2026

.wpilib/wpilib_preferences.json

@@ -1,6 +1,6 @@
 {
     "enableCppIntellisense": false,
     "currentLanguage": "java",
-    "projectYear": "2025",
+    "projectYear": "2026",
     "teamNumber": 199
 }

build.gradle

@@ -1,6 +1,6 @@
 plugins {
     id "java"
-    id "edu.wpi.first.GradleRIO" version "2025.3.2"
+    id "edu.wpi.first.GradleRIO" version "2026.2.1"
     id "maven-publish"
     id "eclipse"
 }

settings.gradle

@@ -4,7 +4,7 @@ pluginManagement {
     repositories {
         mavenLocal()
         gradlePluginPortal()
-        String frcYear = '2025'
+        String frcYear = '2026'
         File frcHome
         if (OperatingSystem.current().isWindows()) {
             String publicFolder = System.getenv('PUBLIC')

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

@@ -14,6 +14,8 @@
 
 import com.ctre.phoenix.motorcontrol.NeutralMode;
 import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
+import com.revrobotics.PersistMode;
+import com.revrobotics.ResetMode;
 import com.revrobotics.spark.SparkBase;
 import com.revrobotics.spark.SparkFlex;
 import com.revrobotics.spark.SparkLowLevel;
@@ -78,8 +80,8 @@ public static SparkMax createSparkMax(int id, MotorConfig motorConfig, SparkBase
     }
     MotorErrors.reportError(spark.configure(
       config, 
-      SparkBase.ResetMode.kResetSafeParameters,
-      SparkBase.PersistMode.kPersistParameters
+      ResetMode.kResetSafeParameters,
+      PersistMode.kPersistParameters
     ));
     MotorErrors.reportSparkTemp(spark, motorConfig.temperatureLimitCelsius);
     MotorErrors.checkSparkErrors(spark);
@@ -109,8 +111,8 @@ public static SparkFlex createSparkFlex(int id, MotorConfig motorConfig, SparkBa
     }
     MotorErrors.reportError(spark.configure(
       config, 
-      SparkBase.ResetMode.kResetSafeParameters,
-      SparkBase.PersistMode.kPersistParameters
+      ResetMode.kResetSafeParameters,
+      PersistMode.kPersistParameters
     ));
 
     MotorErrors.reportSparkTemp(spark, motorConfig.temperatureLimitCelsius);

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

@@ -6,7 +6,9 @@
 import java.util.concurrent.ConcurrentSkipListMap;
 
 import com.ctre.phoenix.ErrorCode;
+import com.revrobotics.PersistMode;
 import com.revrobotics.REVLibError;
+import com.revrobotics.ResetMode;
 import com.revrobotics.spark.SparkBase;
 import com.revrobotics.spark.SparkBase.Faults;
 import com.revrobotics.spark.SparkFlex;
@@ -187,14 +189,14 @@ private static void reportSparkTemp(int port, SparkBase spark) {
                 case SPARK_MAX:
                     spark.configure(
                         OVERHEAT_MAX_CONFIG,
-                        SparkBase.ResetMode.kNoResetSafeParameters,
-                        SparkBase.PersistMode.kNoPersistParameters);
+                        ResetMode.kNoResetSafeParameters,
+                        PersistMode.kNoPersistParameters);
                     break;
                 case SPARK_FLEX:
                     spark.configure(
                         OVERHEAT_FLEX_CONFIG,
-                        SparkBase.ResetMode.kNoResetSafeParameters,
-                        SparkBase.PersistMode.kNoPersistParameters);
+                        ResetMode.kNoResetSafeParameters,
+                        PersistMode.kNoPersistParameters);
                     break;
                 default:
                     System.err.println("Unknown spark :(");

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

@@ -4,8 +4,8 @@
 import com.revrobotics.spark.ClosedLoopSlot;
 import com.revrobotics.spark.SparkBase;
 import com.revrobotics.spark.SparkBase.ControlType;
-import com.revrobotics.spark.SparkBase.PersistMode;
-import com.revrobotics.spark.SparkBase.ResetMode;
+import com.revrobotics.PersistMode;
+import com.revrobotics.ResetMode;
 import com.revrobotics.spark.SparkClosedLoopController;
 import com.revrobotics.spark.config.ClosedLoopConfig;
 import edu.wpi.first.util.sendable.Sendable;
@@ -36,12 +36,12 @@ public SparkVelocityPIDController(String name, SparkBase spark, double defaultP,
                 this.currentI = defaultI,
                 this.currentD = defaultD
             )),
-            SparkBase.ResetMode.kNoResetSafeParameters,//we only want to change pid params
-            SparkBase.PersistMode.kNoPersistParameters);
+            ResetMode.kNoResetSafeParameters,//we only want to change pid params
+            PersistMode.kNoPersistParameters);
         this.kS = kS;
         this.kV = kV;
 
-        pidController.setReference(targetSpeed, ControlType.kVelocity, ClosedLoopSlot.kSlot0, calculateFF(targetSpeed));
+        pidController.setSetpoint(targetSpeed, ControlType.kVelocity, ClosedLoopSlot.kSlot0, calculateFF(targetSpeed));
 
         SendableRegistry.addLW(this, "SparkVelocityPIDController", spark.getDeviceId());
     }
@@ -65,7 +65,7 @@ public double getTargetSpeed() {
     public void setTargetSpeed(double targetSpeed) {
         if(targetSpeed == this.targetSpeed) return;
         this.targetSpeed = targetSpeed;
-        pidController.setReference(targetSpeed, ControlType.kVelocity, ClosedLoopSlot.kSlot0, calculateFF(targetSpeed));
+        pidController.setSetpoint(targetSpeed, ControlType.kVelocity, ClosedLoopSlot.kSlot0, calculateFF(targetSpeed));
     }
 
     public double getTolerance() {
@@ -99,7 +99,7 @@ public void initSendable(SendableBuilder builder) {
         });
         builder.addDoubleProperty("Target Speed", () -> targetSpeed, newSpeed -> {
             if(newSpeed == targetSpeed) return;
-            pidController.setReference(newSpeed, ControlType.kVelocity, ClosedLoopSlot.kSlot0, calculateFF(newSpeed));
+            pidController.setSetpoint(newSpeed, ControlType.kVelocity, ClosedLoopSlot.kSlot0, calculateFF(newSpeed));
             targetSpeed = newSpeed;
         });
         builder.addDoubleProperty("Tolerance", () -> tolerance, newTolerance -> tolerance = newTolerance);

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

@@ -108,10 +108,6 @@ public REVLibError setReference(double value, SparkMax.ControlType ctrl, ClosedL
     */
     @Deprecated
     public REVLibError setReference(double value, SparkMax.ControlType ctrl, ClosedLoopSlot pidSlot, double arbFeedforward, SparkClosedLoopController.ArbFFUnits arbFFUnits) {
-        if(ctrl == SparkMax.ControlType.kSmartVelocity) {
-            System.err.println("(MockedSparkMaxPIDController): setReference() with ControlType.kSmartVelocity is not currently implemented");
-            return REVLibError.kNotImplemented;
-        }
 
         setpoint = value;
         controlType = ctrl;
@@ -124,14 +120,11 @@ public REVLibError setReference(double value, SparkMax.ControlType ctrl, ClosedL
                 break;
             case kPosition:
             case kVelocity:
-            case kSmartMotion:
             case kMAXMotionPositionControl:
             case kMAXMotionVelocityControl:
             case kCurrent:
                 motor.setClosedLoopControl(true);
                 break;
-            case kSmartVelocity:
-                break; // This should never happen
         }
 
         activeSlot = getSlot(pidSlot.value);

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

@@ -9,8 +9,8 @@
 import com.ctre.phoenix6.configs.CANcoderConfiguration;
 import com.ctre.phoenix6.hardware.CANcoder;
 import com.revrobotics.spark.SparkBase;
-import com.revrobotics.spark.SparkBase.PersistMode;
-import com.revrobotics.spark.SparkBase.ResetMode;
+import com.revrobotics.PersistMode;
+import com.revrobotics.ResetMode;
 import com.revrobotics.spark.config.SparkBaseConfig;
 import com.revrobotics.spark.config.SparkBaseConfig.IdleMode;
 import com.revrobotics.spark.config.SparkBaseConfigAccessor;

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

@@ -43,7 +43,7 @@ public void testCommand(Function<Command, Command> constructor, boolean isSafe,
         loggingCommand.reset();
 
         SafeMode.enable();
-        command.schedule();
+        CommandScheduler.getInstance().schedule(command);
         CommandScheduler.getInstance().run();
         if (isSafe || staysEnabled)
             assertTrue(command.isScheduled());
@@ -56,7 +56,7 @@ public void testCommand(Function<Command, Command> constructor, boolean isSafe,
         assertEquals(isSafe ? 1 : 0, loggingCommand.getExecuteCount());
 
         SafeMode.disable();
-        command.schedule();
+        CommandScheduler.getInstance().schedule(command);
         CommandScheduler.getInstance().run();
         if (!isSafe || staysEnabled)
             assertTrue(command.isScheduled());

vendordeps/PathplannerLib-2025.2.7.json → vendordeps/PathplannerLib-2026.1.2.json

@@ -1,9 +1,9 @@
 {
-    "fileName": "PathplannerLib-2025.2.7.json",
+    "fileName": "PathplannerLib-2026.1.2.json",
     "name": "PathplannerLib",
-    "version": "2025.2.7",
+    "version": "2026.1.2",
     "uuid": "1b42324f-17c6-4875-8e77-1c312bc8c786",
-    "frcYear": "2025",
+    "frcYear": "2026",
     "mavenUrls": [
         "https://3015rangerrobotics.github.io/pathplannerlib/repo"
     ],
@@ -12,15 +12,15 @@
         {
             "groupId": "com.pathplanner.lib",
             "artifactId": "PathplannerLib-java",
-            "version": "2025.2.7"
+            "version": "2026.1.2"
         }
     ],
     "jniDependencies": [],
     "cppDependencies": [
         {
             "groupId": "com.pathplanner.lib",
             "artifactId": "PathplannerLib-cpp",
-            "version": "2025.2.7",
+            "version": "2026.1.2",
             "libName": "PathplannerLib",
             "headerClassifier": "headers",
             "sharedLibrary": false,

vendordeps/Phoenix5-5.35.1.json → vendordeps/Phoenix5-5.36.0.json

@@ -1,50 +1,50 @@
 {
-    "fileName": "Phoenix5-5.35.1.json",
+    "fileName": "Phoenix5-5.36.0.json",
     "name": "CTRE-Phoenix (v5)",
-    "version": "5.35.1",
-    "frcYear": "2025",
+    "version": "5.36.0",
+    "frcYear": "2026",
     "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-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-latest.json",
+            "onlineUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2026-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-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-latest.json"
         }
     ],
     "javaDependencies": [
         {
             "groupId": "com.ctre.phoenix",
             "artifactId": "api-java",
-            "version": "5.35.1"
+            "version": "5.36.0"
         },
         {
             "groupId": "com.ctre.phoenix",
             "artifactId": "wpiapi-java",
-            "version": "5.35.1"
+            "version": "5.36.0"
         }
     ],
     "jniDependencies": [
         {
             "groupId": "com.ctre.phoenix",
             "artifactId": "cci",
-            "version": "5.35.1",
+            "version": "5.36.0",
             "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",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -74,7 +74,7 @@
         {
             "groupId": "com.ctre.phoenix",
             "artifactId": "wpiapi-cpp",
-            "version": "5.35.1",
+            "version": "5.36.0",
             "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",
             "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",
             "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",
             "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",
             "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",
             "libName": "CTRE_PhoenixCCISim",
             "headerClassifier": "headers",
             "sharedLibrary": true,