1,21 +1,31 @@
-package frc.robot.subsystems;
+package first.robot.subsystems;
+
+import org.wpilib.command2.Command;
+import org.wpilib.command2.SubsystemBase;
 
 import com.revrobotics.PersistMode;
 import com.revrobotics.ResetMode;
-import com.revrobotics.spark.SparkMax;
 import com.revrobotics.spark.SparkLowLevel.MotorType;
+import com.revrobotics.spark.SparkMax;
 
-import edu.wpi.first.wpilibj2.command.Command;
+import first.robot.constants.IntakeRollerConstants;
-import edu.wpi.first.wpilibj2.command.SubsystemBase;
-import frc.robot.constants.IntakeRollerConstants;
 
 public class IntakeRoller extends SubsystemBase {
     private SparkMax leftMotor;
     private SparkMax rightMotor;
 
     public IntakeRoller() {
-        leftMotor = new SparkMax(IntakeRollerConstants.kLeftMotorCANID, MotorType.kBrushless);
+        leftMotor = new SparkMax(
-        rightMotor = new SparkMax(IntakeRollerConstants.kRightMotorCANID, MotorType.kBrushless);
+            IntakeRollerConstants.kCANPort,
+            IntakeRollerConstants.kLeftMotorCANID, 
+            MotorType.kBrushless
+        );
+
+        rightMotor = new SparkMax(
+            IntakeRollerConstants.kCANPort,
+            IntakeRollerConstants.kRightMotorCANID, 
+            MotorType.kBrushless
+        );
 
         leftMotor.configure(
             IntakeRollerConstants.leftMotorConfig, 
@@ -32,22 +42,22 @@ public class IntakeRoller extends SubsystemBase {
 
     public Command runIn() {
         return run(() -> {
-            leftMotor.set(IntakeRollerConstants.kSpeed*0.8);
+            leftMotor.setThrottle(IntakeRollerConstants.kIntakeInSpeed);
-            rightMotor.set(IntakeRollerConstants.kSpeed*0.8);
+            rightMotor.setThrottle(IntakeRollerConstants.kIntakeInSpeed);
         });
     }
 
     public Command runOut() {
         return run(() -> {
-            leftMotor.set(-IntakeRollerConstants.kSpeed);
+            leftMotor.setThrottle(-IntakeRollerConstants.kIntakeOutSpeed);
-            rightMotor.set(-IntakeRollerConstants.kSpeed);
+            rightMotor.setThrottle(-IntakeRollerConstants.kIntakeOutSpeed);
         });
     }
 
     public Command stop() {
         return run(() -> {
-            leftMotor.set(0);
+            leftMotor.setThrottle(0);
-            rightMotor.set(0);
+            rightMotor.setThrottle(0);
         });
     }
     

src/main/java/first/robot/subsystems/PhotonVision.java

@@ -1,4 +1,4 @@
-package frc.robot.subsystems;
+package first.robot.subsystems;
 
 import java.util.ArrayList;
 import java.util.List;
@@ -9,18 +9,16 @@ import java.util.function.Consumer;
 import org.photonvision.EstimatedRobotPose;
 import org.photonvision.PhotonCamera;
 import org.photonvision.PhotonPoseEstimator;
-import org.photonvision.PhotonPoseEstimator.PoseStrategy;
 import org.photonvision.targeting.PhotonPipelineResult;
 import org.photonvision.targeting.PhotonTrackedTarget;
+import org.wpilib.command2.SubsystemBase;
+import org.wpilib.math.geometry.Pose3d;
+import org.wpilib.math.geometry.Transform3d;
 
-import edu.wpi.first.math.geometry.Pose2d;
+import first.robot.constants.CompetitionConstants;
-import edu.wpi.first.math.geometry.Pose3d;
+import first.robot.constants.PhotonConstants;
-import edu.wpi.first.math.geometry.Transform3d;
+import first.robot.utilities.PhotonVisionConfig;
-import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import first.robot.utilities.VisualPose;
-import frc.robot.constants.CompetitionConstants;
-import frc.robot.constants.PhotonConstants;
-import frc.robot.utilities.PhotonVisionConfig;
-import frc.robot.utilities.VisualPose;
 
 /**
  * This "Subsystem" is not actually a Subsystem. The intent is for this to be treated as
@@ -59,8 +57,7 @@ public class PhotonVision extends SubsystemBase {
         for(int i = 0; i < PhotonConstants.configs.size(); i++) {
             cameras[i] = new PhotonCamera(PhotonConstants.configs.get(i).cameraName());
             estimators[i] = new PhotonPoseEstimator(
-                CompetitionConstants.kTagLayout, 
+                CompetitionConstants.kField, 
-                PoseStrategy.MULTI_TAG_PNP_ON_COPROCESSOR, 
                 PhotonConstants.configs.get(i).robotToCamera()
             );
             latestResults.add(null);
@@ -77,7 +74,7 @@ public class PhotonVision extends SubsystemBase {
             if(!results.isEmpty()) {
                 latestResults.set(i, results.get(results.size() - 1));
 
-                Optional<EstimatedRobotPose> pose = estimators[i].update(latestResults.get(i));
+                Optional<EstimatedRobotPose> pose = estimators[i].estimateCoprocMultiTagPose(latestResults.get(i));
 
                 if(!pose.isEmpty()) {
                     VisualPose visualPose = new VisualPose(
@@ -137,9 +134,9 @@ public class PhotonVision extends SubsystemBase {
         // See PhotonPoseEstimator.multiTagOnCoprocStrategy
         // TODO This doesn't currently account for the offset of the tag relative to say the hub
         // unclear if that offset amount will be important or not
-        return Optional.of(Pose3d.kZero
+        return Optional.of(Pose3d.ZERO
             .plus(bestCameraToTarget.inverse())
-            .relativeTo(CompetitionConstants.kTagLayout.getOrigin())
+            .relativeTo(CompetitionConstants.kField.getOrigin())
             .plus(config.robotToCamera().inverse()));
     }
 
@@ -204,3 +201,4 @@ public class PhotonVision extends SubsystemBase {
         poseEstimateConsumers.add(consumer);
     }
 }
+

src/main/java/first/robot/utilities/Elastic.java

@@ -1,28 +1,27 @@
-// Copyright (c) 2023-2026 Gold87 and other Elastic contributors
+package first.robot.utilities;
-// This software can be modified and/or shared under the terms
-// defined by the Elastic license:
-// https://github.com/Gold872/elastic_dashboard/blob/main/LICENSE
 
-package frc.robot.utilities;
+import org.wpilib.networktables.NetworkTableInstance;
+import org.wpilib.networktables.PubSubOption;
+import org.wpilib.networktables.StringPublisher;
+import org.wpilib.networktables.StringTopic;
 
-import com.fasterxml.jackson.annotation.JsonProperty;
+import io.avaje.json.JsonException;
-import com.fasterxml.jackson.core.JsonProcessingException;
+import io.avaje.jsonb.Json;
-import com.fasterxml.jackson.databind.ObjectMapper;
+import io.avaje.jsonb.JsonType;
-import edu.wpi.first.networktables.NetworkTableInstance;
+import io.avaje.jsonb.Jsonb;
-import edu.wpi.first.networktables.PubSubOption;
-import edu.wpi.first.networktables.StringPublisher;
-import edu.wpi.first.networktables.StringTopic;
 
 public final class Elastic {
   private static final StringTopic notificationTopic =
       NetworkTableInstance.getDefault().getStringTopic("/Elastic/RobotNotifications");
   private static final StringPublisher notificationPublisher =
-      notificationTopic.publish(PubSubOption.sendAll(true), PubSubOption.keepDuplicates(true));
+      notificationTopic.publish(PubSubOption.SEND_ALL, PubSubOption.KEEP_DUPLICATES);
   private static final StringTopic selectedTabTopic =
       NetworkTableInstance.getDefault().getStringTopic("/Elastic/SelectedTab");
   private static final StringPublisher selectedTabPublisher =
-      selectedTabTopic.publish(PubSubOption.keepDuplicates(true));
+      selectedTabTopic.publish(PubSubOption.KEEP_DUPLICATES);
-  private static final ObjectMapper objectMapper = new ObjectMapper();
+  private static final Jsonb jsonb = Jsonb.builder().build();
+  private static final JsonType<Notification> notificationJsonType =
+      jsonb.type(Notification.class);
 
   /**
    * Represents the possible levels of notifications for the Elastic dashboard. These levels are
@@ -45,8 +44,8 @@ public final class Elastic {
    */
   public static void sendNotification(Notification notification) {
     try {
-      notificationPublisher.set(objectMapper.writeValueAsString(notification));
+      notificationPublisher.set(notificationJsonType.toJson(notification));
-    } catch (JsonProcessingException e) {
+    } catch (JsonException e) {
       e.printStackTrace();
     }
   }
@@ -79,23 +78,24 @@ public final class Elastic {
    * properties such as level, title, description, display time, and dimensions to control how the
    * notification is displayed on the dashboard.
    */
+  @Json
   public static class Notification {
-    @JsonProperty("level")
+    @Json.Property("level")
     private NotificationLevel level;
 
-    @JsonProperty("title")
+    @Json.Property("title")
     private String title;
 
-    @JsonProperty("description")
+    @Json.Property("description")
     private String description;
 
-    @JsonProperty("displayTime")
+    @Json.Property("displayTime")
     private int displayTimeMillis;
 
-    @JsonProperty("width")
+    @Json.Property("width")
     private double width;
 
-    @JsonProperty("height")
+    @Json.Property("height")
     private double height;
 
     /**

src/main/java/first/robot/utilities/PhotonVisionConfig.java

@@ -1,6 +1,6 @@
-package frc.robot.utilities;
+package first.robot.utilities;
 
-import edu.wpi.first.math.geometry.Transform3d;
+import org.wpilib.math.geometry.Transform3d;
 
 public record PhotonVisionConfig (
     String cameraName,

src/main/java/first/robot/utilities/SparkMAXTester.java

@@ -1,12 +1,13 @@
-package frc.robot.utilities;
+package first.robot.utilities;
 
 import java.util.function.DoubleSupplier;
 
-import com.revrobotics.spark.SparkMax;
+import org.wpilib.command2.Command;
-import com.revrobotics.spark.SparkLowLevel.MotorType;
+import org.wpilib.command2.SubsystemBase;
+import org.wpilib.hardware.bus.CANPort;
 
-import edu.wpi.first.wpilibj2.command.Command;
+import com.revrobotics.spark.SparkLowLevel.MotorType;
-import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import com.revrobotics.spark.SparkMax;
 
 /**
  * A simple subsystem that can be used to test a single SparkMax and associated NEO motor
@@ -19,8 +20,8 @@ public class SparkMAXTester extends SubsystemBase {
      * 
      * @param deviceID The CAN ID of the SparkMAX that needs testing
      */
-    public SparkMAXTester(int deviceID) {
+    public SparkMAXTester(CANPort canPort, int deviceID) {
-        spark = new SparkMax(deviceID, MotorType.kBrushless);
+        spark = new SparkMax(canPort, deviceID, MotorType.kBrushless);
     }
 
     /**
@@ -31,7 +32,7 @@ public class SparkMAXTester extends SubsystemBase {
      */
     public Command setSpeed(DoubleSupplier speed) {
         return run(() -> {
-            spark.set(speed.getAsDouble());
+            spark.setThrottle(speed.getAsDouble());
         });
     }
 }

src/main/java/first/robot/utilities/SwerveModule.java

@@ -1,23 +1,24 @@
-package frc.robot.utilities;
+package first.robot.utilities;
 
-import org.littletonrobotics.junction.Logger;
+import org.wpilib.hardware.bus.CANPort;
+import org.wpilib.hardware.rotation.AnalogEncoder;
+import org.wpilib.math.geometry.Rotation2d;
+import org.wpilib.math.kinematics.SwerveModulePosition;
+import org.wpilib.math.kinematics.SwerveModuleVelocity;
 
+import com.ctre.phoenix6.CANBus;
 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.SparkLowLevel.ControlType;
-import com.revrobotics.spark.SparkBase.ControlType;
 import com.revrobotics.spark.SparkLowLevel.MotorType;
+import com.revrobotics.spark.SparkMax;
 
-import edu.wpi.first.math.geometry.Rotation2d;
+import first.robot.constants.ModuleConstants;
-import edu.wpi.first.math.kinematics.SwerveModulePosition;
+import first.robot.constants.ModuleConstants.ModuleName;
-import edu.wpi.first.math.kinematics.SwerveModuleState;
-import edu.wpi.first.wpilibj.AnalogEncoder;
-import frc.robot.constants.ModuleConstants;
-import frc.robot.constants.ModuleConstants.ModuleName;
 
 /*
  * This thread
@@ -44,8 +45,8 @@ public class SwerveModule {
 
     private VelocityVoltage driveVelocityRequest;
 
-    private SwerveModuleState lastTargetState;
+    private SwerveModuleVelocity lastTargetState;
-    private SwerveModuleState lastTargetStateOptimized;
+    private SwerveModuleVelocity lastTargetStateOptimized;
 
     private boolean isAbsoluteEncoderDisabled;
     private boolean turningEncoderAutoRezeroEnabled;
@@ -56,32 +57,35 @@ public class SwerveModule {
      * This constructor assumes you zeroed the swerve modules (faced all the bevel gears to the left)
      * before booting up the robot.
      * 
+     * @param canPort The CANPort enumeration that represents the CAN bus that the motors for this module live on
      * @param moduleName The module name, Front Left, Front Right, etc.
      * @param drivingCANID The CAN ID of the Kraken used to drive the module wheel
      * @param turningCANID The CAN ID of the Spark MAX used to turn the module wheel
      */
-    public SwerveModule(ModuleName moduleName, int drivingCANID, int turningCANID) {
+    public SwerveModule(CANPort canPort, ModuleName moduleName, int drivingCANID, int turningCANID) {
-        this(moduleName, drivingCANID, turningCANID, -1, -1);
+        this(canPort, moduleName, drivingCANID, turningCANID, -1, -1);
     }
 
     /**
      * Builds the swerve module with the normal features, disables automatic rezeroing of the turning encoder
      * from the absolute encoder. 
      * 
+     * @param canPort The CANPort enumeration that represents the CAN bus that the motors for this module live on
      * @param moduleName The module name, Front Left, Front Right, etc.
      * @param drivingCANID The CAN ID of the Kraken used to drive the module wheel
      * @param turningCANID The CAN ID of the Spark MAX used to turn the module wheel
      * @param analogEncoderID The Analog In port ID for the Thrify Absolute Encoder
      * @param analogEncoderOffset The angular offset for the absolute encoder to achieve 0 position on the module 
      */
-    public SwerveModule(ModuleName moduleName, int drivingCANID, int turningCANID, int analogEncoderID, double analogEncoderOffset) {
+    public SwerveModule(CANPort canPort, ModuleName moduleName, int drivingCANID, int turningCANID, int analogEncoderID, double analogEncoderOffset) {
-        this(moduleName, drivingCANID, turningCANID, analogEncoderID, analogEncoderOffset, false);
+        this(canPort, moduleName, drivingCANID, turningCANID, analogEncoderID, analogEncoderOffset, false);
     }
 
     /**
      * Builds the swerve module with the normal features, and gives the option to enable automatic turning encoder rezeroing
      * when the turning motor is not moving
      * 
+     * @param canPort The CANPort enumeration that represents the CAN bus that the motors for this module live on
      * @param moduleName The module name, Front Left, Front Right, etc.
      * @param drivingCANID The CAN ID of the Kraken used to drive the module wheel
      * @param turningCANID The CAN ID of the Spark MAX used to turn the module wheel
@@ -89,12 +93,12 @@ public class SwerveModule {
      * @param analogEncoderOffset The angular offset for the absolute encoder to achieve 0 position on the module 
      * @param turningEncoderAutoRezeroEnabled Should the turning encoder in the NEO automatically rezero from the absolute encoder
      */
-    public SwerveModule(ModuleName moduleName, int drivingCANID, int turningCANID, 
+    public SwerveModule(CANPort canPort, ModuleName moduleName, int drivingCANID, int turningCANID, 
         int analogEncoderID, double analogEncoderOffset, boolean turningEncoderAutoRezeroEnabled) {
         isAbsoluteEncoderDisabled = (analogEncoderID == -1) || (analogEncoderOffset < 0);
 
-        drive = new TalonFX(drivingCANID);
+        drive = new TalonFX(drivingCANID, new CANBus(canPort));
-        turning = new SparkMax(turningCANID, MotorType.kBrushless);
+        turning = new SparkMax(canPort, turningCANID, MotorType.kBrushless);
 
         turningRelativeEncoder = turning.getEncoder();
 
@@ -161,8 +165,8 @@ public class SwerveModule {
         return moduleName;
     }
 
-    public SwerveModuleState getState() {
+    public SwerveModuleVelocity getState() {
-        return new SwerveModuleState(
+        return new SwerveModuleVelocity(
             drive.getVelocity().getValueAsDouble() * ModuleConstants.kWheelCircumferenceMeters, 
             new Rotation2d(getTurningEncoderPosition())
         );
@@ -180,8 +184,8 @@ public class SwerveModule {
         turning.disable();
     }
 
-    public void setDesiredState(SwerveModuleState desiredState) {
+    public void setDesiredState(SwerveModuleVelocity desiredState) {
-        lastTargetState = new SwerveModuleState(desiredState.speedMetersPerSecond, desiredState.angle);
+        lastTargetState = new SwerveModuleVelocity(desiredState.velocity, desiredState.angle);
         
         desiredState.optimize(new Rotation2d(getTurningEncoderPosition()));
 
@@ -189,9 +193,9 @@ public class SwerveModule {
 
         drive.setControl(
             driveVelocityRequest.withVelocity(
-                desiredState.speedMetersPerSecond / ModuleConstants.kWheelCircumferenceMeters
+                desiredState.velocity / ModuleConstants.kWheelCircumferenceMeters
             ).withFeedForward(
-                desiredState.speedMetersPerSecond / ModuleConstants.kWheelCircumferenceMeters
+                desiredState.velocity / ModuleConstants.kWheelCircumferenceMeters
             )
         );
 
@@ -202,7 +206,7 @@ public class SwerveModule {
     }
 
     public double getTurningEncoderPosition() {
-        return turningRelativeEncoder.getPosition() * (ModuleConstants.kIsEncoderInverted ? -1 : 1);
+        return turningRelativeEncoder.getPosition().get() * (ModuleConstants.kIsEncoderInverted ? -1 : 1);
     }
 
     public void resetEncoders() {
@@ -219,3 +223,4 @@ public class SwerveModule {
         }
     }
 }
+

src/main/java/first/robot/utilities/Utilities.java

@@ -1,11 +1,12 @@
-package frc.robot.utilities;
+package first.robot.utilities;
 
 import java.util.Optional;
 
-import edu.wpi.first.math.geometry.Pose2d;
+import org.wpilib.driverstation.Alliance;
-import edu.wpi.first.wpilibj.DriverStation;
+import org.wpilib.driverstation.MatchState;
-import edu.wpi.first.wpilibj.DriverStation.Alliance;
+import org.wpilib.math.geometry.Pose2d;
-import frc.robot.constants.CompetitionConstants;
+
+import first.robot.constants.CompetitionConstants;
 
 public class Utilities {
     public static final double kG = -9.81;
@@ -18,19 +19,22 @@ public class Utilities {
      *  is not present
      */
     public static Alliance whoHasFirstShift() {
-        String gameData = DriverStation.getGameSpecificMessage();
+        Optional<String> gameData = MatchState.getGameData();
 
-        if(gameData.length() > 0) {
+        if(gameData.isPresent()) {
-            switch (gameData.charAt(0)) {
+            String gameDataString = gameData.get();
+
+            if(gameDataString.length() > 0) {
+                switch (gameDataString.charAt(0)) {
                     case 'B':
-                    return Alliance.Red;
+                        return Alliance.RED;
                     case 'R':
-                    return Alliance.Blue;
+                        return Alliance.BLUE;
                     default:
                         return null;
                 }
             }
-        
+        }
         return null;
     }
 
@@ -42,9 +46,9 @@ public class Utilities {
      * @return The Pose2d object which represents the appropriate pose of the Hub
      */
     public static Pose2d getHubPose() {
-        Optional<Alliance> alliance = DriverStation.getAlliance();
+        Optional<Alliance> alliance = MatchState.getAlliance();
 
-        if(alliance.isEmpty() || alliance.get() == Alliance.Blue) {
+        if(alliance.isEmpty() || alliance.get() == Alliance.BLUE) {
             return CompetitionConstants.kBlueHubLocation;
         } else {
             return CompetitionConstants.kRedHubLocation;
@@ -59,9 +63,9 @@ public class Utilities {
      * @return The tag ID that is in the center of the assigned alliance's hub
      */
     public static int getHubCenterAprilTagID() {
-        Optional<Alliance> alliance = DriverStation.getAlliance();
+        Optional<Alliance> alliance = MatchState.getAlliance();
 
-        if(alliance.isEmpty() || alliance.get() == Alliance.Blue) {
+        if(alliance.isEmpty() || alliance.get() == Alliance.BLUE) {
             return 26;
         } else {
             return 10;

src/main/java/first/robot/utilities/VisualPose.java

@@ -1,6 +1,6 @@
-package frc.robot.utilities;
+package first.robot.utilities;
 
-import edu.wpi.first.math.geometry.Pose2d;
+import org.wpilib.math.geometry.Pose2d;
 
 /**
  * A record class which represents the source of a visual pose, the pose itself

src/main/java/frc/robot/Main.java

@@ -1,15 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-package frc.robot;
-
-import edu.wpi.first.wpilibj.RobotBase;
-
-public final class Main {
-  private Main() {}
-
-  public static void main(String... args) {
-    RobotBase.startRobot(Robot::new);
-  }
-}

src/main/java/frc/robot/Robot.java

@@ -1,101 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-package frc.robot;
-
-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 LoggedRobot {
-  private Command m_autonomousCommand;
-
-  private final RobotContainer m_robotContainer;
-
-  @SuppressWarnings("resource")
-  public Robot() {
-    Logger.recordMetadata("ProjectName", "2026_Robot_Code");
-
-    if(isReal()) {
-      if(CompetitionConstants.kLogToNetworkTables) {
-        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();
-  }
-
-  @Override
-  public void robotPeriodic() {
-    CommandScheduler.getInstance().run();
-  }
-
-  @Override
-  public void disabledInit() {}
-
-  @Override
-  public void disabledPeriodic() {}
-
-  @Override
-  public void disabledExit() {}
-
-  @Override
-  public void autonomousInit() {
-    m_autonomousCommand = m_robotContainer.getAutonomousCommand();
-
-    if (m_autonomousCommand != null) {
-      CommandScheduler.getInstance().schedule(m_autonomousCommand);
-    }
-  }
-
-  @Override
-  public void autonomousPeriodic() {}
-
-  @Override
-  public void autonomousExit() {}
-
-  @Override
-  public void teleopInit() {
-    if (m_autonomousCommand != null) {
-      m_autonomousCommand.cancel();
-    }
-  }
-
-  @Override
-  public void teleopPeriodic() {}
-
-  @Override
-  public void teleopExit() {}
-
-  @Override
-  public void testInit() {
-    CommandScheduler.getInstance().cancelAll();
-  }
-
-  @Override
-  public void testPeriodic() {}
-
-  @Override
-  public void testExit() {}
-}

src/main/java/frc/robot/RobotContainer.java

@@ -1,505 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-package frc.robot;
-
-import edu.wpi.first.wpilibj.DriverStation.Alliance;
-import edu.wpi.first.wpilibj.GenericHID.RumbleType;
-
-import java.util.Optional;
-import java.util.OptionalDouble;
-
-import org.littletonrobotics.junction.Logger;
-
-import com.pathplanner.lib.auto.AutoBuilder;
-import com.pathplanner.lib.auto.NamedCommands;
-import com.pathplanner.lib.events.EventTrigger;
-import com.pathplanner.lib.path.EventMarker;
-
-import edu.wpi.first.math.MathUtil;
-import edu.wpi.first.math.geometry.Pose2d;
-import edu.wpi.first.math.interpolation.InterpolatingDoubleTreeMap;
-import edu.wpi.first.math.util.Units;
-import edu.wpi.first.util.sendable.Sendable;
-import edu.wpi.first.util.sendable.SendableBuilder;
-import edu.wpi.first.wpilibj.Timer;
-import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
-import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
-import edu.wpi.first.wpilibj2.command.Command;
-import edu.wpi.first.wpilibj2.command.Commands;
-import edu.wpi.first.wpilibj2.command.FunctionalCommand;
-import edu.wpi.first.wpilibj2.command.InstantCommand;
-import edu.wpi.first.wpilibj2.command.PrintCommand;
-import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
-import edu.wpi.first.wpilibj2.command.button.RobotModeTriggers;
-import edu.wpi.first.wpilibj2.command.button.Trigger;
-import frc.robot.constants.AutoConstants;
-import frc.robot.constants.CompetitionConstants;
-import frc.robot.constants.HoodConstants;
-import frc.robot.constants.OIConstants;
-import frc.robot.constants.ShooterConstants;
-import frc.robot.constants.IntakePivotConstants.IntakePivotPosition;
-import frc.robot.constants.ShooterConstants.ShooterSpeeds;
-import frc.robot.subsystems.Climber;
-import frc.robot.subsystems.Drivetrain;
-import frc.robot.subsystems.Hood;
-import frc.robot.subsystems.IntakePivot;
-import frc.robot.subsystems.IntakeRoller;
-import frc.robot.subsystems.PhotonVision;
-import frc.robot.subsystems.Shooter;
-import frc.robot.subsystems.Spindexer;
-import frc.robot.utilities.Elastic;
-import frc.robot.utilities.Utilities;
-
-public class RobotContainer {
-    private PhotonVision vision;
-    private Drivetrain drivetrain;
-    private Hood hood;
-    private Shooter shooter;
-    private IntakePivot intakePivot;
-    private IntakeRoller intakeRoller;
-    private Spindexer spindexer;
-    //private Climber climber;
-
-    private CommandXboxController driver;
-    private CommandXboxController secondary;
-
-    private SendableChooser<Command> autoChooser;
-
-    private Timer shiftTimer;
-
-    private boolean resetOdometryToVisualPose;
-
-    public RobotContainer() {
-        vision = new PhotonVision();
-        drivetrain = new Drivetrain(null);
-        hood = new Hood();
-        shooter = new Shooter();
-        intakePivot = new IntakePivot();
-        intakeRoller = new IntakeRoller();
-        spindexer = new Spindexer();
-        //climber = new Climber();
-        configureNamedCommands();
-
-        resetOdometryToVisualPose = false;
-         
-        vision.addPoseEstimateConsumer(drivetrain::consumeVisualPose);
-        vision.addPoseEstimateConsumer((vp) -> {
-            Logger.recordOutput(
-                "Vision/" + vp.cameraName() + "/Pose", 
-                vp.visualPose()
-            );
-        });
-
-        vision.addPoseEstimateConsumer((vp) -> {
-            if(resetOdometryToVisualPose) {
-                drivetrain.resetOdometry(vp.visualPose());
-                resetOdometryToVisualPose = false;
-            }
-        });
-        
-        driver = new CommandXboxController(OIConstants.kDriverControllerPort);
-        secondary = new CommandXboxController(OIConstants.kOperatorControllerPort);
-
-        shiftTimer = new Timer();
-        shiftTimer.reset();
-
-        configureBindings();
-        configureShiftDisplay();
-        //testConfigureBindings();
-        
-
-        if(AutoConstants.kAutoConfigOk) {
-            autoChooser = AutoBuilder.buildAutoChooser();
-            SmartDashboard.putData("Auto Chooser", autoChooser);
-        }
-    }
-
-    /**
-     * Before you @ mention me for terrible match controls, these are <i>TEST BINDINGS</i>
-     * 
-     * The are configured in such a way to make testing of multiple systems possible without
-     * having to constantly change bindings.
-     * 
-     * Most of the configurations here won't make sense for actual competition play. See
-     * {@link #configureBindings()} for actual competition play
-     * 
-     * The intent of each binding is outlined by comments above each binding. 
-     */
-    private void testConfigureBindings() {
-        // This should just work, if it doesn't it's likely modules aren't assigned the right IDs
-        // after the electronics rebuild. For testing normal operation nothing about the Drivetrain
-        // class should need to change
-        //drivetrain.setDefaultCommand(drivetrain.drive(() -> 0, () -> 0, () -> 0, () -> true));
-        drivetrain.setDefaultCommand(
-            drivetrain.drive(
-                driver::getLeftY,
-                driver::getLeftX, 
-                driver::getRightX, 
-                () -> true
-            )
-        );
-
-        driver.y().whileTrue(drivetrain.zeroHeading());
-/* 
-        // This needs to be tested after a prolonged amount of driving around <i>aggressively</i>.
-        // Do things like going over the bump repeatedly, spin around a bunch, etc. 
-        // If this works well over time, then this is likely all we need
-        driver.a().whileTrue(
-            drivetrain.lockRotationToHub(
-                driver::getLeftY, 
-                driver::getLeftX, 
-                false
-            ) 
-        );
-
-        // This can be tested as an alternative to the above, it's less dynamic, but is a simpler
-        // alternative. 
-        driver.b().whileTrue(
-            drivetrain.lockToYaw(
-                () -> {
-                    OptionalDouble maybeYaw = vision.getBestYawForTag(Utilities.getHubCenterAprilTagID());
-
-                    return maybeYaw.isEmpty() ? 0 : maybeYaw.getAsDouble();
-                }, 
-                driver::getLeftY, 
-                driver::getLeftX
-            )
-        );*/
-
-        // Stop everything by default other than the drivetrain
-        shooter.setDefaultCommand(shooter.stop());
-        intakePivot.setDefaultCommand(intakePivot.stop());
-        intakeRoller.setDefaultCommand(intakeRoller.stop());
-        hood.setDefaultCommand(hood.stop());
-        spindexer.setDefaultCommand(spindexer.stop());
-        //climber.setDefaultCommand(climber.stop());
-
-        // While holding POV up of the driver controller, the climber
-        // should move such that its motor moves the climber down with the left
-        // driver controller trigger axis, and up with the right driver controller
-        // trigger axis.
-        // DO NOT INVERT MOTION WITH UNARY MINUS (-). Every motor can be inverted
-        // from the constants file for the subsystem having the problem. 
-        //driver.povUp().whileTrue(climber.manualSpeed(() -> {
-        //    return driver.getLeftTriggerAxis() * -1 + driver.getRightTriggerAxis();
-        //}));
-
-        // While holding the right bumper of the driver controller, the intake rollers
-        // and the spindexer and feeder should move such that all motors are moving in such a way
-        // that it would draw balls from the floor, through the spindexer, and into the
-        // feeder. 
-        // DO NOT INVERT MOTION WITH UNARY MINUS (-). Every motor can be inverted from the 
-        // constants file for the subsystem having the problem
-        driver.rightBumper().whileTrue(
-            spindexer.spinToShooter()  
-        );
-
-        // While holding the left bumper of the driver controller, the intake rollers
-        // and the spindexer and feeder should move such that all motors are moving in such a way
-        // that it would try to eject balls through the intake.
-        // DO NOT INVERT MOTION WITH UNARY MINUS (-). Every motor can be inverted from the 
-        // constants file for the subsystem having the problem
-        driver.leftBumper().whileTrue(
-            intakeRoller.runIn()
-            //intakeRoller.runOut().alongWith(spindexer.spinToIntake())
-        );
-
-        // While holding D-Pad up on the secondary controller, the shooter should spin
-        // while holding down the secondary controllers right trigger some amount.
-        // DO NOT INVERT MOTION WITH UNARY MINUS (-). Every motor can be inverted from the
-        // constants file for the subsystem having the problem
-        secondary.povUp().whileTrue(
-            shooter.manualSpeed(secondary::getRightTriggerAxis)
-        );
-
-        // While holding D-Pad down on the seconadry controller, the intakePivot should move
-        // such that left trigger on the secondary controller moves the pivot down, and 
-        // right trigger on the secondary controller moves the pivot up.
-        // DO NOT INVERT MOTION WITH UNARY MINUS (-). Every motor can be inverted from the
-        // constants file for the subsystem having the problem
-        secondary.povDown().whileTrue(
-            intakePivot.manualSpeed(() -> {
-                return secondary.getLeftTriggerAxis() * -1 + secondary.getRightTriggerAxis();
-            })
-        );
-
-        // While holding D-Pad left on the secondary controller, the hood should move
-        // such that the left trigger on the secondary controller moves the hood down, and
-        // right trigger on the secondary controller moves the hood up.
-        // DO NOT INVERT MOTION WITH UNARY MINUS (-). Every motor can be inverted from the 
-        // constants file for the subsystem having the problem
-        secondary.povLeft().whileTrue(
-            hood.manualSpeed(() -> {
-                return secondary.getLeftTriggerAxis() * -1 + secondary.getRightTriggerAxis();
-            })
-        );
-
-        // STOP STOP STOP STOP STOP STOP STOP STOP STOP STOP STOP STOP STOP STOP STOP STOP
-        // Don't proceed unless you've verified by hand or with the above bindings, that sensing
-        // systems are providing correct values in the correct direction of rotation. 
-    
-
-        // Useful for testing PID and FF responses of the shooter
-        // You need to have graphs up of the logged data to make sure the response is correct
-        //secondary.a().whileTrue(shooter.maintainSpeed(ShooterSpeeds.kHubSpeed));
-        secondary.b().whileTrue(shooter.maintainSpeed(ShooterSpeeds.kFeedSpeed));
-
-        // Useful for testing PID and FF responses of the intake pivot
-        // You need to have graphs up of the logged data to make sure the response is correct
-        secondary.x().whileTrue(intakePivot.maintainPosition(IntakePivotPosition.kDown));
-        secondary.y().whileTrue(intakePivot.maintainPosition(IntakePivotPosition.kUp));
-
-        secondary.povUp().whileTrue(hood.trackToAngle(() -> Math.toRadians(40.0)));
-        secondary.povDown().whileTrue(hood.trackToAngle(() -> Math.toRadians(0.0)));
-        
-
-        // TODO Some means of testing hood PIDF
-        // TODO Some means of testing climber PIDF
-    }
-  
-    private void configureBindings() {
-        drivetrain.setDefaultCommand(
-            drivetrain.drive(
-                driver::getLeftY,
-                driver::getLeftX, 
-                driver::getRightX, 
-                () -> true
-            )
-        );
-        shooter.setDefaultCommand(shooter.stop());
-        intakeRoller.setDefaultCommand(intakeRoller.stop());
-        spindexer.setDefaultCommand(spindexer.stop());
-
-        intakePivot.setDefaultCommand(intakePivot.manualSpeed(() -> secondary.getLeftY()));
-
-        driver.a().onTrue(new InstantCommand(() -> resetOdometryToVisualPose = true));
-        driver.y().whileTrue(drivetrain.zeroHeading());
-        driver.x().whileTrue(drivetrain.setX());
-
-        driver.leftTrigger().whileTrue(
-            drivetrain.lockRotationToHub(
-                driver::getLeftY, 
-                driver::getLeftX, 
-                false
-            ) 
-        );
-
-        driver.leftBumper().whileTrue(intakeRoller.runOut());
-        driver.rightBumper().whileTrue(intakeRoller.runIn());
-
-        driver.rightTrigger().whileTrue(
-            spindexer.spinToShooter().alongWith(
-                intakeRoller.runIn(),
-                intakePivot.jimmy(.5)
-            )
-        );
-
-        driver.rightTrigger().onFalse(
-            intakePivot.manualSpeed(() -> 0.75).withTimeout(0.5)
-        );
-
-        driver.b().whileTrue(spindexer.spinToIntake());
-       /*  driver.b().whileTrue(
-            drivetrain.lockToYaw(
-                () -> {
-                    OptionalDouble maybeYaw = vision.getBestYawForTag(Utilities.getHubCenterAprilTagID());
-
-                    return maybeYaw.isEmpty() ? 0 : maybeYaw.getAsDouble();
-                }, 
-                driver::getLeftY, 
-                driver::getLeftX
-            )
-        );*/
-
-        secondary.a().toggleOnTrue(shooter.maintainSpeed(ShooterSpeeds.kHubSpeed));
-        secondary.x().toggleOnTrue(shooter.maintainSpeed(ShooterSpeeds.kFeedSpeed));
-
-        //hood.setDefaultCommand(hood.trackToAngle(() -> Units.degreesToRadians(MathUtil.clamp(hoodAngle, 0, 40))));
-        //secondary.y().onTrue(hood.trackToAngle(() -> Units.degreesToRadians(40)));
-        //40 good for feeding
-        //secondary.b().onTrue(hood.trackToAngle(() -> Units.degreesToRadians(30)));
-        //30 degrees good for shooter far near outpost
-        secondary.rightBumper().whileTrue(hood.trackToAngle(() -> Units.degreesToRadians(10)));
-        //10 degrees good for shooting ~33in away from hub
-
-        hood.setDefaultCommand(hood.trackToAnglePoseBased(drivetrain, shooter));
-        
-        /*hood.setDefaultCommand(hood.trackToAngle(() -> {
-            Pose2d drivetrainPose = drivetrain.getPose();
-            Pose2d hubPose = Utilities.getHubPose();
-
-            double distance = drivetrainPose.getTranslation()
-                .getDistance(hubPose.getTranslation());
-
-            Logger.recordOutput("Hood/DistanceToHub", distance);
-
-            Optional<ShooterSpeeds> currentSpeeds = shooter.getTargetSpeeds();
-                
-            if(currentSpeeds.isPresent()) {
-                InterpolatingDoubleTreeMap map = HoodConstants.kHoodInterpolators.get(currentSpeeds.get());
-
-                if(map != null) {
-                    return MathUtil.clamp(map.get(distance), 0, 40);
-                } else {
-                    return 0;
-                }
-            } else {
-                return 0;
-            }
-        }));*/
-
-        new Trigger(() -> MathUtil.isNear(
-            shooter.getTargetSpeeds().isEmpty() ? 0 : shooter.getTargetSpeeds().get().getSpeedRPM(), 
-            shooter.getAverageActualSpeeds(), 
-            150)).onTrue(
-            new FunctionalCommand(
-                () -> {}, 
-                () -> {
-                    driver.setRumble(RumbleType.kBothRumble, .75);
-                    secondary.setRumble(RumbleType.kBothRumble, .75);
-                }, 
-                (b) -> {
-                    driver.setRumble(RumbleType.kBothRumble, 0);
-                    secondary.setRumble(RumbleType.kBothRumble, 0);
-                }, 
-                () -> false
-            ).withTimeout(1)
-        );
-    }
-
-    private void configureNamedCommands() {
-        NamedCommands.registerCommand(
-            "Drivetrain Set X", 
-            drivetrain.setX()
-        );
-
-        NamedCommands.registerCommand(
-            "Drivetrain Face Hub", 
-            drivetrain.rotateToPose(
-                Utilities.getHubPose(),
-                false // TODO Should this be true by default?
-            )
-        );
-
-        NamedCommands.registerCommand(
-            "intake down", 
-            intakePivot.manualSpeed(()->0.75)
-                .withTimeout(1)
-        );
-
-        NamedCommands.registerCommand("spinup", 
-            shooter.maintainSpeed(ShooterSpeeds.kHubSpeed)
-                .withTimeout(3));
-
-        NamedCommands.registerCommand("shoot close", 
-            spindexer.spinToShooter()
-                .alongWith(shooter.maintainSpeed(ShooterSpeeds.kHubSpeed))
-                .alongWith(hood.trackToAngle(() -> Units.degreesToRadians(10)))
-                .withTimeout(3).andThen(spindexer.instantaneousStop()));
-        
-       // NamedCommands.registerCommand("Intake Start", intakeRoller.runIn());
-
-        new EventTrigger("Intake Start")
-            .onTrue(
-                intakeRoller.runIn());
-
-        NamedCommands.registerCommand("stop spindexer", spindexer.instantaneousStop());
-
-        NamedCommands.registerCommand("jimmy",
-            intakePivot.jimmy(0.2)
-        );
-
-        NamedCommands.registerCommand("shoot N jimmy", 
-            Commands.parallel(
-                intakePivot.jimmy(0.5),
-                spindexer.spinToShooter()
-                    .alongWith(shooter.maintainSpeed(ShooterSpeeds.kHubSpeed),
-                               hood.trackToAngle(() -> Units.degreesToRadians(10)))
-                
-            ).withTimeout(3).andThen(spindexer.instantaneousStop()));
-
-        NamedCommands.registerCommand("auto shoot", hood.trackToAnglePoseBased(drivetrain, shooter));
-    }
-
-    public Command getAutonomousCommand() {
-        return autoChooser.getSelected();
-    }
-
-    /**
-     * The "shift display" relies on Elastic's ability to show 1 or more colors
-     * in a box on the dashboard. 
-     * 
-     * Using the RobotModeTriggers and a Timer based on the FPGA, a reasonably
-     * accurate "shift display" can be created to indicate whose hub is active
-     * and when. 
-     * 
-     * During autonomous, and the first 10 seconds of teleop, the shift display
-     * will display a gradient of both red and blue, indicating the fact that 
-     * both hubs are active.
-     * 
-     * For the rest of teleop, with the exception of the endgame, the display
-     * will present either the color red, or the color blue, based on the returned
-     * value of Utilities.whoHasFirstShift(). Because shifts change on a known cycle,
-     * we can use the known state of who has first shift, to determine the remaining three shifts
-     * that come after.
-     * 
-     * For the endgame portion of teleop, the shift display returns to the gradient
-     * of both red and blue. 
-     * 
-     * Because this relies on the RobotModeTriggers and an FPGA timer, it should be 
-     * <i>reasonably</i> accurate, it's unlikely to be perfect relative to field time
-     * but it will be very very very (likely unnoticably) close. 
-     */
-    private void configureShiftDisplay() {
-        SmartDashboard.putStringArray(OIConstants.kCurrentActiveHub, OIConstants.kRedBlueDisplay);
-        
-        RobotModeTriggers.autonomous().onTrue(new InstantCommand(() -> {
-            shiftTimer.stop();
-            SmartDashboard.putStringArray(OIConstants.kCurrentActiveHub, OIConstants.kRedBlueDisplay);
-        }));
-
-        RobotModeTriggers.teleop().onTrue(new InstantCommand(() -> {
-            Elastic.selectTab(OIConstants.kTeleopTab);
-            shiftTimer.reset();
-            shiftTimer.start();
-        }));
-
-        new Trigger(() -> shiftTimer.get() <= 10).onTrue(new InstantCommand(() -> {
-            SmartDashboard.putStringArray(OIConstants.kCurrentActiveHub, OIConstants.kRedBlueDisplay);
-        }));
-
-        new Trigger(() -> shiftTimer.get() > 10 && shiftTimer.get() <= 35).onTrue(new InstantCommand(() -> {
-            SmartDashboard.putStringArray(
-                OIConstants.kCurrentActiveHub, 
-                Utilities.whoHasFirstShift() == Alliance.Red ? OIConstants.kRedDisplay : OIConstants.kBlueDisplay
-            );
-        }));
-
-        new Trigger(() -> shiftTimer.get() > 35 && shiftTimer.get() <= 60).onTrue(new InstantCommand(() -> {
-            SmartDashboard.putStringArray(
-                OIConstants.kCurrentActiveHub, 
-                Utilities.whoHasFirstShift() == Alliance.Red ? OIConstants.kBlueDisplay : OIConstants.kRedDisplay
-            );
-        }));
-
-        new Trigger(() -> shiftTimer.get() > 60 && shiftTimer.get() <= 85).onTrue(new InstantCommand(() -> {
-            SmartDashboard.putStringArray(
-                OIConstants.kCurrentActiveHub, 
-                Utilities.whoHasFirstShift() == Alliance.Red ? OIConstants.kRedDisplay : OIConstants.kBlueDisplay
-            );
-        }));
-
-        new Trigger(() -> shiftTimer.get() > 85 && shiftTimer.get() <= 110).onTrue(new InstantCommand(() -> {
-            SmartDashboard.putStringArray(
-                OIConstants.kCurrentActiveHub, 
-                Utilities.whoHasFirstShift() == Alliance.Red ? OIConstants.kBlueDisplay : OIConstants.kRedDisplay
-            );
-        }));
-
-        new Trigger(() -> shiftTimer.get() > 110).onTrue(new InstantCommand(() -> {
-            SmartDashboard.putStringArray(OIConstants.kCurrentActiveHub, OIConstants.kRedBlueDisplay);
-        }));
-    }
-}

src/main/java/frc/robot/subsystems/Shooter.java

@@ -1,161 +0,0 @@
-package frc.robot.subsystems;
-
-import java.util.Optional;
-import java.util.function.DoubleSupplier;
-
-import org.littletonrobotics.junction.Logger;
-
-import com.revrobotics.AbsoluteEncoder;
-import com.revrobotics.PersistMode;
-import com.revrobotics.RelativeEncoder;
-import com.revrobotics.ResetMode;
-import com.revrobotics.spark.ClosedLoopSlot;
-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.controller.SimpleMotorFeedforward;
-import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
-import edu.wpi.first.wpilibj2.command.Command;
-import edu.wpi.first.wpilibj2.command.SubsystemBase;
-import frc.robot.constants.ShooterConstants;
-import frc.robot.constants.ShooterConstants.ShooterSpeeds;
-
-public class Shooter extends SubsystemBase {
-    private SparkMax leftMotor;
-    private SparkMax rightMotor;
-
-    private AbsoluteEncoder leftEncoder;
-    private AbsoluteEncoder rightEncoder;
-
-    private RelativeEncoder rightRelative;
-
-    private SparkClosedLoopController leftClosedLoopController;
-    private SparkClosedLoopController rightClosedLoopController;
-
-    private ShooterSpeeds targetSpeeds;
-    private SimpleMotorFeedforward shooterFFLeft;
-    private SimpleMotorFeedforward shooterFFRight;
-
-    public Shooter() {
-        leftMotor = new SparkMax(ShooterConstants.kLeftShooterMotorCANID, MotorType.kBrushless);
-        rightMotor = new SparkMax(ShooterConstants.kRightShooterMotorCANID, MotorType.kBrushless);
-
-        leftMotor.configure(
-            ShooterConstants.kLeftMotorConfig, 
-            ResetMode.kResetSafeParameters, 
-            PersistMode.kPersistParameters
-        );
-
-        rightMotor.configure(
-            ShooterConstants.kRightMotorConfig, 
-            ResetMode.kResetSafeParameters, 
-            PersistMode.kPersistParameters
-        );
-
-        leftEncoder = leftMotor.getAbsoluteEncoder();
-        rightEncoder = rightMotor.getAbsoluteEncoder();
-
-        leftClosedLoopController = leftMotor.getClosedLoopController();
-        rightClosedLoopController = rightMotor.getClosedLoopController();
-
-        // TODO Set this to the initial startup speed
-        targetSpeeds = null;
-
-        rightRelative = rightMotor.getEncoder();
-
-        shooterFFLeft = new SimpleMotorFeedforward(ShooterConstants.kLeftS, ShooterConstants.kLeftV, ShooterConstants.kLeftA);
-        shooterFFRight = new SimpleMotorFeedforward(ShooterConstants.kRightS, ShooterConstants.kRightV, ShooterConstants.kRightA);
-    }
-
-    @Override
-    public void periodic() {
-        SmartDashboard.putNumber(
-            "ShooterTargetRPM", 
-            targetSpeeds == null ? 0 : targetSpeeds.getSpeedRPM());
-
-        SmartDashboard.putNumber(
-            "ShooterLeftSideRPM", 
-            leftEncoder.getVelocity()
-        );
-
-        SmartDashboard.putNumber(
-            "ShooterRightSideRPM", 
-            rightEncoder.getVelocity()
-        );
-
-        SmartDashboard.putBoolean(
-            "ShooterLeftSideAtSetpoint", 
-            leftClosedLoopController.isAtSetpoint()
-        );
-
-        SmartDashboard.putBoolean(
-            "ShooterRightSideAtSetpoint", 
-            rightClosedLoopController.isAtSetpoint()
-        );
-
-        Logger.recordOutput(
-            "Shooter/TargetRPM", 
-            targetSpeeds == null ? 0 : targetSpeeds.getSpeedRPM()
-        );
-
-        Logger.recordOutput("Shooter/LeftRollers/CurrentRPM", leftEncoder.getVelocity());
-        Logger.recordOutput("Shooter/RightRollers/CurrentRPM", rightEncoder.getVelocity());
-
-        Logger.recordOutput("Shooter/RightRollers/rightmotor", rightRelative.getVelocity());
-
-        Logger.recordOutput("Shooter/LeftRollers/OutputVoltage", leftMotor.getAppliedOutput() * leftMotor.getBusVoltage());
-        Logger.recordOutput("Shooter/RightRollers/OutputVoltage", rightMotor.getAppliedOutput() * rightMotor.getBusVoltage());
-
-        // TODO How does the SparkMAX controller determine "at setpoint"? Is there any tolerance?
-        Logger.recordOutput("Shooter/LeftRollers/AtSetpoint", leftClosedLoopController.isAtSetpoint());
-        Logger.recordOutput("Shooter/RightRollers/AtSetpoint", rightClosedLoopController.isAtSetpoint());
-    }
-
-    public Command maintainSpeed(ShooterSpeeds speeds) {
-        return run(() -> {
-            targetSpeeds = speeds;
-
-            if(targetSpeeds == null) {
-                leftMotor.disable();
-                rightMotor.disable();
-            } else {
-                leftClosedLoopController.setSetpoint(
-                    targetSpeeds.getSpeedRPM(), 
-                    ControlType.kVelocity,
-                    ClosedLoopSlot.kSlot0,
-                    shooterFFLeft.calculate(targetSpeeds.getSpeedRPM())
-                );
-
-                rightClosedLoopController.setSetpoint(
-                    targetSpeeds.getSpeedRPM(), 
-                    ControlType.kVelocity,
-                    ClosedLoopSlot.kSlot0,
-                    shooterFFRight.calculate(targetSpeeds.getSpeedRPM())
-                );
-            }
-        });
-    }
-
-    public Command manualSpeed(DoubleSupplier speed) {
-        return run(() -> {
-            targetSpeeds = null;
-            
-            leftMotor.set(speed.getAsDouble() * ShooterConstants.kMaxManualSpeedMultiplier);
-            rightMotor.set(speed.getAsDouble() * ShooterConstants.kMaxManualSpeedMultiplier);
-        });
-    }
-
-    public Command stop() {
-        return manualSpeed(() -> 0);
-    }
-
-    public double getAverageActualSpeeds() {
-        return (leftEncoder.getVelocity() + rightEncoder.getVelocity()) / 2;
-    }
-
-    public Optional<ShooterSpeeds> getTargetSpeeds() {
-        return Optional.ofNullable(targetSpeeds);
-    }
-}

src/main/java/frc/robot/subsystems/Spindexer.java

@@ -1,70 +0,0 @@
-package frc.robot.subsystems;
-
-import com.ctre.phoenix6.controls.DutyCycleOut;
-import com.ctre.phoenix6.hardware.TalonFX;
-import com.revrobotics.PersistMode;
-import com.revrobotics.ResetMode;
-import com.revrobotics.spark.SparkMax;
-import com.revrobotics.spark.SparkLowLevel.MotorType;
-
-import edu.wpi.first.wpilibj2.command.Command;
-import edu.wpi.first.wpilibj2.command.SubsystemBase;
-import frc.robot.constants.SpindexerConstants;
-
-public class Spindexer extends SubsystemBase {
-    private TalonFX spindexerMotor;
-
-    private SparkMax feederMotor;
-
-    private DutyCycleOut spindexerMotorOutput;
-
-    public Spindexer() {
-        spindexerMotor = new TalonFX(SpindexerConstants.kSpindexerMotorCANID);
-
-        feederMotor = new SparkMax(SpindexerConstants.kFeederMotorCANID, MotorType.kBrushless);
-
-        spindexerMotor.getConfigurator().apply(SpindexerConstants.kSpindexerCurrentLimitConfig);
-        spindexerMotor.getConfigurator().apply(SpindexerConstants.kSpindexerMotorConfig);
-
-        feederMotor.configure(
-            SpindexerConstants.kFeederConfig, 
-            ResetMode.kResetSafeParameters, 
-            PersistMode.kPersistParameters
-        );
-
-        spindexerMotorOutput = new DutyCycleOut(0);
-    }
-
-    public Command spinToShooter() {
-        return run(() -> {
-            spindexerMotor.setControl(
-                spindexerMotorOutput.withOutput(SpindexerConstants.kSpindexerSpeed)
-            );
-            feederMotor.set(SpindexerConstants.kFeederSpeed);
-        });
-    }
-
-    public Command spinToIntake() {
-        return run(() -> {
-            spindexerMotor.setControl(
-                spindexerMotorOutput.withOutput(-SpindexerConstants.kSpindexerSpeed)
-            );
-            feederMotor.set(-SpindexerConstants.kFeederSpeed);
-        });
-    }
-
-    public Command stop() {
-        return run(() -> {
-            spindexerMotor.setControl(spindexerMotorOutput.withOutput(0));
-            feederMotor.set(0);
-        });
-    }
-
-    public Command instantaneousStop() {
-        return runOnce(() -> {
-            spindexerMotor.setControl(spindexerMotorOutput.withOutput(0));
-            feederMotor.set(0);
-        });
-    }
-    
-}

vendordeps/AdvantageKit.json

@@ -1,35 +0,0 @@
-{
-    "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": []
-}

vendordeps/CommandsV2.json

@@ -1,36 +1,41 @@
 {
-  "fileName": "WPILibNewCommands.json",
+  "fileName": "CommandsV2.json",
-  "name": "WPILib-New-Commands",
+  "name": "Commands V2",
   "version": "1.0.0",
   "uuid": "111e20f7-815e-48f8-9dd6-e675ce75b266",
-  "frcYear": "2026",
+  "wpilibYear": "2027_alpha7",
   "mavenUrls": [],
   "jsonUrl": "",
+  "conflictsWith": [
+    {
+      "uuid": "4decdc05-a056-46cf-9561-39449bbb01306",
+      "errorMessage": "Users can not have both Commands v2 and Commands v3 vendordeps in their robot program.",
+      "offlineFileName": "CommandsV3.json"
+    }
+  ],
   "javaDependencies": [
     {
-      "groupId": "edu.wpi.first.wpilibNewCommands",
+      "groupId": "org.wpilib.commandsv2",
-      "artifactId": "wpilibNewCommands-java",
+      "artifactId": "commandsv2-java",
       "version": "wpilib"
     }
   ],
   "jniDependencies": [],
   "cppDependencies": [
     {
-      "groupId": "edu.wpi.first.wpilibNewCommands",
+      "groupId": "org.wpilib.commandsv2",
-      "artifactId": "wpilibNewCommands-cpp",
+      "artifactId": "commandsv2-cpp",
       "version": "wpilib",
-      "libName": "wpilibNewCommands",
+      "libName": "commandsv2",
       "headerClassifier": "headers",
       "sourcesClassifier": "sources",
       "sharedLibrary": true,
       "skipInvalidPlatforms": true,
       "binaryPlatforms": [
         "linuxsystemcore",
-        "linuxathena",
-        "linuxarm32",
         "linuxarm64",
         "windowsx86-64",
-        "windowsx86",
+        "windowsarm64",
         "linuxx86-64",
         "osxuniversal"
       ]

vendordeps/PathplannerLibSystemCoreAlpha.json

@@ -1,18 +1,18 @@
 {
-    "fileName": "PathplannerLib-2026.1.2.json",
+    "fileName": "PathplannerLibSystemCoreAlpha.json",
     "name": "PathplannerLib",
-    "version": "2026.1.2",
+    "version": "2027.0.0-alpha-4.1",
     "uuid": "1b42324f-17c6-4875-8e77-1c312bc8c786",
-    "frcYear": "2026",
+    "wpilibYear": "2027_alpha7",
     "mavenUrls": [
         "https://3015rangerrobotics.github.io/pathplannerlib/repo"
     ],
-    "jsonUrl": "https://3015rangerrobotics.github.io/pathplannerlib/PathplannerLib.json",
+    "jsonUrl": "https://3015rangerrobotics.github.io/pathplannerlib/PathplannerLibSystemCoreAlpha.json",
     "javaDependencies": [
         {
             "groupId": "com.pathplanner.lib",
             "artifactId": "PathplannerLib-java",
-            "version": "2026.1.2"
+            "version": "2027.0.0-alpha-4.1"
         }
     ],
     "jniDependencies": [],
@@ -20,7 +20,7 @@
         {
             "groupId": "com.pathplanner.lib",
             "artifactId": "PathplannerLib-cpp",
-            "version": "2026.1.2",
+            "version": "2027.0.0-alpha-4.1",
             "libName": "PathplannerLib",
             "headerClassifier": "headers",
             "sharedLibrary": false,
@@ -29,8 +29,7 @@
                 "windowsx86-64",
                 "linuxx86-64",
                 "osxuniversal",
-                "linuxathena",
+                "linuxsystemcore",
-                "linuxarm32",
                 "linuxarm64"
             ]
         }

vendordeps/Phoenix5-5.36.0.json

@@ -1,171 +0,0 @@
-{
-    "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"
-        },
-        {
-            "groupId": "com.ctre.phoenix.sim",
-            "artifactId": "cci-sim",
-            "version": "5.36.0",
-            "isJar": false,
-            "skipInvalidPlatforms": true,
-            "validPlatforms": [
-                "windowsx86-64",
-                "linuxx86-64",
-                "linuxarm64",
-                "osxuniversal"
-            ],
-            "simMode": "swsim"
-        }
-    ],
-    "cppDependencies": [
-        {
-            "groupId": "com.ctre.phoenix",
-            "artifactId": "wpiapi-cpp",
-            "version": "5.36.0",
-            "libName": "CTRE_Phoenix_WPI",
-            "headerClassifier": "headers",
-            "sharedLibrary": true,
-            "skipInvalidPlatforms": true,
-            "binaryPlatforms": [
-                "windowsx86-64",
-                "linuxx86-64",
-                "linuxarm64",
-                "linuxathena"
-            ],
-            "simMode": "hwsim"
-        },
-        {
-            "groupId": "com.ctre.phoenix",
-            "artifactId": "api-cpp",
-            "version": "5.36.0",
-            "libName": "CTRE_Phoenix",
-            "headerClassifier": "headers",
-            "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",
-                "linuxathena"
-            ],
-            "simMode": "hwsim"
-        },
-        {
-            "groupId": "com.ctre.phoenix.sim",
-            "artifactId": "wpiapi-cpp-sim",
-            "version": "5.36.0",
-            "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"
-        }
-    ]
-}

vendordeps/Phoenix6-26.70.0-alpha-2.json

@@ -1,60 +1,60 @@
 {
-    "fileName": "Phoenix6-26.1.0.json",
+    "fileName": "Phoenix6-26.70.0-alpha-2.json",
     "name": "CTRE-Phoenix (v6)",
-    "version": "26.1.0",
+    "version": "26.70.0-alpha-2",
-    "frcYear": "2026",
+    "wpilibYear": "2027_alpha7",
     "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",
+    "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2027-latest.json",
     "conflictsWith": [
         {
             "uuid": "e7900d8d-826f-4dca-a1ff-182f658e98af",
             "errorMessage": "Users cannot have both the replay and regular Phoenix 6 vendordeps in their robot program.",
-            "offlineFileName": "Phoenix6-replay-frc2026-latest.json"
+            "offlineFileName": "Phoenix6-replay-frc2027-latest.json"
         }
     ],
     "javaDependencies": [
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "wpiapi-java",
-            "version": "26.1.0"
+            "version": "26.70.0-alpha-2"
         }
     ],
     "jniDependencies": [
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "api-cpp",
-            "version": "26.1.0",
+            "version": "26.70.0-alpha-2",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
                 "windowsx86-64",
                 "linuxx86-64",
                 "linuxarm64",
-                "linuxathena"
+                "linuxsystemcore"
             ],
             "simMode": "hwsim"
         },
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "tools",
-            "version": "26.1.0",
+            "version": "26.70.0-alpha-2",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
                 "windowsx86-64",
                 "linuxx86-64",
                 "linuxarm64",
-                "linuxathena"
+                "linuxsystemcore"
             ],
             "simMode": "hwsim"
         },
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "api-cpp-sim",
-            "version": "26.1.0",
+            "version": "26.70.0-alpha-2",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -68,7 +68,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "tools-sim",
-            "version": "26.1.0",
+            "version": "26.70.0-alpha-2",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -82,7 +82,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simTalonSRX",
-            "version": "26.1.0",
+            "version": "26.70.0-alpha-2",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -96,7 +96,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simVictorSPX",
-            "version": "26.1.0",
+            "version": "26.70.0-alpha-2",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -110,7 +110,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simPigeonIMU",
-            "version": "26.1.0",
+            "version": "26.70.0-alpha-2",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -124,7 +124,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProTalonFX",
-            "version": "26.1.0",
+            "version": "26.70.0-alpha-2",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -138,7 +138,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProTalonFXS",
-            "version": "26.1.0",
+            "version": "26.70.0-alpha-2",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -152,7 +152,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANcoder",
-            "version": "26.1.0",
+            "version": "26.70.0-alpha-2",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -166,7 +166,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProPigeon2",
-            "version": "26.1.0",
+            "version": "26.70.0-alpha-2",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -180,7 +180,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANrange",
-            "version": "26.1.0",
+            "version": "26.70.0-alpha-2",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -194,7 +194,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANdi",
-            "version": "26.1.0",
+            "version": "26.70.0-alpha-2",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -208,7 +208,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANdle",
-            "version": "26.1.0",
+            "version": "26.70.0-alpha-2",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -224,7 +224,7 @@
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "wpiapi-cpp",
-            "version": "26.1.0",
+            "version": "26.70.0-alpha-2",
             "libName": "CTRE_Phoenix6_WPI",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -233,14 +233,14 @@
                 "windowsx86-64",
                 "linuxx86-64",
                 "linuxarm64",
-                "linuxathena"
+                "linuxsystemcore"
             ],
             "simMode": "hwsim"
         },
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "tools",
-            "version": "26.1.0",
+            "version": "26.70.0-alpha-2",
             "libName": "CTRE_PhoenixTools",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -249,14 +249,14 @@
                 "windowsx86-64",
                 "linuxx86-64",
                 "linuxarm64",
-                "linuxathena"
+                "linuxsystemcore"
             ],
             "simMode": "hwsim"
         },
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "wpiapi-cpp-sim",
-            "version": "26.1.0",
+            "version": "26.70.0-alpha-2",
             "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": "26.70.0-alpha-2",
             "libName": "CTRE_PhoenixTools_Sim",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -288,7 +288,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simTalonSRX",
-            "version": "26.1.0",
+            "version": "26.70.0-alpha-2",
             "libName": "CTRE_SimTalonSRX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -304,7 +304,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simVictorSPX",
-            "version": "26.1.0",
+            "version": "26.70.0-alpha-2",
             "libName": "CTRE_SimVictorSPX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -320,7 +320,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simPigeonIMU",
-            "version": "26.1.0",
+            "version": "26.70.0-alpha-2",
             "libName": "CTRE_SimPigeonIMU",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -336,7 +336,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProTalonFX",
-            "version": "26.1.0",
+            "version": "26.70.0-alpha-2",
             "libName": "CTRE_SimProTalonFX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -352,7 +352,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProTalonFXS",
-            "version": "26.1.0",
+            "version": "26.70.0-alpha-2",
             "libName": "CTRE_SimProTalonFXS",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -368,7 +368,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANcoder",
-            "version": "26.1.0",
+            "version": "26.70.0-alpha-2",
             "libName": "CTRE_SimProCANcoder",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -384,7 +384,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProPigeon2",
-            "version": "26.1.0",
+            "version": "26.70.0-alpha-2",
             "libName": "CTRE_SimProPigeon2",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -400,7 +400,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANrange",
-            "version": "26.1.0",
+            "version": "26.70.0-alpha-2",
             "libName": "CTRE_SimProCANrange",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -416,7 +416,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANdi",
-            "version": "26.1.0",
+            "version": "26.70.0-alpha-2",
             "libName": "CTRE_SimProCANdi",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -432,7 +432,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANdle",
-            "version": "26.1.0",
+            "version": "26.70.0-alpha-2",
             "libName": "CTRE_SimProCANdle",
             "headerClassifier": "headers",
             "sharedLibrary": true,

vendordeps/REVLib.json

@@ -1,63 +1,60 @@
 {
     "fileName": "REVLib.json",
     "name": "REVLib",
-    "version": "2026.0.0",
+    "version": "2027.0.0-alpha-8",
-    "frcYear": "2026",
+    "wpilibYear": "2027_alpha7",
     "uuid": "3f48eb8c-50fe-43a6-9cb7-44c86353c4cb",
     "mavenUrls": [
         "https://maven.revrobotics.com/"
     ],
-    "jsonUrl": "https://software-metadata.revrobotics.com/REVLib-2026.json",
+    "jsonUrl": "https://software-metadata.revrobotics.com/REVLib-2027.json",
     "javaDependencies": [
         {
             "groupId": "com.revrobotics.frc",
             "artifactId": "REVLib-java",
-            "version": "2026.0.0"
+            "version": "2027.0.0-alpha-8"
         }
     ],
     "jniDependencies": [
         {
             "groupId": "com.revrobotics.frc",
             "artifactId": "REVLib-driver",
-            "version": "2026.0.0",
+            "version": "2027.0.0-alpha-8",
             "skipInvalidPlatforms": true,
             "isJar": false,
             "validPlatforms": [
                 "windowsx86-64",
                 "linuxarm64",
                 "linuxx86-64",
-                "linuxathena",
+                "linuxsystemcore",
-                "linuxarm32",
                 "osxuniversal"
             ]
         },
         {
             "groupId": "com.revrobotics.frc",
             "artifactId": "RevLibBackendDriver",
-            "version": "2026.0.0",
+            "version": "2027.0.0-alpha-8",
             "skipInvalidPlatforms": true,
             "isJar": false,
             "validPlatforms": [
                 "windowsx86-64",
                 "linuxarm64",
                 "linuxx86-64",
-                "linuxathena",
+                "linuxsystemcore",
-                "linuxarm32",
                 "osxuniversal"
             ]
         },
         {
             "groupId": "com.revrobotics.frc",
             "artifactId": "RevLibWpiBackendDriver",
-            "version": "2026.0.0",
+            "version": "2027.0.0-alpha-8",
             "skipInvalidPlatforms": true,
             "isJar": false,
             "validPlatforms": [
                 "windowsx86-64",
                 "linuxarm64",
                 "linuxx86-64",
-                "linuxathena",
+                "linuxsystemcore",
-                "linuxarm32",
                 "osxuniversal"
             ]
         }
@@ -66,7 +63,7 @@
         {
             "groupId": "com.revrobotics.frc",
             "artifactId": "REVLib-cpp",
-            "version": "2026.0.0",
+            "version": "2027.0.0-alpha-8",
             "libName": "REVLib",
             "headerClassifier": "headers",
             "sharedLibrary": false,
@@ -75,15 +72,14 @@
                 "windowsx86-64",
                 "linuxarm64",
                 "linuxx86-64",
-                "linuxathena",
+                "linuxsystemcore",
-                "linuxarm32",
                 "osxuniversal"
             ]
         },
         {
             "groupId": "com.revrobotics.frc",
             "artifactId": "REVLib-driver",
-            "version": "2026.0.0",
+            "version": "2027.0.0-alpha-8",
             "libName": "REVLibDriver",
             "headerClassifier": "headers",
             "sharedLibrary": false,
@@ -92,15 +88,14 @@
                 "windowsx86-64",
                 "linuxarm64",
                 "linuxx86-64",
-                "linuxathena",
+                "linuxsystemcore",
-                "linuxarm32",
                 "osxuniversal"
             ]
         },
         {
             "groupId": "com.revrobotics.frc",
             "artifactId": "RevLibBackendDriver",
-            "version": "2026.0.0",
+            "version": "2027.0.0-alpha-8",
             "libName": "BackendDriver",
             "sharedLibrary": true,
             "skipInvalidPlatforms": true,
@@ -108,15 +103,14 @@
                 "windowsx86-64",
                 "linuxarm64",
                 "linuxx86-64",
-                "linuxathena",
+                "linuxsystemcore",
-                "linuxarm32",
                 "osxuniversal"
             ]
         },
         {
             "groupId": "com.revrobotics.frc",
             "artifactId": "RevLibWpiBackendDriver",
-            "version": "2026.0.0",
+            "version": "2027.0.0-alpha-8",
             "libName": "REVLibWpi",
             "sharedLibrary": true,
             "skipInvalidPlatforms": true,
@@ -124,8 +118,7 @@
                 "windowsx86-64",
                 "linuxarm64",
                 "linuxx86-64",
-                "linuxathena",
+                "linuxsystemcore",
-                "linuxarm32",
                 "osxuniversal"
             ]
         }

vendordeps/Studica.json

@@ -1,71 +0,0 @@
-{
-    "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"
-            ]
-        }
-    ]
-}

vendordeps/photonlib-v2027.0.0-alpha-2.json

@@ -0,0 +1,84 @@
+{
+  "fileName": "photonlib.json",
+  "name": "photonlib",
+  "version": "dev-v2027.0.0-alpha-2-81-g5b5b7870",
+  "uuid": "515fe07e-bfc6-11fa-b3de-0242ac130004",
+  "wpilibYear": "2027_alpha7",
+  "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": "dev-v2027.0.0-alpha-2-81-g5b5b7870",
+      "skipInvalidPlatforms": true,
+      "isJar": false,
+      "validPlatforms": [
+        "windowsx86-64",
+        "linuxsystemcore",
+        "linuxx86-64",
+        "osxuniversal"
+      ]
+    },
+    {
+      "groupId": "org.wpilib.fields",
+      "artifactId": "fields-cpp",
+      "version": "wpilib",
+      "skipInvalidPlatforms": true,
+      "isJar": false,
+      "validPlatforms": [
+        "windowsx86-64",
+        "linuxsystemcore",
+        "linuxx86-64",
+        "osxuniversal"
+      ]
+    }
+  ],
+  "cppDependencies": [
+    {
+      "groupId": "org.photonvision",
+      "artifactId": "photonlib-cpp",
+      "version": "dev-v2027.0.0-alpha-2-81-g5b5b7870",
+      "libName": "photonlib",
+      "headerClassifier": "headers",
+      "sharedLibrary": true,
+      "skipInvalidPlatforms": true,
+      "binaryPlatforms": [
+        "windowsx86-64",
+        "linuxsystemcore",
+        "linuxx86-64",
+        "osxuniversal"
+      ]
+    },
+    {
+      "groupId": "org.photonvision",
+      "artifactId": "photontargeting-cpp",
+      "version": "dev-v2027.0.0-alpha-2-81-g5b5b7870",
+      "libName": "photontargeting",
+      "headerClassifier": "headers",
+      "sharedLibrary": true,
+      "skipInvalidPlatforms": true,
+      "binaryPlatforms": [
+        "windowsx86-64",
+        "linuxsystemcore",
+        "linuxx86-64",
+        "osxuniversal"
+      ]
+    }
+  ],
+  "javaDependencies": [
+    {
+      "groupId": "org.photonvision",
+      "artifactId": "photonlib-java",
+      "version": "dev-v2027.0.0-alpha-2-81-g5b5b7870"
+    },
+    {
+      "groupId": "org.photonvision",
+      "artifactId": "photontargeting-java",
+      "version": "dev-v2027.0.0-alpha-2-81-g5b5b7870"
+    }
+  ]
+}

vendordeps/photonlib.json

@@ -1,71 +0,0 @@
-{
-    "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"
-        }
-    ]
-}