Update to WPILib 2026

.vscode/settings.json

@@ -59,6 +59,7 @@
     "edu.wpi.first.math.**.proto.*",
     "edu.wpi.first.math.**.struct.*",
   ],
+  "java.dependency.enableDependencyCheckup": false,
   "java.format.settings.url": "formatter.xml",
   "java.format.settings.profile": "GoogleStyle",
   "[java]": {

.wpilib/wpilib_preferences.json

@@ -1,6 +1,6 @@
 {
     "enableCppIntellisense": false,
     "currentLanguage": "java",
-    "projectYear": "2025",
+    "projectYear": "2026",
     "teamNumber": 5572
 }

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 "2026.1.1"
     id "com.peterabeles.gversion" version "1.10"
 }
 
@@ -44,7 +44,8 @@ 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.
@@ -109,7 +110,9 @@ 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')
@@ -20,8 +20,8 @@ pluginManagement {
         }
         def frcHomeMaven = new File(frcHome, 'maven')
         maven {
-            name 'frcHome'
-            url frcHomeMaven
+            name = 'frcHome'
+            url = frcHomeMaven
         }
     }
 }

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

@@ -1,16 +1,11 @@
 package frc.robot;
 
-import org.ironmaple.simulation.SimulatedArena;
 import org.jspecify.annotations.NullMarked;
-import org.littletonrobotics.junction.Logger;
-import edu.wpi.first.math.geometry.Pose2d;
-import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
 import frc.robot.Robot.RobotRunType;
 import frc.robot.subsystems.swerve.Swerve;
 import frc.robot.subsystems.swerve.SwerveIOEmpty;
 import frc.robot.subsystems.swerve.SwerveReal;
-import frc.robot.subsystems.swerve.SwerveSim;
 import frc.robot.subsystems.swerve.gyro.GyroIOEmpty;
 import frc.robot.subsystems.swerve.gyro.GyroNavX2;
 import frc.robot.subsystems.swerve.mod.SwerveModuleIOEmpty;
@@ -19,7 +14,6 @@
 import frc.robot.subsystems.vision.Vision;
 import frc.robot.subsystems.vision.VisionIOEmpty;
 import frc.robot.subsystems.vision.VisionReal;
-import frc.robot.subsystems.vision.VisionSim;
 import frc.robot.util.DeviceDebug;
 import frc.robot.viz.RobotViz;
 
@@ -40,30 +34,21 @@ public final class RobotContainer {
     /* Subsystems */
     private final Swerve swerve;
     private final Vision vision;
-
-    private final SwerveSim sim;
     private final RobotViz viz;
 
     /**
      */
     public RobotContainer(RobotRunType runtimeType) {
         switch (runtimeType) {
             case kReal:
-                sim = null;
                 swerve = new Swerve(SwerveReal::new, GyroNavX2::new, SwerveModuleReal::new);
                 vision = new Vision(swerve.state, new VisionReal());
                 break;
-            case kSimulation:
-                sim = new SwerveSim(new Pose2d(2.0, 2.0, Rotation2d.kZero));
-                swerve = new Swerve(sim::simProvider, sim::gyroProvider, sim::moduleProvider);
-                vision = new Vision(swerve.state, new VisionSim(sim));
-                break;
             default:
-                sim = null;
                 swerve = new Swerve(SwerveIOEmpty::new, GyroIOEmpty::new, SwerveModuleIOEmpty::new);
                 vision = new Vision(swerve.state, new VisionIOEmpty());
         }
-        viz = new RobotViz(sim, swerve);
+        viz = new RobotViz(swerve);
 
         DeviceDebug.initialize();
 
@@ -78,13 +63,6 @@ public RobotContainer(RobotRunType runtimeType) {
 
     /** Runs once per 0.02 seconds after subsystems and commands. */
     public void periodic() {
-        if (sim != null) {
-            SimulatedArena.getInstance().simulationPeriodic();
-            Logger.recordOutput("FieldSimulation/Algae",
-                SimulatedArena.getInstance().getGamePiecesArrayByType("Algae"));
-            Logger.recordOutput("FieldSimulation/Coral",
-                SimulatedArena.getInstance().getGamePiecesArrayByType("Coral"));
-        }
         viz.periodic();
     }
 }

src/main/java/frc/robot/subsystems/swerve/mod/SwerveModuleReal.java

@@ -5,6 +5,7 @@
 import java.util.concurrent.Executors;
 import org.jspecify.annotations.NullMarked;
 import com.ctre.phoenix6.BaseStatusSignal;
+import com.ctre.phoenix6.CANBus;
 import com.ctre.phoenix6.StatusSignal;
 import com.ctre.phoenix6.configs.CANcoderConfiguration;
 import com.ctre.phoenix6.configs.TalonFXConfiguration;
@@ -65,7 +66,7 @@ public class SwerveModuleReal implements SwerveModuleIO {
     public SwerveModuleReal(int index, PhoenixOdometryThread odometryThread) {
         boolean isCanivore = Constants.Swerve.isCanviore;
 
-        String loop = isCanivore ? "*" : "";
+        CANBus loop = isCanivore ? new CANBus("*") : CANBus.roboRIO();
         driveMotor = new TalonFX(Constants.Swerve.modulesConstants[index].driveMotorId, loop);
         angleMotor = new TalonFX(Constants.Swerve.modulesConstants[index].angleMotorId, loop);
         absoluteEncoder = new CANcoder(Constants.Swerve.modulesConstants[index].canCoderId, loop);