Merge branch 'main' of https://git.demerso.net/sdesharnais/Rebuilt-2026

.vscode/settings.json

@@ -57,5 +57,5 @@
     "edu.wpi.first.math.**.proto.*",
     "edu.wpi.first.math.**.struct.*",
   ],
-  "java.jdt.ls.vmargs": "-XX:+UseParallelGC -XX:GCTimeRatio=4 -XX:AdaptiveSizePolicyWeight=90 -Dsun.zip.disableMemoryMapping=true -Xmx2G -Xms100m -Xlog:disable"
+  "java.dependency.enableDependencyCheckup": false
 }

.wpilib/wpilib_preferences.json

@@ -1,6 +1,6 @@
 {
     "enableCppIntellisense": false,
     "currentLanguage": "java",
-    "projectYear": "2025",
+    "projectYear": "2026",
     "teamNumber": 5618
 }

WPILib-License.md

@@ -1,4 +1,4 @@
-Copyright (c) 2009-2024 FIRST and other WPILib contributors
+Copyright (c) 2009-2026 FIRST and other WPILib contributors
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without

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"
 }
 
 java {
@@ -43,7 +43,8 @@ deploy {
 
 def deployArtifact = deploy.targets.roborio.artifacts.frcJava
 
-// Set to true to use debug for JNI.
+// Set to true to use debug for all targets including JNI, which will drastically impact
+// performance.
 wpi.java.debugJni = false
 
 // Set this to true to enable desktop support.
@@ -88,7 +89,9 @@ wpi.sim.addDriverstation()
 // knows where to look for our Robot Class.
 jar {
     from { configurations.runtimeClasspath.collect { it.isDirectory() ? it : zipTree(it) } }
-    from sourceSets.main.allSource
+    from('src') { into 'backup/src' }
+    from('vendordeps') { into 'backup/vendordeps' }
+    from('build.gradle') { into 'backup' }
     manifest edu.wpi.first.gradlerio.GradleRIOPlugin.javaManifest(ROBOT_MAIN_CLASS)
     duplicatesStrategy = DuplicatesStrategy.INCLUDE
 }

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/frc/robot/Robot.java

@@ -8,7 +8,6 @@ import edu.wpi.first.math.util.Units;
 import edu.wpi.first.wpilibj.TimedRobot;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.CommandScheduler;
-import frc.robot.subsystems.Limelight3G;
 
 public class Robot extends TimedRobot {
   private Command m_autonomousCommand;

src/main/java/frc/robot/RobotContainer.java

@@ -17,7 +17,6 @@ import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
-import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine;
 import frc.robot.commands.Aspirer;
 import frc.robot.commands.DescendreBalyeuse;
 import frc.robot.commands.DescendreGrimpeur;
@@ -122,7 +121,7 @@ public class RobotContainer {
     //manette 2
     manette1.rightTrigger().whileTrue(new Aspirer(balayeuse));
     manette1.rightBumper().whileTrue(new MonterBalyeuse(balayeuse));
-    manette1.leftTrigger().whileTrue(new LancerBaseVitesse(lanceur, limeLight3G));
+    manette1.leftTrigger().whileTrue(new LancerBaseVitesse(lanceur));
     manette1.leftBumper().whileTrue(new DescendreBalyeuse(balayeuse));
     manette1.x().whileTrue(new LancerAspirer(lanceur, balayeuse, limeLight3G));
     manette1.b().whileTrue(new ModeOposer(lanceur));

src/main/java/frc/robot/commands/Aspirer.java

@@ -4,10 +4,8 @@
 
 package frc.robot.commands;
 
-import edu.wpi.first.wpilibj.Timer;
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.subsystems.Balayeuse;
-import frc.robot.subsystems.Led;
 
 /* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
 public class Aspirer extends Command {

src/main/java/frc/robot/commands/Lancer.java

@@ -7,9 +7,7 @@ package frc.robot.commands;
 import edu.wpi.first.math.controller.PIDController;
 import edu.wpi.first.wpilibj.Timer;
 import edu.wpi.first.wpilibj2.command.Command;
-import frc.robot.subsystems.Balayeuse;
 import frc.robot.subsystems.Lanceur;
-import frc.robot.subsystems.Led;
 import frc.robot.subsystems.Limelight3G;
 
 /* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
@@ -18,15 +16,12 @@ public class Lancer extends Command {
   private PIDController pidController;
   private Limelight3G limeLight3G;
   private Timer timer;
-  private double temp;
   /** Creates a new Lancer. */
   public Lancer(Lanceur lanceur, Limelight3G limeLight3G) {
     this.lanceur = lanceur;
     this.timer = new Timer();
     this.limeLight3G = new Limelight3G();
     addRequirements(lanceur, limeLight3G);
-
-    this.temp = 0;
     // Use addRequirements() here to declare subsystem dependencies.
   }
 
@@ -35,7 +30,6 @@ public class Lancer extends Command {
   public void initialize() {
     pidController = new PIDController(0.0007, 0,0, 0.001);
     timer.reset();  
-    temp = lanceur.Amp();    
   }
 
   // Called every time the scheduler runs while the command is scheduled.

src/main/java/frc/robot/commands/LancerAspirer.java

@@ -7,8 +7,6 @@ package frc.robot.commands;
 import edu.wpi.first.wpilibj2.command.ParallelCommandGroup;
 import frc.robot.subsystems.Balayeuse;
 import frc.robot.subsystems.Lanceur;
-import frc.robot.subsystems.Led;
-import frc.robot.subsystems.LimeLight3;
 import frc.robot.subsystems.Limelight3G;
 
 

src/main/java/frc/robot/commands/LancerBaseVitesse.java

@@ -5,25 +5,22 @@
 package frc.robot.commands;
 
 import edu.wpi.first.math.controller.PIDController;
+import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj.Timer;
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.subsystems.Lanceur;
-import frc.robot.subsystems.LimeLight3;
-import frc.robot.subsystems.Limelight3G;
 
 /* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
 public class LancerBaseVitesse extends Command {
   private Lanceur lanceur;
   private PIDController pidController;
-  private Limelight3G limeLight3G;
   private Timer timer;
-  private double temp;
+  double tempsDebut = 0;
   /** Creates a new Lancer. */
-  public LancerBaseVitesse(Lanceur lanceur, Limelight3G limeLight3G) {
+  public LancerBaseVitesse(Lanceur lanceur) {
     this.lanceur = lanceur;
    this.timer = new Timer();
-    this.limeLight3G = new Limelight3G();
+    addRequirements(lanceur);
-    addRequirements(lanceur, limeLight3G);
     //this.temp = 0;
     // Use addRequirements() here to declare subsystem dependencies.
   }
@@ -34,38 +31,18 @@ public class LancerBaseVitesse extends Command {
     pidController = new PIDController(0.0007, 0,0, 0.001);
     timer.reset();
     timer.start();
-    //temp = lanceur.Amp();    
   }
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    // int nbFois = 0;
+    System.out.println(DriverStation.getMatchTime());
-
-    // double moyenneAmp = 0;
-    // if(timer.get() < 3){
-    //   nbFois++;
-    //   moyenneAmp += balayeuse.Amp() / nbFois;
-    // }
-    // else{
-    //   nbFois++;
-    //   moyenneAmp -= temp;
-    //   moyenneAmp += balayeuse.Amp() / nbFois;
-    //   temp = balayeuse.Amp();
-    // }
-    // if(moyenneAmp > 30 && nbFois > 10){
-    //   timer.reset();
-    //   balayeuse.Balayer(0.5);
-    //   led.Jaune2();
-    // }
-    // else{
       double vitesse = lanceur.vitesseDemander();
       double output = pidController.calculate(lanceur.Vitesse(),vitesse);
       lanceur.Lancer(output);
-      if(timer.get() >1){
+      if(timer.get() > 1){
         lanceur.Demeler(1);
        }
-    // }
 
   }
 

src/main/java/frc/robot/commands/Limelighter.java

@@ -9,7 +9,6 @@ import com.ctre.phoenix6.swerve.SwerveRequest;
 
 import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj.DriverStation.Alliance;
-import edu.wpi.first.wpilibj.Timer;
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.generated.TunerConstants;
 import frc.robot.subsystems.CommandSwerveDrivetrain;
@@ -20,7 +19,6 @@ import java.util.Optional;
 
 /* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
 public class Limelighter extends Command {
-  Timer timer;
   Limelight3G limelight3g;
   CommandSwerveDrivetrain drivetrain;
   private double MaxSpeed = TunerConstants.kSpeedAt12Volts.in(MetersPerSecond);
@@ -39,20 +37,18 @@ public class Limelighter extends Command {
     this.limelight3g = limelight3g;
     this.drivetrain = drivetrain;
     addRequirements(drivetrain, limelight3g);
-    timer = new Timer();
     // Use addRequirements() here to declare subsystem dependencies.
   }
 
   // Called when the command is initially scheduled.
   @Override
-  public void initialize() {
+  public void initialize() {}
-    timer.reset();
-  }
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
     double[] BotPose = new double[6];
+    System.out.println("e");
     if (limelight3g.getV()) {
       if(alliance.get() == Alliance.Blue){
         BotPose = limelight3g.getBotPoseBlue();
@@ -72,12 +68,6 @@ public class Limelighter extends Command {
           drive.withVelocityX(0).withVelocityY(0).withRotationalRate(calcul));
       System.out.println(calcul);
       if (calcul < 0.2 && calcul > -0.2) {
-    //     timer.start();
-    //   } else {
-    //     timer.reset();
-    //   }
-    // } else {
-    //   timer.stop();
       drivetrain.setControl(drive.withRotationalRate(0));
       }
     }
@@ -91,7 +81,6 @@ public class Limelighter extends Command {
   @Override
   public void end(boolean interrupted) {
     drivetrain.setControl(drive.withRotationalRate(0));
-    timer.stop();
   }
 
   // Returns true when the command should end.

src/main/java/frc/robot/commands/ModeAuto/RetourMilieuDroite.java

@@ -28,7 +28,6 @@ public class RetourMilieuDroite extends Command {
   double x;
   double y;
   double angle;
-  double force;
   private double MaxSpeed = TunerConstants.kSpeedAt12Volts.in(MetersPerSecond);
   private double MaxAngularRate = RotationsPerSecond.of(0.75).in(RadiansPerSecond);
   Pigeon2 pigeon2;
@@ -54,16 +53,10 @@ public class RetourMilieuDroite extends Command {
     if(angle < 0){
       angle = angle + 360;
     }
-    double[] BotPose = new double[6];
-    BotPose = limelight3g.getBotPoseBlue();
-    botx = BotPose[0];
-    boty = BotPose[1];
-    
     if(alliance.get() == Alliance.Blue){
       y = 0.639;
       x = 2.305;
       angle = 0;
-      force = 0.5;
       if(limelight3g.getV()){
         if(pigeon2.getYaw().getValueAsDouble() >355 || pigeon2.getYaw().getValueAsDouble() < 5){
         if((y-boty < 0.05 && y-boty >-0.05) && (x-botx < 0.05 && x-botx > -0.05)){
@@ -93,34 +86,16 @@ public class RetourMilieuDroite extends Command {
       y = 7.380;
       x = 13.963;
       angle = 180;
-      force = -0.5;
       if(limelight3g.getV()){
-        if(pigeon2.getYaw().getValueAsDouble() >175 && pigeon2.getYaw().getValueAsDouble() < 185){
-        if((y-boty < 0.05 && y-boty >-0.05) && (x-botx < 0.05 && x-botx > -0.05)){
-          drivetrain.setControl(drive.withVelocityX(0).withVelocityY(0));
     }
-        else{
-            if(botx > 10){
-              drivetrain.setControl(drive.withVelocityX(y-boty));
-            }
-            else{
-              drivetrain.setControl(drive.withVelocityX(y-boty).withVelocityY(x-botx));
-            }
-        }
-      }
-      else{
     if(pigeon2.getYaw().getValueAsDouble() >0 && pigeon2.getYaw().getValueAsDouble() <180){
       drivetrain.setControl(drive.withRotationalRate(0.5));
     }
-        else if(pigeon2.getYaw().getValueAsDouble() >=180){
+    else if(pigeon2.getYaw().getValueAsDouble() >180){
-    
       drivetrain.setControl(drive.withRotationalRate(-0.5));
     }
   }
-      }
+}
-     }
-     
-  }
 
   // Called once the command ends or is interrupted.
   @Override

src/main/java/frc/robot/commands/ModeOposerBalayeuse.java

@@ -6,7 +6,6 @@ package frc.robot.commands;
 
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.subsystems.Balayeuse;
-import frc.robot.subsystems.Lanceur;
 /* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
 public class ModeOposerBalayeuse extends Command {
   private Balayeuse balayeuse;

src/main/java/frc/robot/subsystems/CommandSwerveDrivetrain.java

@@ -248,12 +248,12 @@ public class CommandSwerveDrivetrain extends TunerSwerveDrivetrain implements Su
 
     @Override
     public void periodic() {
-        if(pigeon2.getYaw().getValueAsDouble() > 360){
+        // if(getPigeon2().getYaw().getValueAsDouble() > 360){
-           pigeon2.setYaw(pigeon2.getYaw().getValueAsDouble()-360);
+        //     getPigeon2().setYaw(getPigeon2().getYaw().getValueAsDouble()-360);
-        }
+        // }
-        else if(pigeon2.getYaw().getValueAsDouble() < 0){
+        // else if(getPigeon2().getYaw().getValueAsDouble() < 0){
-            pigeon2.setYaw(pigeon2.getYaw().getValueAsDouble()+360);
+        //     getPigeon2().setYaw(getPigeon2().getYaw().getValueAsDouble()+360);
-         }
+        //  }
         
         /*
          * Periodically try to apply the operator perspective.

src/main/java/frc/robot/subsystems/Led.java

@@ -4,14 +4,11 @@
 
 package frc.robot.subsystems;
 
-import java.util.Optional;
-
 import com.ctre.phoenix.led.CANdle;
 import com.ctre.phoenix.led.RainbowAnimation;
 
 import edu.wpi.first.networktables.GenericEntry;
 import edu.wpi.first.wpilibj.DriverStation;
-import edu.wpi.first.wpilibj.DriverStation.Alliance;
 import edu.wpi.first.wpilibj.shuffleboard.BuiltInWidgets;
 import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
 import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
@@ -21,67 +18,76 @@ public class Led extends SubsystemBase {
   ShuffleboardTab teb = Shuffleboard.getTab("teb");
   private GenericEntry equipe = 
   teb.add("equipe commence (bleu = ouvert, rouge = fermé)", true).withWidget(BuiltInWidgets.kToggleSwitch).getEntry();
+  @SuppressWarnings("removal")
   CANdle CANDle = new CANdle(17);
+  @SuppressWarnings("removal")
   RainbowAnimation rainbowAnim = new RainbowAnimation();
+    @SuppressWarnings("removal")
     public void bleu(){
     CANDle.setLEDs(0, 0, 255,0,0,8);
     CANDle.setLEDs(0, 0, 255,0,16,8);
     CANDle.setLEDs(0, 0, 255,0,32,8);
-    CANDle.setLEDs(0, 0, 255,0,56,8);
+    // CANDle.setLEDs(0, 0, 255,0,56,8);
-    CANDle.setLEDs(0, 0, 255,0,72,8);
+    // CANDle.setLEDs(0, 0, 255,0,72,8);
-    CANDle.setLEDs(0, 0, 255,0,88,8);
+    // CANDle.setLEDs(0, 0, 255,0,88,8);
-    CANDle.setLEDs(0, 0, 255,0,104,8);
+    // CANDle.setLEDs(0, 0, 255,0,104,8);
-    CANDle.setLEDs(0, 0, 255,0,120,8);
+    // CANDle.setLEDs(0, 0, 255,0,120,8);
-    CANDle.setLEDs(0, 0, 255,0,136,8);
+    // CANDle.setLEDs(0, 0, 255,0,136,8);
     
   }
+  @SuppressWarnings("removal")
   public void Vert1(){
     CANDle.setLEDs(0, 255, 0,0,0,8);
     CANDle.setLEDs(0, 255, 0,0,16,8);
     CANDle.setLEDs(0, 255, 0,0,32,8);
-    CANDle.setLEDs(0, 255, 0,0,56,8);
+    // CANDle.setLEDs(0, 255, 0,0,56,8);
-    CANDle.setLEDs(0, 255, 0,0,72,8);
+    // CANDle.setLEDs(0, 255, 0,0,72,8);
-    CANDle.setLEDs(0, 255, 0,0,88,8);
+    // CANDle.setLEDs(0, 255, 0,0,88,8);
-    CANDle.setLEDs(0, 255, 0,0,104,8);
+    // CANDle.setLEDs(0, 255, 0,0,104,8);
-    CANDle.setLEDs(0, 255, 0,0,120,8);
+    // CANDle.setLEDs(0, 255, 0,0,120,8);
-    CANDle.setLEDs(0, 255, 0,0,136,8);
+    // CANDle.setLEDs(0, 255, 0,0,136,8);
   }
+  @SuppressWarnings("removal")
   public void Rouge(){
     CANDle.setLEDs(255, 0, 0,0,0,8);
     CANDle.setLEDs(255, 0, 0,0,16,8);
     CANDle.setLEDs(255, 0, 0,0,32,8);
-    CANDle.setLEDs(255, 0, 0,0,48,8);
+    // CANDle.setLEDs(255, 0, 0,0,48,8);
-    CANDle.setLEDs(255, 0, 0,0,64,8);
+    // CANDle.setLEDs(255, 0, 0,0,64,8);
-    CANDle.setLEDs(255, 0, 0,0,80,8);
+    // CANDle.setLEDs(255, 0, 0,0,80,8);
-    CANDle.setLEDs(255, 0, 0,0,96,8);
+    // CANDle.setLEDs(255, 0, 0,0,96,8);
-    CANDle.setLEDs(255, 0, 0,0,112,8);
+    // CANDle.setLEDs(255, 0, 0,0,112,8);
-    CANDle.setLEDs(255, 0, 0,0,128,8);
+    // CANDle.setLEDs(255, 0, 0,0,128,8);
   }
+  @SuppressWarnings("removal")
   public void Jaune2(){
     CANDle.setLEDs(255, 255, 0,0,8,8);
     CANDle.setLEDs(255, 255, 0,0,24,8);
     CANDle.setLEDs(255, 255, 0,0,40,8);
-    CANDle.setLEDs(255, 255, 0,0,56,8);
+    // CANDle.setLEDs(255, 255, 0,0,56,8);
-    CANDle.setLEDs(255, 255, 0,0,72,8);
+    // CANDle.setLEDs(255, 255, 0,0,72,8);
-    CANDle.setLEDs(255, 255, 0,0,88,8);
+    // CANDle.setLEDs(255, 255, 0,0,88,8);
-    CANDle.setLEDs(255, 255, 0,0,104,8);
+    // CANDle.setLEDs(255, 255, 0,0,104,8);
-    CANDle.setLEDs(255, 255, 0,0,120,8);
+    // CANDle.setLEDs(255, 255, 0,0,120,8);
-    CANDle.setLEDs(255, 255, 0,0,136,8);
+    // CANDle.setLEDs(255, 255, 0,0,136,8);
   }
+  @SuppressWarnings("removal")
   public void Rouge2(){
     CANDle.setLEDs(255, 0, 0,0,8,8);
     CANDle.setLEDs(255, 0, 0,0,24,8);
     CANDle.setLEDs(255, 0, 0,0,40,8);
-    CANDle.setLEDs(255, 0, 0,0,56,8);
+    // CANDle.setLEDs(255, 0, 0,0,56,8);
-    CANDle.setLEDs(255, 0, 0,0,72,8);
+    // CANDle.setLEDs(255, 0, 0,0,72,8);
-    CANDle.setLEDs(255, 0, 0,0,88,8);
+    // CANDle.setLEDs(255, 0, 0,0,88,8);
-    CANDle.setLEDs(255, 0, 0,0,104,8);
+    // CANDle.setLEDs(255, 0, 0,0,104,8);
-    CANDle.setLEDs(255, 0, 0,0,120,8);
+    // CANDle.setLEDs(255, 0, 0,0,120,8);
-    CANDle.setLEDs(255, 0, 0,0,136,8);
+    // CANDle.setLEDs(255, 0, 0,0,136,8);
   }
+  @SuppressWarnings("removal")
   public void RainBow(){
     CANDle.animate(rainbowAnim);
   }
+  @SuppressWarnings("removal")
   public void RainBowStop(){
     CANDle.animate(null);
   }
@@ -93,6 +99,7 @@ public class Led extends SubsystemBase {
 
   @Override
   public void periodic() {
+    
     double temps = DriverStation.getMatchTime();
     if(temps > 20 && temps < 30){
       Vert1();
@@ -132,5 +139,7 @@ public class Led extends SubsystemBase {
       }
     }
     // This method will be called once per scheduler run
+    
   }
+    
 }

vendordeps/PathplannerLib-2026.1.2.json

@@ -0,0 +1,38 @@
+{
+    "fileName": "PathplannerLib-2026.1.2.json",
+    "name": "PathplannerLib",
+    "version": "2026.1.2",
+    "uuid": "1b42324f-17c6-4875-8e77-1c312bc8c786",
+    "frcYear": "2026",
+    "mavenUrls": [
+        "https://3015rangerrobotics.github.io/pathplannerlib/repo"
+    ],
+    "jsonUrl": "https://3015rangerrobotics.github.io/pathplannerlib/PathplannerLib.json",
+    "javaDependencies": [
+        {
+            "groupId": "com.pathplanner.lib",
+            "artifactId": "PathplannerLib-java",
+            "version": "2026.1.2"
+        }
+    ],
+    "jniDependencies": [],
+    "cppDependencies": [
+        {
+            "groupId": "com.pathplanner.lib",
+            "artifactId": "PathplannerLib-cpp",
+            "version": "2026.1.2",
+            "libName": "PathplannerLib",
+            "headerClassifier": "headers",
+            "sharedLibrary": false,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "osxuniversal",
+                "linuxathena",
+                "linuxarm32",
+                "linuxarm64"
+            ]
+        }
+    ]
+}

vendordeps/Phoenix5-5.36.0.json

@@ -0,0 +1,171 @@
+{
+    "fileName": "Phoenix5-5.36.0.json",
+    "name": "CTRE-Phoenix (v5)",
+    "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-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-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-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-frc2026-latest.json"
+        }
+    ],
+    "javaDependencies": [
+        {
+            "groupId": "com.ctre.phoenix",
+            "artifactId": "api-java",
+            "version": "5.36.0"
+        },
+        {
+            "groupId": "com.ctre.phoenix",
+            "artifactId": "wpiapi-java",
+            "version": "5.36.0"
+        }
+    ],
+    "jniDependencies": [
+        {
+            "groupId": "com.ctre.phoenix",
+            "artifactId": "cci",
+            "version": "5.36.0",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "linuxathena"
+            ],
+            "simMode": "hwsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix.sim",
+            "artifactId": "cci-sim",
+            "version": "5.36.0",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        }
+    ],
+    "cppDependencies": [
+        {
+            "groupId": "com.ctre.phoenix",
+            "artifactId": "wpiapi-cpp",
+            "version": "5.36.0",
+            "libName": "CTRE_Phoenix_WPI",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "linuxathena"
+            ],
+            "simMode": "hwsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix",
+            "artifactId": "api-cpp",
+            "version": "5.36.0",
+            "libName": "CTRE_Phoenix",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "linuxathena"
+            ],
+            "simMode": "hwsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix",
+            "artifactId": "cci",
+            "version": "5.36.0",
+            "libName": "CTRE_PhoenixCCI",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "linuxathena"
+            ],
+            "simMode": "hwsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix.sim",
+            "artifactId": "wpiapi-cpp-sim",
+            "version": "5.36.0",
+            "libName": "CTRE_Phoenix_WPISim",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix.sim",
+            "artifactId": "api-cpp-sim",
+            "version": "5.36.0",
+            "libName": "CTRE_PhoenixSim",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix.sim",
+            "artifactId": "cci-sim",
+            "version": "5.36.0",
+            "libName": "CTRE_PhoenixCCISim",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        }
+    ]
+}

vendordeps/Phoenix6-26.1.3.json

@@ -0,0 +1,449 @@
+{
+    "fileName": "Phoenix6-26.1.3.json",
+    "name": "CTRE-Phoenix (v6)",
+    "version": "26.1.3",
+    "frcYear": "2026",
+    "uuid": "e995de00-2c64-4df5-8831-c1441420ff19",
+    "mavenUrls": [
+        "https://maven.ctr-electronics.com/release/"
+    ],
+    "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2026-latest.json",
+    "conflictsWith": [
+        {
+            "uuid": "e7900d8d-826f-4dca-a1ff-182f658e98af",
+            "errorMessage": "Users can not have both the replay and regular Phoenix 6 vendordeps in their robot program.",
+            "offlineFileName": "Phoenix6-replay-frc2026-latest.json"
+        }
+    ],
+    "javaDependencies": [
+        {
+            "groupId": "com.ctre.phoenix6",
+            "artifactId": "wpiapi-java",
+            "version": "26.1.3"
+        }
+    ],
+    "jniDependencies": [
+        {
+            "groupId": "com.ctre.phoenix6",
+            "artifactId": "api-cpp",
+            "version": "26.1.3",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "linuxathena"
+            ],
+            "simMode": "hwsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6",
+            "artifactId": "tools",
+            "version": "26.1.3",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "linuxathena"
+            ],
+            "simMode": "hwsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "api-cpp-sim",
+            "version": "26.1.3",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "tools-sim",
+            "version": "26.1.3",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simTalonSRX",
+            "version": "26.1.3",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simVictorSPX",
+            "version": "26.1.3",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simPigeonIMU",
+            "version": "26.1.3",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simProTalonFX",
+            "version": "26.1.3",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simProTalonFXS",
+            "version": "26.1.3",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simProCANcoder",
+            "version": "26.1.3",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simProPigeon2",
+            "version": "26.1.3",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simProCANrange",
+            "version": "26.1.3",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simProCANdi",
+            "version": "26.1.3",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simProCANdle",
+            "version": "26.1.3",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        }
+    ],
+    "cppDependencies": [
+        {
+            "groupId": "com.ctre.phoenix6",
+            "artifactId": "wpiapi-cpp",
+            "version": "26.1.3",
+            "libName": "CTRE_Phoenix6_WPI",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "linuxathena"
+            ],
+            "simMode": "hwsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6",
+            "artifactId": "tools",
+            "version": "26.1.3",
+            "libName": "CTRE_PhoenixTools",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "linuxathena"
+            ],
+            "simMode": "hwsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "wpiapi-cpp-sim",
+            "version": "26.1.3",
+            "libName": "CTRE_Phoenix6_WPISim",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "tools-sim",
+            "version": "26.1.3",
+            "libName": "CTRE_PhoenixTools_Sim",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simTalonSRX",
+            "version": "26.1.3",
+            "libName": "CTRE_SimTalonSRX",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simVictorSPX",
+            "version": "26.1.3",
+            "libName": "CTRE_SimVictorSPX",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simPigeonIMU",
+            "version": "26.1.3",
+            "libName": "CTRE_SimPigeonIMU",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simProTalonFX",
+            "version": "26.1.3",
+            "libName": "CTRE_SimProTalonFX",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simProTalonFXS",
+            "version": "26.1.3",
+            "libName": "CTRE_SimProTalonFXS",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simProCANcoder",
+            "version": "26.1.3",
+            "libName": "CTRE_SimProCANcoder",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simProPigeon2",
+            "version": "26.1.3",
+            "libName": "CTRE_SimProPigeon2",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simProCANrange",
+            "version": "26.1.3",
+            "libName": "CTRE_SimProCANrange",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simProCANdi",
+            "version": "26.1.3",
+            "libName": "CTRE_SimProCANdi",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix6.sim",
+            "artifactId": "simProCANdle",
+            "version": "26.1.3",
+            "libName": "CTRE_SimProCANdle",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        }
+    ]
+}

vendordeps/REVLib.json

@@ -1,25 +1,55 @@
 {
     "fileName": "REVLib.json",
     "name": "REVLib",
-    "version": "2025.0.3",
+    "version": "2026.0.5",
-    "frcYear": "2025",
+    "frcYear": "2026",
     "uuid": "3f48eb8c-50fe-43a6-9cb7-44c86353c4cb",
     "mavenUrls": [
         "https://maven.revrobotics.com/"
     ],
-    "jsonUrl": "https://software-metadata.revrobotics.com/REVLib-2025.json",
+    "jsonUrl": "https://software-metadata.revrobotics.com/REVLib-2026.json",
     "javaDependencies": [
         {
             "groupId": "com.revrobotics.frc",
             "artifactId": "REVLib-java",
-            "version": "2025.0.3"
+            "version": "2026.0.5"
         }
     ],
     "jniDependencies": [
         {
             "groupId": "com.revrobotics.frc",
             "artifactId": "REVLib-driver",
-            "version": "2025.0.3",
+            "version": "2026.0.5",
+            "skipInvalidPlatforms": true,
+            "isJar": false,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxarm64",
+                "linuxx86-64",
+                "linuxathena",
+                "linuxarm32",
+                "osxuniversal"
+            ]
+        },
+        {
+            "groupId": "com.revrobotics.frc",
+            "artifactId": "RevLibBackendDriver",
+            "version": "2026.0.5",
+            "skipInvalidPlatforms": true,
+            "isJar": false,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxarm64",
+                "linuxx86-64",
+                "linuxathena",
+                "linuxarm32",
+                "osxuniversal"
+            ]
+        },
+        {
+            "groupId": "com.revrobotics.frc",
+            "artifactId": "RevLibWpiBackendDriver",
+            "version": "2026.0.5",
             "skipInvalidPlatforms": true,
             "isJar": false,
             "validPlatforms": [
@@ -36,7 +66,7 @@
         {
             "groupId": "com.revrobotics.frc",
             "artifactId": "REVLib-cpp",
-            "version": "2025.0.3",
+            "version": "2026.0.5",
             "libName": "REVLib",
             "headerClassifier": "headers",
             "sharedLibrary": false,
@@ -53,7 +83,7 @@
         {
             "groupId": "com.revrobotics.frc",
             "artifactId": "REVLib-driver",
-            "version": "2025.0.3",
+            "version": "2026.0.5",
             "libName": "REVLibDriver",
             "headerClassifier": "headers",
             "sharedLibrary": false,
@@ -66,6 +96,38 @@
                 "linuxarm32",
                 "osxuniversal"
             ]
+        },
+        {
+            "groupId": "com.revrobotics.frc",
+            "artifactId": "RevLibBackendDriver",
+            "version": "2026.0.5",
+            "libName": "BackendDriver",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxarm64",
+                "linuxx86-64",
+                "linuxathena",
+                "linuxarm32",
+                "osxuniversal"
+            ]
+        },
+        {
+            "groupId": "com.revrobotics.frc",
+            "artifactId": "RevLibWpiBackendDriver",
+            "version": "2026.0.5",
+            "libName": "REVLibWpi",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxarm64",
+                "linuxx86-64",
+                "linuxathena",
+                "linuxarm32",
+                "osxuniversal"
+            ]
         }
     ]
 }

vendordeps/WPILibNewCommands.json

@@ -3,7 +3,7 @@
   "name": "WPILib-New-Commands",
   "version": "1.0.0",
   "uuid": "111e20f7-815e-48f8-9dd6-e675ce75b266",
-  "frcYear": "2025",
+  "frcYear": "2026",
   "mavenUrls": [],
   "jsonUrl": "",
   "javaDependencies": [
@@ -25,6 +25,7 @@
       "sharedLibrary": true,
       "skipInvalidPlatforms": true,
       "binaryPlatforms": [
+        "linuxsystemcore",
         "linuxathena",
         "linuxarm32",
         "linuxarm64",