Skip to content

Update PathPlanner and Choreo vendordeps #74

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
bhall-ctre merged 4 commits into from
Jan 12, 2026
Merged

Update PathPlanner and Choreo vendordeps #74

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
4 commits
Select commit Hold shift + click to select a range
008a519
Update PathPlanner and Choreo vendordeps
bhall-ctre Jan 12, 2026
eabdc66
Fix C++ SwerveWithPathPlanner autonomous command scheduling
bhall-ctre Jan 12, 2026
f8b7c04
Fix deprecation warnings on CommandScheduler usage
bhall-ctre Jan 12, 2026
232eda5
Re-add kUseLimelight to C++ SwerveWithPathPlanner
bhall-ctre Jan 12, 2026
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
4 changes: 2 additions & 2 deletions cpp/CommandBasedDrive/src/main/cpp/Robot.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -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());
}
}

Expand All @@ -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;
}
}
Expand Down
4 changes: 2 additions & 2 deletions cpp/PhoenixSysId/src/main/cpp/Robot.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -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());
}
}

Expand All @@ -32,7 +32,7 @@ void Robot::AutonomousExit() {}

void Robot::TeleopInit() {
if (m_autonomousCommand) {
m_autonomousCommand->Cancel();
frc2::CommandScheduler::GetInstance().Cancel(m_autonomousCommand.value());
}
}

Expand Down
4 changes: 2 additions & 2 deletions cpp/SwerveWithPathPlanner/src/main/cpp/Robot.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -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);
}
}

Expand All @@ -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);
}
}

Expand Down
2 changes: 2 additions & 0 deletions cpp/SwerveWithPathPlanner/src/main/include/Robot.h
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -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;
Expand Down
10 changes: 5 additions & 5 deletions cpp/SwerveWithPathPlanner/vendordeps/PathplannerLib.json
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -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"
],
Expand All @@ -12,15 +12,15 @@
{
"groupId": "com.pathplanner.lib",
"artifactId": "PathplannerLib-java",
"version": "2025.2.6"
"version": "2026.1.2"
}
],
"jniDependencies": [],
"cppDependencies": [
{
"groupId": "com.pathplanner.lib",
"artifactId": "PathplannerLib-cpp",
"version": "2025.2.6",
"version": "2026.1.2",
"libName": "PathplannerLib",
"headerClassifier": "headers",
"sharedLibrary": false,
Expand Down
4 changes: 2 additions & 2 deletions java/CommandBasedDrive/src/main/java/frc/robot/Robot.java
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -59,7 +59,7 @@ public void autonomousInit() {

// schedule the autonomous command (example)
if (m_autonomousCommand != null) {
m_autonomousCommand.schedule();
CommandScheduler.getInstance().schedule(m_autonomousCommand);
}
}

Expand All @@ -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);
}
}

Expand Down
4 changes: 2 additions & 2 deletions java/PhoenixSysId/src/main/java/frc/robot/Robot.java
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -36,7 +36,7 @@ public void autonomousInit() {
m_autonomousCommand = m_robotContainer.getAutonomousCommand();

if (m_autonomousCommand != null) {
m_autonomousCommand.schedule();
CommandScheduler.getInstance().schedule(m_autonomousCommand);
}
}

Expand All @@ -49,7 +49,7 @@ public void autonomousExit() {}
@Override
public void teleopInit() {
if (m_autonomousCommand != null) {
m_autonomousCommand.cancel();
CommandScheduler.getInstance().cancel(m_autonomousCommand);
}
}

Expand Down
44 changes: 0 additions & 44 deletions java/SwerveWithChoreo/vendordeps/ChoreoLib2025.json
View file
Open in desktop

This file was deleted.

44 changes: 44 additions & 0 deletions java/SwerveWithChoreo/vendordeps/ChoreoLib2026.json
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -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"
]
}
]
}
10 changes: 5 additions & 5 deletions java/SwerveWithPathPlanner/vendordeps/PathplannerLib.json
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -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"
],
Expand All @@ -12,15 +12,15 @@
{
"groupId": "com.pathplanner.lib",
"artifactId": "PathplannerLib-java",
"version": "2025.2.6"
"version": "2026.1.2"
}
],
"jniDependencies": [],
"cppDependencies": [
{
"groupId": "com.pathplanner.lib",
"artifactId": "PathplannerLib-cpp",
"version": "2025.2.6",
"version": "2026.1.2",
"libName": "PathplannerLib",
"headerClassifier": "headers",
"sharedLibrary": false,
Expand Down
4 changes: 2 additions & 2 deletions python/PhoenixSysId/robot.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -36,15 +36,15 @@ 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
# teleop starts running. If you want the autonomous to
# 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"""
Expand Down