Merge branch 'develop' into vision-buffer

Author: tbowers7

.github/workflows/ci.yaml

@@ -24,7 +24,7 @@ jobs:
         run: chmod +x gradlew
 
       - name: Set up Gradle cache
-        uses: gradle/actions/setup-gradle@v4
+        uses: gradle/actions/setup-gradle@v5
 
       - name: Build robot code
         run: ./gradlew build --no-daemon --parallel --build-cache
@@ -45,7 +45,7 @@ jobs:
         run: chmod +x gradlew
 
       - name: Set up Gradle cache
-        uses: gradle/actions/setup-gradle@v4
+        uses: gradle/actions/setup-gradle@v5
 
       - name: Run Spotless check
         run: ./gradlew spotlessCheck --no-daemon --parallel --build-cache

.vscode/launch.json

@@ -1,6 +1,13 @@
 {
   "version": "0.2.0",
   "configurations": [
+    {
+      "type": "java",
+      "name": "Main",
+      "request": "launch",
+      "mainClass": "frc.robot.Main",
+      "projectName": "Az-RBSI"
+    },
     {
       "type": "wpilib",
       "name": "WPILib Desktop Debug",

INSTALL.md

@@ -9,6 +9,8 @@ and/or [your team](
 https://docs.github.com/en/get-started/learning-about-github/types-of-github-accounts#organization-accounts)
 already have a GitHub account where you will store your 2026 FRC robot code.
 
+--------
+
 ### Creating a 2026 FRC project from the Az-RBSI Template
 
 From the [Az-RBSI GiuHub page](https://github.com/AZ-First/Az-RBSI/), click the "Use this template" button in the upper right corner of the page.
@@ -30,7 +32,7 @@ The Az-RBSI requires the [2026 WPILib Installer](
 https://github.com/wpilibsuite/allwpilib/releases) (VSCode and associated
 tools), 2026 firmware installed on all hardware (motors, encoders, power
 distribution, etc.), the [2026 NI FRC Game Tools](
-https://www.ni.com/en/support/downloads/drivers/download.frc-game-tools.html)
+https://github.com/wpilibsuite/2026Beta)
 (Driver Station and associated tools), and the [2026 CTRE Phoenix Tuner X](
 https://v6.docs.ctr-electronics.com/en/stable/docs/tuner/index.html).  Take a
 moment to update all software and firmware before attempting to load your new
@@ -39,7 +41,7 @@ robot project.
 Please note that you need these _minimum_ versions of the following components:
 
 * WPILib ` v2026.1.1-beta-1`
-* RoboRIO image `FRC_roboRIO_2026_v2.0`
+* RoboRIO image `FRC_roboRIO_2026_v1.2`
 
 --------
 
@@ -98,66 +100,32 @@ this functionality has not been extensively tested.  Any teams that adopt this
 method are encouraged to submit bug reports and code fixes to the [Az-RBSI
 repository](https://github.com/AZ-First/Az-RBSI).
 
-6. The Az-RBSI expects an Xbox-style controller -- if you have a PS4 or other,
-   substitute the proper command-based controller class for
-   `CommandXboxController` near the top of the `RobotContainer.java` file in
-   the `src/main/java/frc/robot` directory.
-
-7. Power monitoring by subsystem is included in the Az-RBSI.  In order to
-   properly match subsystems to ports on your Power Distribution Module,
-   carefully edit the `CANandPowerPorts` of `Constants.java` to include the
-   proper power ports for each motor in your drivetrain, and include any
-   motors from additional subsystems you add to your robot.  To include
-   additional subsystems in the monitoring, add them to the [`m_power`
-   instantiation](
-   https://github.com/AZ-First/Az-RBSI/blob/38f6391cb70c4caa90502710f591682815064677/src/main/java/frc/robot/RobotContainer.java#L154-L157) in the `RobotContainer.java` file.
-
-8. All of the constants for needed for tuning your robot should be in the
-   `Constants.java` file in the `src/main/java/frc/robot` directory.  This file
-   should be thoroughly edited to match the particulars of your robot.  Be sure
-   to work through each section of this file and include the proper values for
-   your robot.
-
-
---------
-
-### Robot Development
-
-As you program your robot for the 2026 (REBUILT) game, you will likely be
-adding new subsystems and mechanisms to control and the commands to go with
-them.  Add new subsystems in the `subsystems` directory within
-`src/main/java/frc/robot` -- you will find an example flywheel already included
-for inspiration.  New command modules should go into the `commands` directory.
-
-The Az-RBSI is pre-plumbed to work with both the [PathPlanner](
-https://pathplanner.dev/home.html) and [Choreo](
-https://sleipnirgroup.github.io/Choreo/) autonomous path planning software
-packages -- select which you are using in the `Constants.java` file.
-Additionally, both [PhotonVision](https://docs.photonvision.org/en/latest/) and
-[Limelight](
-https://docs.limelightvision.io/docs/docs-limelight/getting-started/summary)
-computer vision systems are supported in the present release.
-
 
 --------
 
 ### Updating your project based on the latest released version of Az-RBSI
 
+As the season progresses, the Az-RBSI developers may add additional features
+to the codebase based on user feedback and developing understanding of needed
+functionality to compete well in the 2026 REBUILT game.
+
 The Az-RBSI includes a GitHub Action that will cause your robot project
-repository on GitHub to check for new versions of the template on a weekly
+repository on GitHub to check for new updates to the template on a weekly
 basis.  If a new version has been released, the `github-actions` bot will
 automatically create a [Pull Request](
 https://docs.github.com/en/pull-requests/collaborating-with-pull-requests/proposing-changes-to-your-work-with-pull-requests/about-pull-requests)
-in your repository that includes all of the changes.  All you need to do to
+in your repository that includes all of the changes since either you created
+the 2026 robot code or the last time you updated.  All you need to do to
 accept the changes is to merge the pull request (assuming no conflicts).
 
 If you wish to check for updates more frequently, you may force the "Sync with
 Az-RBSI Template" process to run under the "Actions" tab on your repository's
 GitHub page.
 
-Please note that this update process does NOT remove files that have been
+The update process has been re-engineered for 2026, and *should* be a straight
+list of the commits that have been applied to the Az-RBSI template since the
+cloning or last update.  This process *should* remove files that have been
 renamed (*e.g.*, `vendordeps` files that are labeled as "beta" in the months
-prior to the start of the season).  As such, it is important to inspect the
-list of file changes and manually remove these kinds of files.  The Az-RBSI
-developers will endeavor to list all such files on the [Az-RBSI Releases page](
-https://github.com/AZ-First/Az-RBSI/releases), but *caveat emptor*.
+prior to the start of the season), but it is important to inspect the list of
+file changes.  Please submit a [GitHub Issue](https://github.com/AZ-First/Az-RBSI/issues)
+if you have problems with the update process.

RBSI-GSG.md

@@ -0,0 +1,82 @@
+# Az-RBSI Getting Started Guide
+
+This page includes detailed steps for getting your new Az-RBSI-based robot code
+up and running for the 2026 REBUILT season.
+
+--------
+
+### Before you deploy to your robot
+
+Before you deploy code to your robot, there are several modifications you need
+to make to the code base.
+
+All of the code you will be writing for your robot's subsystems and
+modifications to extant RBSI code will be done to files within the
+`src/main/java/frc/robot` directory (and its subdirectories).
+
+1. **Controller Type**: The Az-RBSI expects an Xbox-style controller -- if you
+   have a PS4 or other, substitute the proper command-based controller class
+   for `CommandXboxController` near the top of the `RobotContainer.java` file.
+
+2. **Robot Project Constants**: All of the configurable values for your robot
+   will be in the ``Constants.java`` file.  This file contains the outer
+   ``Constants`` class with various high-level configuration variables such as
+   ``swerveType``, ``autoType``, ``visionType``, and whether your team has
+   purchased a [CTRE Pro license](https://v6.docs.ctr-electronics.com/en/stable/docs/licensing/team-licensing.html)
+   for unlocking some of the more advanced communication and control features
+   available for CTRE devices.
+
+3. **Robot Physical Constants**: The next four classes in ``Constants.java``
+   contain information about the robot's physical characteristics, power
+   distribution information, all of the devices (motors, servos, switches)
+   connected to your robot, and operator control preferences.  Work through
+   these sections carefully and make sure all of the variables in these classes
+   match what is on your robot *before* deploying code.  Power monitoring in
+   Az-RBSI matches subsystems to ports on your Power Distribution Module, so
+   carefully edit the `RobotDevices` class of `Constants.java` to include the
+   proper power ports for each motor in your drivetrain, and include any motors
+   from additional subsystems you add to your robot.
+
+--------
+
+### Tuning constants for optimal performance
+
+4. HHHH
+
+
+
+
+5. Power monitoring by subsystem is included in the Az-RBSI.  In order to
+   properly match subsystems to ports on your Power Distribution Module,
+   carefully edit the `RobotDevices` of `Constants.java` to include the
+   proper power ports for each motor in your drivetrain, and include any
+   motors from additional subsystems you add to your robot.  To include
+   additional subsystems in the monitoring, add them to the [`m_power`
+   instantiation](
+   https://github.com/AZ-First/Az-RBSI/blob/38f6391cb70c4caa90502710f591682815064677/src/main/java/frc/robot/RobotContainer.java#L154-L157) in the `RobotContainer.java` file.
+
+6. All of the constants for needed for tuning your robot should be in the
+   `Constants.java` file in the `src/main/java/frc/robot` directory.  This file
+   should be thoroughly edited to match the particulars of your robot.  Be sure
+   to work through each section of this file and include the proper values for
+   your robot.
+
+
+--------
+
+### Robot Development
+
+As you program your robot for the 2026 (REBUILT) game, you will likely be
+adding new subsystems and mechanisms to control and the commands to go with
+them.  Add new subsystems in the `subsystems` directory within
+`src/main/java/frc/robot` -- you will find an example flywheel already included
+for inspiration.  New command modules should go into the `commands` directory.
+
+The Az-RBSI is pre-plumbed to work with both the [PathPlanner](
+https://pathplanner.dev/home.html) and [Choreo](
+https://sleipnirgroup.github.io/Choreo/) autonomous path planning software
+packages -- select which you are using in the `Constants.java` file.
+Additionally, both [PhotonVision](https://docs.photonvision.org/en/latest/) and
+[Limelight](
+https://docs.limelightvision.io/docs/docs-limelight/getting-started/summary)
+computer vision systems are supported in the present release.

README.md

@@ -9,9 +9,10 @@ Arizona's Reference Build and Software Implementation for FRC Robots (read: "A-Z
 
 ## Installation
 
-Installation instructions are found in the [INSTALL.md](INSTALL.md) file.  See
-the [Releases Page](https://github.com/AZ-First/Az-RBSI/releases) for details
-on the latest release, including restrictions and cautions.
+Installation instructions are found in the [INSTALL.md](INSTALL.md) file, and the [Getting
+Started Guide](RBSI-GSG.md) includes the steps you'll need to do before taking your robot
+out for a spin.  See the [Releases Page](https://github.com/AZ-First/Az-RBSI/releases) for
+details on the latest release, including restrictions and cautions.
 
 
 ## Purpose
@@ -53,6 +54,7 @@ effective logging for troubleshooting.
 * [PhotonVision](https://docs.photonvision.org/en/latest/) / [Limelight](
   https://docs.limelightvision.io/docs/docs-limelight/getting-started/summary)
   -- Robot vision / tracking
+* [Autopilot](https://therekrab.github.io/autopilot/index.html) -- Drive-to-Pose semi-autonomous movements
 
 ## Further Reading
 

src/main/java/frc/robot/AprilTagLayout.java

@@ -0,0 +1,79 @@
+// Copyright (c) 2024-2026 Az-FIRST
+// http://github.com/AZ-First
+//
+// This program is free software; you can redistribute it and/or
+// modify it under the terms of the GNU General Public License
+// version 3 as published by the Free Software Foundation or
+// available in the root directory of this project.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU General Public License for more details.
+//
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot;
+
+import static edu.wpi.first.units.Units.*;
+
+import com.fasterxml.jackson.core.JsonProcessingException;
+import com.fasterxml.jackson.databind.ObjectMapper;
+import edu.wpi.first.apriltag.AprilTagFieldLayout;
+import edu.wpi.first.apriltag.AprilTagFields;
+import edu.wpi.first.wpilibj.Filesystem;
+import java.io.IOException;
+import java.nio.file.Path;
+import lombok.Getter;
+
+public class AprilTagLayout {
+
+  /** AprilTag Field Layout ************************************************ */
+  public static final double aprilTagWidth = Inches.of(6.50).in(Meters);
+
+  public static final String aprilTagFamily = "36h11";
+  public static final AprilTagLayoutType defaultAprilTagType = AprilTagLayoutType.OFFICIAL;
+
+  public static final AprilTagFieldLayout aprilTagLayout =
+      AprilTagFieldLayout.loadField(AprilTagFields.kDefaultField);
+
+  @Getter
+  public enum AprilTagLayoutType {
+    OFFICIAL("2026-official"),
+
+    REEFSCAPE("2025-official");
+
+    // SPEAKERS_ONLY("2024-speakers"),
+    // AMPS_ONLY("2024-amps"),
+    // WPI("2024-wpi");
+
+    private AprilTagLayoutType(String name) {
+      if (Constants.disableHAL) {
+        layout = null;
+      } else {
+        try {
+          layout =
+              new AprilTagFieldLayout(
+                  Path.of(Filesystem.getDeployDirectory().getPath(), "apriltags", name + ".json"));
+        } catch (IOException e) {
+          throw new RuntimeException(e);
+        }
+      }
+      if (layout == null) {
+        layoutString = "";
+      } else {
+        try {
+          layoutString = new ObjectMapper().writeValueAsString(layout);
+        } catch (JsonProcessingException e) {
+          throw new RuntimeException(
+              "Failed to serialize AprilTag layout JSON " + toString() + "for PhotonVision");
+        }
+      }
+    }
+
+    private final AprilTagFieldLayout layout;
+    private final String layoutString;
+  }
+}