Pull develop into main for RC2

README.md

@@ -9,8 +9,8 @@ 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, and the [Getting
-Started Guide](RBSI-GSG.md) includes the steps you'll need to do before taking your robot
+Installation instructions are found in the [INSTALL.md](doc/INSTALL.md) file, and the [Getting
+Started Guide](doc/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.
 
@@ -29,7 +29,7 @@ The purpose of Az-RBSI is to help Arizona FRC teams with:
 ## Design Philosophy
 
 The Az-RBSI is centered around a "Reference Build" robot that allows for teams
-to communicate quickly and effectivly with each other about gameplay strategy
+to communicate quickly and effectively with each other about gameplay strategy
 and troubleshooting.  Additionally, the consolidation around a standard robot
 design allows for easier swapping of spare parts and programming modules.
 
@@ -44,11 +44,11 @@ effective logging for troubleshooting.
 
 * [WPILib](https://docs.wpilib.org/en/stable/index.html) -- FIRST basic libraries
 * [AdvantageKit](
-   https://github.com/Mechanical-Advantage/AdvantageKit/blob/main/docs/WHAT-IS-ADVANTAGEKIT.md)
+   https://docs.advantagekit.org/getting-start ed/what-is-advantagekit/)
    -- Logging
 * [CTRE Phoenix6](
   https://v6.docs.ctr-electronics.com/en/stable/docs/api-reference/mechanisms/swerve/swerve-overview.html)
-  / [YAGSL](https://yagsl.gitbook.io/yagsl) -- Swerve drive library
+  / [YAGSL](https://docs.yagsl.com/) -- Swerve drive library
 * [PathPlanner](https://pathplanner.dev/home.html) / [Choreo](
   https://sleipnirgroup.github.io/Choreo/) -- Autonomous path planning
 * [PhotonVision](https://docs.photonvision.org/en/latest/) / [Limelight](

build.gradle

@@ -1,10 +1,10 @@
 plugins {
     id "java"
-    id "edu.wpi.first.GradleRIO" version "2026.1.1"
+    id "edu.wpi.first.GradleRIO" version "2026.2.1"
     id "com.peterabeles.gversion" version "1.10.3"
-    id "com.diffplug.spotless" version "8.0.+"
-    id "io.freefair.lombok" version "9.1.+"
-    id "com.google.protobuf" version "0.9.+"
+    id "com.diffplug.spotless" version "8.1.0"
+    id "io.freefair.lombok" version "9.2.0"
+    id "com.google.protobuf" version "0.9.6"
 }
 
 java {
@@ -64,7 +64,7 @@ def deployArtifact = deploy.targets.roborio.artifacts.frcJava
 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.

INSTALL.md → doc/INSTALL.md

@@ -13,17 +13,24 @@ 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.
+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.
 
 In the page that opens, select the Owner (most likely your team's account) and
-Repository name (*e.g.*, "FRC-2026" or "REBUILT Robot Code" or whatever your team's naming convention
-is) into which the create the new robot project.  Optionally, include a
-description of the repository for your reference.  Select "public" or "private"
-repository based on the usual practices of your team.
+Repository name (*e.g.*, "FRC-2026" or "REBUILT Robot Code" or whatever your
+team's naming convention is) into which the create the new robot project.
+Optionally, include a description of the repository for your reference.  Select
+"public" or "private" repository based on the usual practices of your team.
 
 The latest release of Az-RBSI is in the `main` (default) branch, so it is
 recommended to **not** select the "Include all branches" checkbox.
 
+If you want to keep caught up on dependencies, you will need to ENABLE the
+Dependency Graph selection under the "Advanced Security" tab of the repository
+Settings.
+
+<img src="dependency_enable.png" alt="Enable Dependency Graph" width="50%" />
+
 --------
 
 ### Software Requirements
@@ -32,22 +39,22 @@ 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://github.com/wpilibsuite/2026Beta)
+https://www.ni.com/en/support/downloads/drivers/download.frc-game-tools.html)
 (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
-robot project.
+moment to update all software and firmware to the latest versions before
+attempting to load your new robot project.
 
 Please note that you need these _minimum_ versions of the following components:
 
-* WPILib ` v2026.1.1-beta-1`
+* WPILib ` v2026.2.1`
 * RoboRIO image `FRC_roboRIO_2026_v1.2`
 
 --------
 
 ### Setting up your new project
 
-When your new robot code respository is created, it will have a single commit
+When your new robot code repository is created, it will have a single commit
 that contains the entire Az-RBSI template for the current release.  (See the
 [Az-RBSI Releases page](https://github.com/AZ-First/Az-RBSI/releases) for more
 information about the latest release.)
@@ -101,6 +108,12 @@ method are encouraged to submit bug reports and code fixes to the [Az-RBSI
 repository](https://github.com/AZ-First/Az-RBSI).
 
 
+--------
+
+### Getting Started with your Robot Code
+
+See the Az-RBSI [Getting Started Guide](RBSI-GSG.md) for next steps.
+
 --------
 
 ### Updating your project based on the latest released version of Az-RBSI

RBSI-GSG.md → doc/RBSI-GSG.md

@@ -41,10 +41,16 @@ modifications to extant RBSI code will be done to files within the
 
 ### Tuning constants for optimal performance
 
-4. HHHH
-
+4. Over the course of your robot project, you will need to tune PID parameters
+   for both your drivebase and any mechanisms you build to play the game.
+   AdvantageKit includes detailed instructions for how to tune the various
+   portions of your drivetrain, and we **STRONGLY RECOMMEND** you work through
+   these steps **BEFORE** running your robot.
 
+   * [Tuning for drivebase with CTRE components](https://docs.advantagekit.org/getting-started/template-projects/talonfx-swerve-template#tuning)
+   * [Tuning for drivebase with REV components](https://docs.advantagekit.org/getting-started/template-projects/spark-swerve-template/#tuning)
 
+   Similar tuning can be done with subsystem components (flywheel, intake, etc.).
 
 5. Power monitoring by subsystem is included in the Az-RBSI.  In order to
    properly match subsystems to ports on your Power Distribution Module,
@@ -55,12 +61,17 @@ modifications to extant RBSI code will be done to files within the
    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.
-
+6. In the `Constants.java` file, the classes following `RobotDevices` contain
+   individual containers for robot subsystems and interaction methods.  The
+   `OperatorConstants` class determines how the OPERATOR interacts with the
+   robot.  `DriveBaseConstants` and `FlywheelConstants` (and additional classes
+   you add for your own mechanisms) contain human-scale conversions and limits
+   for the subsystem (_e.g._, maximum speed, gear ratios, PID constants, etc.).
+   `AutoConstants` contains the values needed for your autonomous period method
+   of choice (currently supported are MANUAL -- you write your own code;
+   PATHPLANNER, and CHOREO).  The next two are related to robot vision, where
+   the vision system constants are contained in `VisionConstants`, and the
+   physical properties (location, FOV, etc.) of the cameras are in `Cameras`.
 
 --------
 

src/main/deploy/apriltags/2026-none.json

@@ -0,0 +1,7 @@
+{
+  "tags": [],
+  "field": {
+    "length": 16.4592,
+    "width": 8.2296
+  }
+}