Pull in develop for v26.0.0-beta1 release
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* New template-syncing Action * WIP: Add 2026-beta vendordeps -- Some issues still extant with relating previous code to new vendor dep codes. * WIP: Still working on making 2026 vendor libs work * WIP: Trying to clean up the CI build * Working minus AdvantageKit bug -- Seems to be all working now minus a bug in AdvantageKit related to the logging of power monitoring. It seems the upstream issue solely a public/ private issue with one of the classes (Mechanical-Advantage/AdvantageKit#244). * Update copyright * Use kZero for WPILib geometry classes -- The `kZero` constant was added to many WPILib geometry classes in 2025. It exists as a preallocated, static final field in classes like `Rotation2d`, `Translation2d`, `Translation3d`, and `Transform3d` to avoid unnecessary memory allocations for common zero-value objects. This is particularly useful for optimizing performance and garbage collection on the roboRIO. * Update AKit license notices -- Also, AKit moved from GPL3 -> BSD 3-clause. * Fix breaking changes in CTRE / RevLib 2026 -- There were various breaking changes in the 2026 versions of the motor control libraries. This commit deals with all of them (as of right now). * Clean up CI with caching and directed jobs * Starting to update install docs. * Revert "New template-syncing Action" * Add pointer to where to place LoggedPower when available * Align with AK26 * Update AKit copyright notices * Pull in AK26 updates * Update CI pointer in README.md
Implements the [Autopilot](https://therekrab.github.io/autopilot/index.html) library for drive-to-pose functionality. * Add AutoPilot * Move AprilTag constants to separate file * Update drivebase PIDs; AK26 sync -- Update the drivebase constants PID values with those used for the FRC-2486 2025 competition bot. These were SDS Mk4i w/ Kraken X60's, so should be somewhat close for most robot projects. * Implementing most of Autopilot --The class constructors and command factory for the Autopilot drive-to-pose framework is in place. The next steps will be to define targets and be able to modify drive-to-pose configurations as needed by specific commands. * Add AutoPilot drive-to-pose with button press --Included documentation in code about how to use AutoPilot in the RobotContainer class. * Add 26-beta vendordeps for photonlib and ThriftyLib * Use suppliers for accelerometers -- Send a supplier for the accelerometer rather than the accelerometer object itself. * Update license notices and README in `src/main/java/frc` * Temporarily remove URCL -- The URCL library was causing crashing when trying to test code on the robot. Temporarily removing it to allow for on-robot testing of the rest of the code base. (NOTE: This will need to be re-added for the final v26.0.0 release * Update power monitoring to not double-sample PDM -- Previous implementation was double-sampling the PDM because AKit was reading everything and then this module was reading it again. At the moment, power logging is not working at all (even from AKit), but this may be a bug I fixed from 26-beta1 and it will be fine with the kickoff release. * WIP: Add Autopilot commands -- Still not working. The Commands.run() bit is just not being executed. Updated ModuleIOTalonFX.java and ModuleIOTalonFXS.java to match FRC2486's in-season use of those modules. * Fix how the Autopilot Command is called -- Use the Commands.defer() construct. Also, include the PID-reset and until parts of the AutoPilot command. * Clean up the drive-stick-choice a bit * Tune the Autopilot command
Move the gyroscopes out of the drive subsystem and implement an IMU subsystem. This simplifies using the gyros for both the drive and acceleration subsystems. * Move Gyro implementation to IMU -- Move the IMU implementation from the drivebase into its own subsystem so that it is accessible to both the drivetrain and the accelerometer classes. * Actually compute accelerations / jerks -- Plumb in the accelerations for the two types of IMU and compute them in the Acceleration class. * Fix bugs in implementation of PigeonIMU * Working on the install docs -- Including a Getting Started Guide. Moved around sections of the ``Constants.java`` file to align with the GSG and making it easier to find the parts. * Convert accelerations to m/s^2 in the ImuIO
Last updates based on released or unreleased code. * Re-add URCL now it's been released * Match AK26 updates
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As titled.