Tim tian 2026 update

.vscode/launch.json

@@ -4,6 +4,8 @@
   // For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387
   "version": "0.2.0",
   "configurations": [
+
+
 
     {
       "type": "wpilib",

.vscode/settings.json

@@ -56,5 +56,6 @@
     "edu.wpi.first.math.proto.*",
     "edu.wpi.first.math.**.proto.*",
     "edu.wpi.first.math.**.struct.*",
-  ]
+  ],
+  "java.dependency.enableDependencyCheckup": false
 }

.wpilib/wpilib_preferences.json

@@ -1,6 +1,6 @@
 {
     "enableCppIntellisense": false,
     "currentLanguage": "java",
-    "projectYear": "2025",
+    "projectYear": "2026",
     "teamNumber": 1334
 }

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

@@ -1,13 +1,21 @@
 plugins {
     id "java"
-    id "edu.wpi.first.GradleRIO" version "2025.3.2"
+    id "edu.wpi.first.GradleRIO" version "2026.2.1"
 }
 
 java {
     sourceCompatibility = JavaVersion.VERSION_17
     targetCompatibility = JavaVersion.VERSION_17
 }
 
+// Force UTF-8 encoding for all Java source files
+compileJava {
+    options.encoding = 'UTF-8'
+}
+compileTestJava {
+    options.encoding = 'UTF-8'
+}
+
 def ROBOT_MAIN_CLASS = "frc.robot.Main"
 
 // Define my targets (RoboRIO) and artifacts (deployable files)
@@ -43,11 +51,12 @@ 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.
-def includeDesktopSupport = false
+def includeDesktopSupport = true
 
 // Defining my dependencies. In this case, WPILib (+ friends), and vendor libraries.
 // Also defines JUnit 5.
@@ -88,7 +97,9 @@ 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')

simgui-ds.json

@@ -0,0 +1,100 @@
+{
+  "keyboardJoysticks": [
+    {
+      "axisConfig": [
+        {
+          "decKey": 65,
+          "incKey": 68
+        },
+        {
+          "decKey": 87,
+          "incKey": 83
+        },
+        {
+          "decKey": 69,
+          "incKey": 82,
+          "keyRate": 0.009999999776482582
+        }
+      ],
+      "axisCount": 3,
+      "buttonCount": 4,
+      "buttonKeys": [
+        90,
+        88,
+        67,
+        86
+      ],
+      "povConfig": [
+        {
+          "key0": 328,
+          "key135": 323,
+          "key180": 322,
+          "key225": 321,
+          "key270": 324,
+          "key315": 327,
+          "key45": 329,
+          "key90": 326
+        }
+      ],
+      "povCount": 1
+    },
+    {
+      "axisConfig": [
+        {
+          "decKey": 74,
+          "incKey": 76
+        },
+        {
+          "decKey": 73,
+          "incKey": 75
+        }
+      ],
+      "axisCount": 2,
+      "buttonCount": 4,
+      "buttonKeys": [
+        77,
+        44,
+        46,
+        47
+      ],
+      "povCount": 0
+    },
+    {
+      "axisConfig": [
+        {
+          "decKey": 263,
+          "incKey": 262
+        },
+        {
+          "decKey": 265,
+          "incKey": 264
+        }
+      ],
+      "axisCount": 2,
+      "buttonCount": 6,
+      "buttonKeys": [
+        260,
+        268,
+        266,
+        261,
+        81,
+        70
+      ],
+      "povCount": 0
+    },
+    {
+      "axisCount": 0,
+      "buttonCount": 0,
+      "povCount": 0
+    }
+  ],
+  "robotJoysticks": [
+    {
+      "guid": "Keyboard0"
+    },
+    {},
+    {
+      "guid": "Keyboard2"
+    }
+  ]
+}

src/main/deploy/SWERVE/controllerproperties.json

@@ -0,0 +1,8 @@
+{
+  "angleJoystickRadiusDeadband": 0.05,
+  "heading": {
+    "p": 0.0,
+    "i": 0.0,
+    "d": 0.0
+  }
+}

src/main/deploy/SWERVE/modules/Backleft.json

@@ -0,0 +1 @@
+{"location":{"front":-11.125,"left":11.125},"absoluteEncoderOffset":0,"drive":{"type":"talonfx","id":43,"canbus":null},"angle":{"type":"talonfx","id":42,"canbus":null},"encoder":{"type":"cancoder","id":41,"canbus":null},"inverted":{"drive":false,"angle":false}}

src/main/deploy/SWERVE/modules/Backright.json

@@ -0,0 +1 @@
+{"location":{"front":-11.125,"left":-11.125},"absoluteEncoderOffset":0,"drive":{"type":"talonfx","id":33,"canbus":null},"angle":{"type":"talonfx","id":32,"canbus":null},"encoder":{"type":"cancoder","id":31,"canbus":null},"inverted":{"drive":false,"angle":false}}

src/main/deploy/SWERVE/modules/Frontleft.json

@@ -0,0 +1 @@
+{"location":{"front":11.125,"left":11.125},"absoluteEncoderOffset":0,"drive":{"type":"talonfx","id":13,"canbus":null},"angle":{"type":"talonfx","id":12,"canbus":null},"encoder":{"type":"cancoder","id":11,"canbus":null},"inverted":{"drive":false,"angle":false}}

src/main/deploy/SWERVE/modules/Frontright.json

@@ -0,0 +1 @@
+{"location":{"front":11.125,"left":-11.125},"absoluteEncoderOffset":0,"drive":{"type":"talonfx","id":23,"canbus":null},"angle":{"type":"talonfx","id":22,"canbus":null},"encoder":{"type":"cancoder","id":21,"canbus":null},"inverted":{"drive":false,"angle":false}}

src/main/deploy/SWERVE/modules/physicalproperties.json

@@ -0,0 +1,24 @@
+{
+  "optimalVoltage": 12,
+  "robotMass": 110.2311,
+  "wheelGripCoefficientOfFriction": 1.19,
+  "currentLimit": {
+    "drive": 40,
+    "angle": 20
+  },
+  "conversionFactors": {
+    "angle": {
+      "gearRatio": 21.428571429,
+      "factor": 0
+    },
+    "drive": {
+      "diameter": 4,
+      "gearRatio": 6.75,
+      "factor": 0
+    }
+  },
+  "rampRate": {
+    "drive": 0.25,
+    "angle": 0.0
+  }
+}

src/main/deploy/SWERVE/modules/pidfproperties.json

@@ -0,0 +1,16 @@
+{
+  "drive": {
+    "p": 0.0020645,
+    "i": 0,
+    "d": 0,
+    "f": 0,
+    "iz": 0
+  },
+  "angle": {
+    "p": 0.080645,
+    "i": 0,
+    "d": 0.001,
+    "f": 0,
+    "iz": 0
+  }
+}

src/main/deploy/SWERVE/swervedrive.json

@@ -0,0 +1,15 @@
+{
+  "imu": {
+    "type": "pigeon2",
+    "id": 50,
+    "canbus": null
+  },
+  "invertedIMU": false,
+  "modules": [
+    "Frontleft.json",
+    "Frontright.json",
+    "Backleft.json",
+    "Backright.json"
+  ],
+  "note": "Check IMU inversion."
+}

src/main/deploy/pathplanner/2026-rebuilt.json

@@ -0,0 +1,19 @@
+{
+  "game": "Rebuilt",
+  "field-image": "image.png",
+  "field-corners": {
+    "top-left": [
+      245,
+      118
+    ],
+    "bottom-right": [
+      3942,
+      1914
+    ]
+  },
+  "field-size": [
+    54.269,
+    26.474
+  ],
+  "field-unit": "foot"
+}

src/main/java/frc/robot/Constants.java

@@ -4,16 +4,80 @@
 
 package frc.robot;
 
-/**
- * The Constants class provides a convenient place for teams to hold robot-wide numerical or boolean
- * constants. This class should not be used for any other purpose. All constants should be declared
- * globally (i.e. public static). Do not put anything functional in this class.
- *
- * <p>It is advised to statically import this class (or one of its inner classes) wherever the
- * constants are needed, to reduce verbosity.
- */
+import edu.wpi.first.math.geometry.Pose2d;
+import edu.wpi.first.math.geometry.Rotation2d;
+
 public final class Constants {
-  public static class OperatorConstants {
-    public static final int kDriverControllerPort = 0;
-  }
+
+    public int getId() { return 0; }
+
+    public static final class DriveConstants {
+        public static final double MAX_SPEED_MPS = 4.5;
+        public static final double MAX_ANGULAR_VELOCITY = Math.PI;
+        public static final double DEADBAND = 0.05;
+        public static final double ROTATION_SCALE = 0.5;
+        public static final double FULL_SPEED_ROTATION_SCALE = 1.0;
+        public static final double PRECISION_MULTIPLIER = 0.3;
+        public static final double PRECISION_ROTATION_SCALE = 0.3;
+
+        // Speed multiplier bounds for bumper-based speed control
+        public static final double MIN_SPEED_MULTIPLIER = 0.2;
+        public static final double MAX_SPEED_MULTIPLIER = 1.0;
+        public static final double SPEED_MULTIPLIER_STEP = 0.1;
+        public static final double DEFAULT_SPEED_MULTIPLIER = 0.7;
+
+        // Auto constants
+        public static final double AUTO_MAX_SPEED_MPS = 4.0;
+        public static final double AUTO_POSITION_TOLERANCE_M = 0.20;
+        public static final double AUTO_ANGLE_TOLERANCE_DEG = 15.0;
+    }
+
+    public static final class FieldConstants {
+        // Field dimensions (Rebuilt 2025) - converted from feet to meters
+        // 54.269 ft = 16.54 m, 26.474 ft = 8.07 m
+        public static final double FIELD_LENGTH = 16.54;
+        public static final double FIELD_WIDTH = 8.07;
+        // starting positions
+        public static final Pose2d BLUE_ALLIANCE_START = new Pose2d(1.0, 1.0, new Rotation2d(0));
+        public static final Pose2d RED_ALLIANCE_START = new Pose2d(15.54, 1.0, new Rotation2d(Math.PI));
+        public static final Pose2d CENTER_START = new Pose2d(8.27, 4.035, new Rotation2d(0)); // Updated to actual field center
+
+        // Reef structure (center of field)
+        public static final double REEF_CENTER_X = 8.27;
+        public static final double REEF_CENTER_Y = 4.035;
+        public static final double REEF_RADIUS = 1.5;
+        public static final double REEF_SAFE_DISTANCE = 2.5;
+
+        // Safe zones (away from obstacles)
+        public static final Pose2d BLUE_SAFE_ZONE = new Pose2d(2.0, 1.5, Rotation2d.kZero);
+        public static final Pose2d RED_SAFE_ZONE = new Pose2d(FIELD_LENGTH - 2.0, FIELD_WIDTH - 1.5, Rotation2d.fromDegrees(180));
+
+        // Coral stations (at field edges)
+        public static final Pose2d BLUE_CORAL_STATION = new Pose2d(1.2, 7.0, Rotation2d.kZero);
+        public static final Pose2d RED_CORAL_STATION = new Pose2d(FIELD_LENGTH - 1.2, 1.2, Rotation2d.fromDegrees(180));
+
+        // Reef branches (scoring positions) - adjusted for correct field center
+        public static final Pose2d REEF_FRONT = new Pose2d(8.27, 2.5, Rotation2d.fromDegrees(0));
+        public static final Pose2d REEF_LEFT = new Pose2d(7.2, 5.0, Rotation2d.fromDegrees(120));
+        public static final Pose2d REEF_RIGHT = new Pose2d(9.3, 5.0, Rotation2d.fromDegrees(60));
+
+        // Processor station
+        public static final Pose2d PROCESSOR = new Pose2d(13.5, 4.035, Rotation2d.fromDegrees(90));
+
+    // Convenient teleop rest position near the hub
+    public static final Pose2d HUB_REST_POSITION = new Pose2d(8.27, 4.5, Rotation2d.kZero);
+
+        // Field boundaries (with safety margin)
+        public static final double FIELD_MARGIN = 0.5; // meters from edge
+        public static final double MIN_X = FIELD_MARGIN;
+        public static final double MAX_X = FIELD_LENGTH - FIELD_MARGIN;
+        public static final double MIN_Y = FIELD_MARGIN;
+        public static final double MAX_Y = FIELD_WIDTH - FIELD_MARGIN;
+    }
+
+    public static final class ControllerConstants {
+        public static final int DRIVER_CONTROLLER_PORT = 0;
+        public static final int OPERATOR_CONTROLLER_PORT = 1;
+        public static final double TRIGGER_THRESHOLD = 0.5;
+    }
 }