Updates for 2026 beta WPI release

build.gradle

@@ -9,7 +9,7 @@ import edu.wpi.first.gradlerio.deploy.roborio.RoboRIO
  */
 
 plugins {
-    id "edu.wpi.first.GradleRIO" version "2025.3.1"
+    id "edu.wpi.first.GradleRIO" version "2026.1.1-beta-1"
     id 'scala'
     id 'checkstyle'
     id 'jacoco'

src/main/java/xbot/common/command/BaseRobot.java

@@ -210,7 +210,7 @@ public void autonomousInit() {
         this.autonomousCommand = this.autonomousCommandSelector.getCurrentAutonomousCommand();
         if(this.autonomousCommand != null) {
             log.info("Starting autonomous command: " + this.autonomousCommand);
-            this.autonomousCommand.schedule();
+            CommandScheduler.getInstance().schedule(this.autonomousCommand);
         } else {
             log.warn("No autonomous command set.");
         }

src/main/java/xbot/common/controls/actuators/wpi_adapters/CANSparkMaxWpiAdapter.java

@@ -136,7 +136,7 @@ public void setTrapezoidalProfileJerk(Velocity<AngularAccelerationUnit> jerk) {
     @Override
     public void setTrapezoidalProfileMaxVelocity(AngularVelocity velocity) {
         var config = new SparkMaxConfig();
-        config.closedLoop.maxMotion.maxVelocity(velocity.in(RPM));
+        config.closedLoop.maxMotion.cruiseVelocity(velocity.in(RPM));
         this.internalSparkMax.configure(config,
                 SparkBase.ResetMode.kNoResetSafeParameters,
                 SparkBase.PersistMode.kNoPersistParameters);
@@ -152,8 +152,8 @@ public void setPidDirectly(double p, double i, double d, double velocityFF, doub
         config.closedLoop
                 .p(p, getClosedLoopSlot(slot))
                 .i(i, getClosedLoopSlot(slot))
-                .d(d, getClosedLoopSlot(slot))
-                .velocityFF(velocityFF, getClosedLoopSlot(slot));
+                .d(d, getClosedLoopSlot(slot));
+        config.closedLoop.feedForward.kV(velocityFF, getClosedLoopSlot(slot));
         this.internalSparkMax.configure(config,
                 SparkBase.ResetMode.kNoResetSafeParameters,
                 SparkBase.PersistMode.kNoPersistParameters);
@@ -213,7 +213,7 @@ public void setRawPositionTarget(Angle rawPosition, MotorPidMode mode, int slot)
         }
         this.internalSparkMax
                 .getClosedLoopController()
-                .setReference(rawPosition.in(Rotations), controlType, getClosedLoopSlot(slot));
+                .setSetpoint(rawPosition.in(Rotations), controlType, getClosedLoopSlot(slot));
     }
 
     public AngularVelocity getRawVelocity_internal() {
@@ -233,7 +233,7 @@ public void setRawVelocityTarget(AngularVelocity rawVelocity, MotorPidMode mode,
         }
         this.internalSparkMax
                 .getClosedLoopController()
-                .setReference(rawVelocity.in(RPM), controlType, getClosedLoopSlot(slot));
+                .setSetpoint(rawVelocity.in(RPM), controlType, getClosedLoopSlot(slot));
     }
 
     @Override

src/main/java/xbot/common/controls/actuators/wpi_adapters/CANTalonFxWpiAdapter.java

@@ -77,7 +77,7 @@ public CANTalonFxWpiAdapter(
             @Assisted("defaultPIDProperties") XCANMotorControllerPIDProperties defaultPIDProperties
     ) {
         super(info, owningSystemPrefix, propertyFactory, police, pidPropertyPrefix, defaultPIDProperties);
-        this.internalTalonFx = new TalonFX(info.deviceId(), info.busId().id());
+        this.internalTalonFx = new TalonFX(info.deviceId(), info.busId().toPhoenixCANBus());
 
         this.rotorPositionSignal = this.internalTalonFx.getRotorPosition(false);
         this.rotorVelocitySignal = this.internalTalonFx.getRotorVelocity(false);

src/main/java/xbot/common/controls/sensors/wpi_adapters/CANCoderAdapter.java

@@ -60,7 +60,7 @@ public CANCoderAdapter(@Assisted("deviceInfo") DeviceInfo deviceInfo,
         this.inverted = deviceInfo.inverted;
         this.magnetOffset = 0.0;
 
-        this.cancoder = new CANcoder(deviceInfo.channel, deviceInfo.canBusId.id());
+        this.cancoder = new CANcoder(deviceInfo.channel, deviceInfo.canBusId.toPhoenixCANBus());
 
         var currentConfig = getCurrentConfiguration();
         currentConfig.MagnetSensor.AbsoluteSensorDiscontinuityPoint = 0.5;

src/main/java/xbot/common/controls/sensors/wpi_adapters/Pigeon2Adapter.java

@@ -38,7 +38,7 @@ public abstract static class Pigeon2AdapterFactory extends XGyroFactory {
     @AssistedInject
     public Pigeon2Adapter(DevicePolice police, @Assisted IMUInfo imuInfo) {
         super(imuInfo);
-        this.pigeon = new Pigeon2(imuInfo.deviceId(), imuInfo.canBusId().id());
+        this.pigeon = new Pigeon2(imuInfo.deviceId(), imuInfo.canBusId().toPhoenixCANBus());
         police.registerDevice(DevicePolice.DeviceType.CAN, imuInfo.canBusId(), imuInfo.deviceId(), this);
 
         this.yawSignal = pigeon.getYaw();

src/main/java/xbot/common/injection/electrical_contract/CANBusId.java

@@ -1,10 +1,30 @@
 package xbot.common.injection.electrical_contract;
 
+import com.ctre.phoenix6.CANBus;
+import scala.util.hashing.Hashing;
+
 /**
  * Represents a CAN bus ID
  * @param id Bus name string
  */
 public record CANBusId(String id) {
     public static final CANBusId RIO = new CANBusId("rio");
     public static final CANBusId DefaultCanivore = new CANBusId("*");
+
+    private static final CANBus DefaultPhoenixRio = CANBus.roboRIO();
+    private static final CANBus DefaultPhoenixCanivore = new CANBus("*");
+
+    /**
+     * Converts this CANBusId to a Phoenix CANBus object.
+     * @return Corresponding CANBus object
+     */
+    public CANBus toPhoenixCANBus() {
+        if (this.equals(RIO)) {
+            return DefaultPhoenixRio;
+        } else if (this.equals(DefaultCanivore)) {
+            return DefaultPhoenixCanivore;
+        } else {
+            throw new IllegalArgumentException("Unknown CAN bus ID: " + this.id);
+        }
+    }
 }

vendordeps/AdvantageKit.json

@@ -3,7 +3,7 @@
   "name": "AdvantageKit",
   "version": "4.0.0",
   "uuid": "d820cc26-74e3-11ec-90d6-0242ac120003",
-  "frcYear": "2025",
+  "frcYear": "2026beta",
   "mavenUrls": [
     "https://frcmaven.wpi.edu/artifactory/littletonrobotics-mvn-release/"
   ],

vendordeps/LaserCAN.json

@@ -2,7 +2,7 @@
   "fileName": "libgrapplefrc2025.json",
   "name": "libgrapplefrc",
   "version": "2025.1.0",
-  "frcYear": "2025",
+  "frcYear": "2026beta",
   "uuid": "8ef3423d-9532-4665-8339-206dae1d7168",
   "mavenUrls": [ "https://storage.googleapis.com/grapple-frc-maven" ],
   "jsonUrl": "https://storage.googleapis.com/grapple-frc-maven/libgrapplefrc2025.json",

vendordeps/NavX.json

@@ -3,7 +3,7 @@
     "name": "Studica",
     "version": "2025.0.0",
     "uuid": "cb311d09-36e9-4143-a032-55bb2b94443b",
-    "frcYear": "2025",
+    "frcYear": "2026beta",
     "mavenUrls": [
         "https://dev.studica.com/maven/release/2025/"
     ],

vendordeps/PathplannerLib.json

@@ -3,7 +3,7 @@
   "name": "PathplannerLib",
   "version": "2025.1.1",
   "uuid": "1b42324f-17c6-4875-8e77-1c312bc8c786",
-  "frcYear": "2025",
+  "frcYear": "2026beta",
   "mavenUrls": [
     "https://3015rangerrobotics.github.io/pathplannerlib/repo"
   ],

vendordeps/Phoenix5.json

@@ -1,50 +1,50 @@
 {
-  "fileName": "Phoenix5-frc2025-latest.json",
+  "fileName": "Phoenix5-frc2026-beta-latest.json",
   "name": "CTRE-Phoenix (v5)",
-  "version": "5.35.1",
-  "frcYear": "2025",
+  "version": "5.36.0-beta-1",
+  "frcYear": "2026beta",
   "uuid": "ab676553-b602-441f-a38d-f1296eff6537",
   "mavenUrls": [
     "https://maven.ctr-electronics.com/release/"
   ],
-  "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix/Phoenix5-frc2025-latest.json",
+  "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix/Phoenix5-frc2026-beta-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-frc2025-latest.json",
-      "onlineUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2025-latest.json"
+      "offlineFileName": "Phoenix6-frc2026-beta-latest.json",
+      "onlineUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2026-beta-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-frc2025-latest.json"
+      "offlineFileName": "Phoenix6-replay-frc2026-beta-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-frc2025-latest.json"
+      "offlineFileName": "Phoenix5-replay-frc2026-beta-latest.json"
     }
   ],
   "javaDependencies": [
     {
       "groupId": "com.ctre.phoenix",
       "artifactId": "api-java",
-      "version": "5.35.1"
+      "version": "5.36.0-beta-1"
     },
     {
       "groupId": "com.ctre.phoenix",
       "artifactId": "wpiapi-java",
-      "version": "5.35.1"
+      "version": "5.36.0-beta-1"
     }
   ],
   "jniDependencies": [
     {
       "groupId": "com.ctre.phoenix",
       "artifactId": "cci",
-      "version": "5.35.1",
+      "version": "5.36.0-beta-1",
       "isJar": false,
       "skipInvalidPlatforms": true,
       "validPlatforms": [
@@ -58,7 +58,7 @@
     {
       "groupId": "com.ctre.phoenix.sim",
       "artifactId": "cci-sim",
-      "version": "5.35.1",
+      "version": "5.36.0-beta-1",
       "isJar": false,
       "skipInvalidPlatforms": true,
       "validPlatforms": [
@@ -74,7 +74,7 @@
     {
       "groupId": "com.ctre.phoenix",
       "artifactId": "wpiapi-cpp",
-      "version": "5.35.1",
+      "version": "5.36.0-beta-1",
       "libName": "CTRE_Phoenix_WPI",
       "headerClassifier": "headers",
       "sharedLibrary": true,
@@ -90,7 +90,7 @@
     {
       "groupId": "com.ctre.phoenix",
       "artifactId": "api-cpp",
-      "version": "5.35.1",
+      "version": "5.36.0-beta-1",
       "libName": "CTRE_Phoenix",
       "headerClassifier": "headers",
       "sharedLibrary": true,
@@ -106,7 +106,7 @@
     {
       "groupId": "com.ctre.phoenix",
       "artifactId": "cci",
-      "version": "5.35.1",
+      "version": "5.36.0-beta-1",
       "libName": "CTRE_PhoenixCCI",
       "headerClassifier": "headers",
       "sharedLibrary": true,
@@ -122,7 +122,7 @@
     {
       "groupId": "com.ctre.phoenix.sim",
       "artifactId": "wpiapi-cpp-sim",
-      "version": "5.35.1",
+      "version": "5.36.0-beta-1",
       "libName": "CTRE_Phoenix_WPISim",
       "headerClassifier": "headers",
       "sharedLibrary": true,
@@ -138,7 +138,7 @@
     {
       "groupId": "com.ctre.phoenix.sim",
       "artifactId": "api-cpp-sim",
-      "version": "5.35.1",
+      "version": "5.36.0-beta-1",
       "libName": "CTRE_PhoenixSim",
       "headerClassifier": "headers",
       "sharedLibrary": true,
@@ -154,7 +154,7 @@
     {
       "groupId": "com.ctre.phoenix.sim",
       "artifactId": "cci-sim",
-      "version": "5.35.1",
+      "version": "5.36.0-beta-1",
       "libName": "CTRE_PhoenixCCISim",
       "headerClassifier": "headers",
       "sharedLibrary": true,