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timtogantimtogan
authored
Merge pull request #119 from DeepBlueRobotics/2026
2026
2 parents 87145e6 + 48c890a commit f30d84c

16 files changed

Lines changed: 210 additions & 184 deletions

‎.wpilib/wpilib_preferences.json‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -1,6 +1,6 @@
11
{
22
"enableCppIntellisense": false,
33
"currentLanguage": "java",
4-
"projectYear": "2025",
4+
"projectYear": "2026",
55
"teamNumber": 199
66
}

‎build.gradle‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -1,6 +1,6 @@
11
plugins {
22
id "java"
3-
id "edu.wpi.first.GradleRIO" version "2025.3.2"
3+
id "edu.wpi.first.GradleRIO" version "2026.2.1"
44
id "maven-publish"
55
id "eclipse"
66
}

‎settings.gradle‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -4,7 +4,7 @@ pluginManagement {
44
repositories {
55
mavenLocal()
66
gradlePluginPortal()
7-
String frcYear = '2025'
7+
String frcYear = '2026'
88
File frcHome
99
if (OperatingSystem.current().isWindows()) {
1010
String publicFolder = System.getenv('PUBLIC')

‎src/main/java/org/carlmontrobotics/lib199/MotorControllerFactory.java‎

Lines changed: 6 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -14,6 +14,8 @@
1414

1515
import com.ctre.phoenix.motorcontrol.NeutralMode;
1616
import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
17+
import com.revrobotics.PersistMode;
18+
import com.revrobotics.ResetMode;
1719
import com.revrobotics.spark.SparkBase;
1820
import com.revrobotics.spark.SparkFlex;
1921
import com.revrobotics.spark.SparkLowLevel;
@@ -78,8 +80,8 @@ public static SparkMax createSparkMax(int id, MotorConfig motorConfig, SparkBase
7880
}
7981
MotorErrors.reportError(spark.configure(
8082
config,
81-
SparkBase.ResetMode.kResetSafeParameters,
82-
SparkBase.PersistMode.kPersistParameters
83+
ResetMode.kResetSafeParameters,
84+
PersistMode.kPersistParameters
8385
));
8486
MotorErrors.reportSparkTemp(spark, motorConfig.temperatureLimitCelsius);
8587
MotorErrors.checkSparkErrors(spark);
@@ -109,8 +111,8 @@ public static SparkFlex createSparkFlex(int id, MotorConfig motorConfig, SparkBa
109111
}
110112
MotorErrors.reportError(spark.configure(
111113
config,
112-
SparkBase.ResetMode.kResetSafeParameters,
113-
SparkBase.PersistMode.kPersistParameters
114+
ResetMode.kResetSafeParameters,
115+
PersistMode.kPersistParameters
114116
));
115117

116118
MotorErrors.reportSparkTemp(spark, motorConfig.temperatureLimitCelsius);

‎src/main/java/org/carlmontrobotics/lib199/MotorErrors.java‎

Lines changed: 6 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -6,7 +6,9 @@
66
import java.util.concurrent.ConcurrentSkipListMap;
77

88
import com.ctre.phoenix.ErrorCode;
9+
import com.revrobotics.PersistMode;
910
import com.revrobotics.REVLibError;
11+
import com.revrobotics.ResetMode;
1012
import com.revrobotics.spark.SparkBase;
1113
import com.revrobotics.spark.SparkBase.Faults;
1214
import com.revrobotics.spark.SparkFlex;
@@ -187,14 +189,14 @@ private static void reportSparkTemp(int port, SparkBase spark) {
187189
case SPARK_MAX:
188190
spark.configure(
189191
OVERHEAT_MAX_CONFIG,
190-
SparkBase.ResetMode.kNoResetSafeParameters,
191-
SparkBase.PersistMode.kNoPersistParameters);
192+
ResetMode.kNoResetSafeParameters,
193+
PersistMode.kNoPersistParameters);
192194
break;
193195
case SPARK_FLEX:
194196
spark.configure(
195197
OVERHEAT_FLEX_CONFIG,
196-
SparkBase.ResetMode.kNoResetSafeParameters,
197-
SparkBase.PersistMode.kNoPersistParameters);
198+
ResetMode.kNoResetSafeParameters,
199+
PersistMode.kNoPersistParameters);
198200
break;
199201
default:
200202
System.err.println("Unknown spark :(");

‎src/main/java/org/carlmontrobotics/lib199/SparkVelocityPIDController.java‎

Lines changed: 7 additions & 7 deletions
Original file line numberDiff line numberDiff line change
@@ -4,8 +4,8 @@
44
import com.revrobotics.spark.ClosedLoopSlot;
55
import com.revrobotics.spark.SparkBase;
66
import com.revrobotics.spark.SparkBase.ControlType;
7-
import com.revrobotics.spark.SparkBase.PersistMode;
8-
import com.revrobotics.spark.SparkBase.ResetMode;
7+
import com.revrobotics.PersistMode;
8+
import com.revrobotics.ResetMode;
99
import com.revrobotics.spark.SparkClosedLoopController;
1010
import com.revrobotics.spark.config.ClosedLoopConfig;
1111
import edu.wpi.first.util.sendable.Sendable;
@@ -36,12 +36,12 @@ public SparkVelocityPIDController(String name, SparkBase spark, double defaultP,
3636
this.currentI = defaultI,
3737
this.currentD = defaultD
3838
)),
39-
SparkBase.ResetMode.kNoResetSafeParameters,//we only want to change pid params
40-
SparkBase.PersistMode.kNoPersistParameters);
39+
ResetMode.kNoResetSafeParameters,//we only want to change pid params
40+
PersistMode.kNoPersistParameters);
4141
this.kS = kS;
4242
this.kV = kV;
4343

44-
pidController.setReference(targetSpeed, ControlType.kVelocity, ClosedLoopSlot.kSlot0, calculateFF(targetSpeed));
44+
pidController.setSetpoint(targetSpeed, ControlType.kVelocity, ClosedLoopSlot.kSlot0, calculateFF(targetSpeed));
4545

4646
SendableRegistry.addLW(this, "SparkVelocityPIDController", spark.getDeviceId());
4747
}
@@ -65,7 +65,7 @@ public double getTargetSpeed() {
6565
public void setTargetSpeed(double targetSpeed) {
6666
if(targetSpeed == this.targetSpeed) return;
6767
this.targetSpeed = targetSpeed;
68-
pidController.setReference(targetSpeed, ControlType.kVelocity, ClosedLoopSlot.kSlot0, calculateFF(targetSpeed));
68+
pidController.setSetpoint(targetSpeed, ControlType.kVelocity, ClosedLoopSlot.kSlot0, calculateFF(targetSpeed));
6969
}
7070

7171
public double getTolerance() {
@@ -99,7 +99,7 @@ public void initSendable(SendableBuilder builder) {
9999
});
100100
builder.addDoubleProperty("Target Speed", () -> targetSpeed, newSpeed -> {
101101
if(newSpeed == targetSpeed) return;
102-
pidController.setReference(newSpeed, ControlType.kVelocity, ClosedLoopSlot.kSlot0, calculateFF(newSpeed));
102+
pidController.setSetpoint(newSpeed, ControlType.kVelocity, ClosedLoopSlot.kSlot0, calculateFF(newSpeed));
103103
targetSpeed = newSpeed;
104104
});
105105
builder.addDoubleProperty("Tolerance", () -> tolerance, newTolerance -> tolerance = newTolerance);

‎src/main/java/org/carlmontrobotics/lib199/sim/MockedSparkClosedLoopController.java‎

Lines changed: 0 additions & 7 deletions
Original file line numberDiff line numberDiff line change
@@ -108,10 +108,6 @@ public REVLibError setReference(double value, SparkMax.ControlType ctrl, ClosedL
108108
*/
109109
@Deprecated
110110
public REVLibError setReference(double value, SparkMax.ControlType ctrl, ClosedLoopSlot pidSlot, double arbFeedforward, SparkClosedLoopController.ArbFFUnits arbFFUnits) {
111-
if(ctrl == SparkMax.ControlType.kSmartVelocity) {
112-
System.err.println("(MockedSparkMaxPIDController): setReference() with ControlType.kSmartVelocity is not currently implemented");
113-
return REVLibError.kNotImplemented;
114-
}
115111

116112
setpoint = value;
117113
controlType = ctrl;
@@ -124,14 +120,11 @@ public REVLibError setReference(double value, SparkMax.ControlType ctrl, ClosedL
124120
break;
125121
case kPosition:
126122
case kVelocity:
127-
case kSmartMotion:
128123
case kMAXMotionPositionControl:
129124
case kMAXMotionVelocityControl:
130125
case kCurrent:
131126
motor.setClosedLoopControl(true);
132127
break;
133-
case kSmartVelocity:
134-
break; // This should never happen
135128
}
136129

137130
activeSlot = getSlot(pidSlot.value);

‎src/main/java/org/carlmontrobotics/lib199/swerve/SwerveModule.java‎

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -9,8 +9,8 @@
99
import com.ctre.phoenix6.configs.CANcoderConfiguration;
1010
import com.ctre.phoenix6.hardware.CANcoder;
1111
import com.revrobotics.spark.SparkBase;
12-
import com.revrobotics.spark.SparkBase.PersistMode;
13-
import com.revrobotics.spark.SparkBase.ResetMode;
12+
import com.revrobotics.PersistMode;
13+
import com.revrobotics.ResetMode;
1414
import com.revrobotics.spark.config.SparkBaseConfig;
1515
import com.revrobotics.spark.config.SparkBaseConfig.IdleMode;
1616
import com.revrobotics.spark.config.SparkBaseConfigAccessor;

‎src/test/java/org/carlmontrobotics/lib199/safeMode/SafeModeCommandsTest.java‎

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -43,7 +43,7 @@ public void testCommand(Function<Command, Command> constructor, boolean isSafe,
4343
loggingCommand.reset();
4444

4545
SafeMode.enable();
46-
command.schedule();
46+
CommandScheduler.getInstance().schedule(command);
4747
CommandScheduler.getInstance().run();
4848
if (isSafe || staysEnabled)
4949
assertTrue(command.isScheduled());
@@ -56,7 +56,7 @@ public void testCommand(Function<Command, Command> constructor, boolean isSafe,
5656
assertEquals(isSafe ? 1 : 0, loggingCommand.getExecuteCount());
5757

5858
SafeMode.disable();
59-
command.schedule();
59+
CommandScheduler.getInstance().schedule(command);
6060
CommandScheduler.getInstance().run();
6161
if (!isSafe || staysEnabled)
6262
assertTrue(command.isScheduled());

vendordeps/PathplannerLib-2025.2.7.json renamed to vendordeps/PathplannerLib-2026.1.2.json

Lines changed: 5 additions & 5 deletions
Original file line numberDiff line numberDiff line change
@@ -1,9 +1,9 @@
11
{
2-
"fileName": "PathplannerLib-2025.2.7.json",
2+
"fileName": "PathplannerLib-2026.1.2.json",
33
"name": "PathplannerLib",
4-
"version": "2025.2.7",
4+
"version": "2026.1.2",
55
"uuid": "1b42324f-17c6-4875-8e77-1c312bc8c786",
6-
"frcYear": "2025",
6+
"frcYear": "2026",
77
"mavenUrls": [
88
"https://3015rangerrobotics.github.io/pathplannerlib/repo"
99
],
@@ -12,15 +12,15 @@
1212
{
1313
"groupId": "com.pathplanner.lib",
1414
"artifactId": "PathplannerLib-java",
15-
"version": "2025.2.7"
15+
"version": "2026.1.2"
1616
}
1717
],
1818
"jniDependencies": [],
1919
"cppDependencies": [
2020
{
2121
"groupId": "com.pathplanner.lib",
2222
"artifactId": "PathplannerLib-cpp",
23-
"version": "2025.2.7",
23+
"version": "2026.1.2",
2424
"libName": "PathplannerLib",
2525
"headerClassifier": "headers",
2626
"sharedLibrary": false,

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