From 008a519c86bbd32de64cc185c4d9657a211e2bbc Mon Sep 17 00:00:00 2001 From: Benjamin Hall Date: Mon, 12 Jan 2026 16:09:01 +0000 Subject: [PATCH 1/4] Update PathPlanner and Choreo vendordeps --- .../vendordeps/PathplannerLib.json | 10 ++--- .../vendordeps/ChoreoLib2025.json | 44 ------------------- .../vendordeps/ChoreoLib2026.json | 44 +++++++++++++++++++ .../vendordeps/PathplannerLib.json | 10 ++--- 4 files changed, 54 insertions(+), 54 deletions(-) delete mode 100644 java/SwerveWithChoreo/vendordeps/ChoreoLib2025.json create mode 100644 java/SwerveWithChoreo/vendordeps/ChoreoLib2026.json diff --git a/cpp/SwerveWithPathPlanner/vendordeps/PathplannerLib.json b/cpp/SwerveWithPathPlanner/vendordeps/PathplannerLib.json index 10f6cd2..f72fa41 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/SwerveWithChoreo/vendordeps/ChoreoLib2025.json b/java/SwerveWithChoreo/vendordeps/ChoreoLib2025.json deleted file mode 100644 index 834cf0f..0000000 --- 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 0000000..cf7e7cf --- /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 10f6cd2..f72fa41 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, From eabdc665974c846406c9de869e53229795cd80b2 Mon Sep 17 00:00:00 2001 From: Benjamin Hall Date: Mon, 12 Jan 2026 16:17:54 +0000 Subject: [PATCH 2/4] Fix C++ SwerveWithPathPlanner autonomous command scheduling --- cpp/SwerveWithPathPlanner/src/main/cpp/Robot.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/cpp/SwerveWithPathPlanner/src/main/cpp/Robot.cpp b/cpp/SwerveWithPathPlanner/src/main/cpp/Robot.cpp index 1b20ac4..6128889 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); } } From f8b7c0449837e5315ba2875b81207a8c9b904ce9 Mon Sep 17 00:00:00 2001 From: Benjamin Hall Date: Mon, 12 Jan 2026 16:27:10 +0000 Subject: [PATCH 3/4] Fix deprecation warnings on CommandScheduler usage --- cpp/CommandBasedDrive/src/main/cpp/Robot.cpp | 4 ++-- cpp/PhoenixSysId/src/main/cpp/Robot.cpp | 4 ++-- cpp/SwerveWithPathPlanner/src/main/cpp/Robot.cpp | 4 ++-- java/CommandBasedDrive/src/main/java/frc/robot/Robot.java | 4 ++-- java/PhoenixSysId/src/main/java/frc/robot/Robot.java | 4 ++-- python/PhoenixSysId/robot.py | 4 ++-- 6 files changed, 12 insertions(+), 12 deletions(-) diff --git a/cpp/CommandBasedDrive/src/main/cpp/Robot.cpp b/cpp/CommandBasedDrive/src/main/cpp/Robot.cpp index 3a60339..1a120ad 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 2ed3f80..2f174e8 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 6128889..9fc6fe6 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); + 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); + frc2::CommandScheduler::GetInstance().Cancel(m_autonomousCommand); } } diff --git a/java/CommandBasedDrive/src/main/java/frc/robot/Robot.java b/java/CommandBasedDrive/src/main/java/frc/robot/Robot.java index 915b23f..cf01593 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 0c92770..4cdc242 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/python/PhoenixSysId/robot.py b/python/PhoenixSysId/robot.py index f77b8c1..9bf8b0c 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""" From 232eda57037f8a1e716e0465c106676e510e0ed2 Mon Sep 17 00:00:00 2001 From: Benjamin Hall Date: Mon, 12 Jan 2026 11:33:10 -0500 Subject: [PATCH 4/4] Re-add kUseLimelight to C++ SwerveWithPathPlanner --- cpp/SwerveWithPathPlanner/src/main/include/Robot.h | 2 ++ 1 file changed, 2 insertions(+) diff --git a/cpp/SwerveWithPathPlanner/src/main/include/Robot.h b/cpp/SwerveWithPathPlanner/src/main/include/Robot.h index 6136f58..a870ce2 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;