diff --git a/cpp/CommandBasedDrive/src/main/cpp/Robot.cpp b/cpp/CommandBasedDrive/src/main/cpp/Robot.cpp
index 3a603391..1a120ad4 100644
--- a/cpp/CommandBasedDrive/src/main/cpp/Robot.cpp
+++ b/cpp/CommandBasedDrive/src/main/cpp/Robot.cpp
@@ -38,7 +38,7 @@ void Robot::AutonomousInit() {
   m_autonomousCommand = m_container.GetAutonomousCommand();
 
   if (m_autonomousCommand) {
-    m_autonomousCommand->Schedule();
+    frc2::CommandScheduler::GetInstance().Schedule(m_autonomousCommand.value());
   }
 }
 
@@ -50,7 +50,7 @@ void Robot::TeleopInit() {
   // continue until interrupted by another command, remove
   // this line or comment it out.
   if (m_autonomousCommand) {
-    m_autonomousCommand->Cancel();
+    frc2::CommandScheduler::GetInstance().Cancel(m_autonomousCommand.value());
     m_autonomousCommand = std::nullopt;
   }
 }
diff --git a/cpp/PhoenixSysId/src/main/cpp/Robot.cpp b/cpp/PhoenixSysId/src/main/cpp/Robot.cpp
index 2ed3f804..2f174e8e 100644
--- a/cpp/PhoenixSysId/src/main/cpp/Robot.cpp
+++ b/cpp/PhoenixSysId/src/main/cpp/Robot.cpp
@@ -22,7 +22,7 @@ void Robot::AutonomousInit() {
   m_autonomousCommand = m_container.GetAutonomousCommand();
 
   if (m_autonomousCommand) {
-    m_autonomousCommand->Schedule();
+    frc2::CommandScheduler::GetInstance().Schedule(m_autonomousCommand.value());
   }
 }
 
@@ -32,7 +32,7 @@ void Robot::AutonomousExit() {}
 
 void Robot::TeleopInit() {
   if (m_autonomousCommand) {
-    m_autonomousCommand->Cancel();
+    frc2::CommandScheduler::GetInstance().Cancel(m_autonomousCommand.value());
   }
 }
 
diff --git a/cpp/SwerveWithPathPlanner/src/main/cpp/Robot.cpp b/cpp/SwerveWithPathPlanner/src/main/cpp/Robot.cpp
index 1b20ac48..9fc6fe69 100644
--- a/cpp/SwerveWithPathPlanner/src/main/cpp/Robot.cpp
+++ b/cpp/SwerveWithPathPlanner/src/main/cpp/Robot.cpp
@@ -44,7 +44,7 @@ void Robot::AutonomousInit() {
     m_autonomousCommand = m_container.GetAutonomousCommand();
 
     if (m_autonomousCommand) {
-        frc2::CommandScheduler::GetInstance().Schedule(m_autonomousCommand.value());
+        frc2::CommandScheduler::GetInstance().Schedule(m_autonomousCommand);
     }
 }
 
@@ -54,7 +54,7 @@ void Robot::AutonomousExit() {}
 
 void Robot::TeleopInit() {
     if (m_autonomousCommand) {
-        frc2::CommandScheduler::GetInstance().Cancel(m_autonomousCommand.value());
+        frc2::CommandScheduler::GetInstance().Cancel(m_autonomousCommand);
     }
 }
 
diff --git a/cpp/SwerveWithPathPlanner/src/main/include/Robot.h b/cpp/SwerveWithPathPlanner/src/main/include/Robot.h
index 6136f580..a870ce26 100644
--- a/cpp/SwerveWithPathPlanner/src/main/include/Robot.h
+++ b/cpp/SwerveWithPathPlanner/src/main/include/Robot.h
@@ -30,6 +30,8 @@ class Robot : public frc::TimedRobot {
     void TestExit() override;
 
 private:
+    static constexpr bool kUseLimelight = false;
+
     frc2::Command *m_autonomousCommand;
 
     RobotContainer m_container;
diff --git a/cpp/SwerveWithPathPlanner/vendordeps/PathplannerLib.json b/cpp/SwerveWithPathPlanner/vendordeps/PathplannerLib.json
index 10f6cd22..f72fa41f 100644
--- a/cpp/SwerveWithPathPlanner/vendordeps/PathplannerLib.json
+++ b/cpp/SwerveWithPathPlanner/vendordeps/PathplannerLib.json
@@ -1,9 +1,9 @@
 {
-    "fileName": "PathplannerLib.json",
+    "fileName": "PathplannerLib-2026.1.2.json",
     "name": "PathplannerLib",
-    "version": "2025.2.6",
+    "version": "2026.1.2",
     "uuid": "1b42324f-17c6-4875-8e77-1c312bc8c786",
-    "frcYear": "2025",
+    "frcYear": "2026",
     "mavenUrls": [
         "https://3015rangerrobotics.github.io/pathplannerlib/repo"
     ],
@@ -12,7 +12,7 @@
         {
             "groupId": "com.pathplanner.lib",
             "artifactId": "PathplannerLib-java",
-            "version": "2025.2.6"
+            "version": "2026.1.2"
         }
     ],
     "jniDependencies": [],
@@ -20,7 +20,7 @@
         {
             "groupId": "com.pathplanner.lib",
             "artifactId": "PathplannerLib-cpp",
-            "version": "2025.2.6",
+            "version": "2026.1.2",
             "libName": "PathplannerLib",
             "headerClassifier": "headers",
             "sharedLibrary": false,
diff --git a/java/CommandBasedDrive/src/main/java/frc/robot/Robot.java b/java/CommandBasedDrive/src/main/java/frc/robot/Robot.java
index 915b23f1..cf01593a 100644
--- a/java/CommandBasedDrive/src/main/java/frc/robot/Robot.java
+++ b/java/CommandBasedDrive/src/main/java/frc/robot/Robot.java
@@ -59,7 +59,7 @@ public void autonomousInit() {
 
     // schedule the autonomous command (example)
     if (m_autonomousCommand != null) {
-      m_autonomousCommand.schedule();
+      CommandScheduler.getInstance().schedule(m_autonomousCommand);
     }
   }
 
@@ -74,7 +74,7 @@ public void teleopInit() {
     // continue until interrupted by another command, remove
     // this line or comment it out.
     if (m_autonomousCommand != null) {
-      m_autonomousCommand.cancel();
+      CommandScheduler.getInstance().cancel(m_autonomousCommand);
     }
   }
 
diff --git a/java/PhoenixSysId/src/main/java/frc/robot/Robot.java b/java/PhoenixSysId/src/main/java/frc/robot/Robot.java
index 0c927708..4cdc2424 100644
--- a/java/PhoenixSysId/src/main/java/frc/robot/Robot.java
+++ b/java/PhoenixSysId/src/main/java/frc/robot/Robot.java
@@ -36,7 +36,7 @@ public void autonomousInit() {
     m_autonomousCommand = m_robotContainer.getAutonomousCommand();
 
     if (m_autonomousCommand != null) {
-      m_autonomousCommand.schedule();
+      CommandScheduler.getInstance().schedule(m_autonomousCommand);
     }
   }
 
@@ -49,7 +49,7 @@ public void autonomousExit() {}
   @Override
   public void teleopInit() {
     if (m_autonomousCommand != null) {
-      m_autonomousCommand.cancel();
+      CommandScheduler.getInstance().cancel(m_autonomousCommand);
     }
   }
 
diff --git a/java/SwerveWithChoreo/vendordeps/ChoreoLib2025.json b/java/SwerveWithChoreo/vendordeps/ChoreoLib2025.json
deleted file mode 100644
index 834cf0f8..00000000
--- a/java/SwerveWithChoreo/vendordeps/ChoreoLib2025.json
+++ /dev/null
@@ -1,44 +0,0 @@
-{
-    "fileName": "ChoreoLib2025.json",
-    "name": "ChoreoLib",
-    "version": "2025.0.3",
-    "uuid": "b5e23f0a-dac9-4ad2-8dd6-02767c520aca",
-    "frcYear": "2025",
-    "mavenUrls": [
-        "https://lib.choreo.autos/dep",
-        "https://repo1.maven.org/maven2"
-    ],
-    "jsonUrl": "https://lib.choreo.autos/dep/ChoreoLib2025.json",
-    "javaDependencies": [
-        {
-            "groupId": "choreo",
-            "artifactId": "ChoreoLib-java",
-            "version": "2025.0.3"
-        },
-        {
-            "groupId": "com.google.code.gson",
-            "artifactId": "gson",
-            "version": "2.11.0"
-        }
-    ],
-    "jniDependencies": [],
-    "cppDependencies": [
-        {
-            "groupId": "choreo",
-            "artifactId": "ChoreoLib-cpp",
-            "version": "2025.0.3",
-            "libName": "ChoreoLib",
-            "headerClassifier": "headers",
-            "sharedLibrary": false,
-            "skipInvalidPlatforms": true,
-            "binaryPlatforms": [
-                "windowsx86-64",
-                "linuxx86-64",
-                "osxuniversal",
-                "linuxathena",
-                "linuxarm32",
-                "linuxarm64"
-            ]
-        }
-    ]
-}
\ No newline at end of file
diff --git a/java/SwerveWithChoreo/vendordeps/ChoreoLib2026.json b/java/SwerveWithChoreo/vendordeps/ChoreoLib2026.json
new file mode 100644
index 00000000..cf7e7cf3
--- /dev/null
+++ b/java/SwerveWithChoreo/vendordeps/ChoreoLib2026.json
@@ -0,0 +1,44 @@
+{
+  "fileName": "ChoreoLib2026.json",
+  "name": "ChoreoLib",
+  "version": "2026.0.1",
+  "uuid": "b5e23f0a-dac9-4ad2-8dd6-02767c520aca",
+  "frcYear": "2026",
+  "mavenUrls": [
+    "https://frcmaven.wpi.edu/artifactory/sleipnirgroup-mvn-release/",
+    "https://repo1.maven.org/maven2"
+  ],
+  "jsonUrl": "https://choreo.autos/lib/ChoreoLib2026.json",
+  "javaDependencies": [
+    {
+      "groupId": "choreo",
+      "artifactId": "ChoreoLib-java",
+      "version": "2026.0.1"
+    },
+    {
+      "groupId": "com.google.code.gson",
+      "artifactId": "gson",
+      "version": "2.11.0"
+    }
+  ],
+  "jniDependencies": [],
+  "cppDependencies": [
+    {
+      "groupId": "choreo",
+      "artifactId": "ChoreoLib-cpp",
+      "version": "2026.0.1",
+      "libName": "ChoreoLib",
+      "headerClassifier": "headers",
+      "sharedLibrary": false,
+      "skipInvalidPlatforms": true,
+      "binaryPlatforms": [
+        "windowsx86-64",
+        "linuxx86-64",
+        "osxuniversal",
+        "linuxathena",
+        "linuxarm32",
+        "linuxarm64"
+      ]
+    }
+  ]
+}
diff --git a/java/SwerveWithPathPlanner/vendordeps/PathplannerLib.json b/java/SwerveWithPathPlanner/vendordeps/PathplannerLib.json
index 10f6cd22..f72fa41f 100644
--- a/java/SwerveWithPathPlanner/vendordeps/PathplannerLib.json
+++ b/java/SwerveWithPathPlanner/vendordeps/PathplannerLib.json
@@ -1,9 +1,9 @@
 {
-    "fileName": "PathplannerLib.json",
+    "fileName": "PathplannerLib-2026.1.2.json",
     "name": "PathplannerLib",
-    "version": "2025.2.6",
+    "version": "2026.1.2",
     "uuid": "1b42324f-17c6-4875-8e77-1c312bc8c786",
-    "frcYear": "2025",
+    "frcYear": "2026",
     "mavenUrls": [
         "https://3015rangerrobotics.github.io/pathplannerlib/repo"
     ],
@@ -12,7 +12,7 @@
         {
             "groupId": "com.pathplanner.lib",
             "artifactId": "PathplannerLib-java",
-            "version": "2025.2.6"
+            "version": "2026.1.2"
         }
     ],
     "jniDependencies": [],
@@ -20,7 +20,7 @@
         {
             "groupId": "com.pathplanner.lib",
             "artifactId": "PathplannerLib-cpp",
-            "version": "2025.2.6",
+            "version": "2026.1.2",
             "libName": "PathplannerLib",
             "headerClassifier": "headers",
             "sharedLibrary": false,
diff --git a/python/PhoenixSysId/robot.py b/python/PhoenixSysId/robot.py
index f77b8c13..9bf8b0c1 100644
--- a/python/PhoenixSysId/robot.py
+++ b/python/PhoenixSysId/robot.py
@@ -36,7 +36,7 @@ def autonomousInit(self) -> None:
         self.autonomousCommand = self.container.getAutonomousCommand()
 
         if self.autonomousCommand:
-            self.autonomousCommand.schedule()
+            CommandScheduler.getInstance().schedule(self.autonomousCommand)
 
     def teleopInit(self) -> None:
         # This makes sure that the autonomous stops running when
@@ -44,7 +44,7 @@ def teleopInit(self) -> None:
         # continue until interrupted by another command, remove
         # this line or comment it out.
         if self.autonomousCommand:
-            self.autonomousCommand.cancel()
+            CommandScheduler.getInstance().cancel(self.autonomousCommand)
 
     def teleopPeriodic(self) -> None:
         """This function is called periodically during operator control"""