Update to 2026 (#2288)

.github/workflows/build.yml

@@ -169,7 +169,7 @@ jobs:
       - uses: actions/checkout@v6
       - uses: actions/setup-python@v6
         with:
-          python-version: '3.12'
+          python-version: 3.14
       - name: Install graphviz
         run: |
           sudo apt-get update

.github/workflows/lint-format.yml

@@ -26,10 +26,10 @@ jobs:
           git fetch --prune --unshallow
           git checkout -b pr
           git branch -f main origin/main
-      - name: Set up Python 3.12
+      - name: Set up Python
         uses: actions/setup-python@v6
         with:
-          python-version: 3.12
+          python-version: 3.14
       - name: Install wpiformat
         run: pip3 install wpiformat==2025.79
       - name: Run

.github/workflows/photonvision-rtd.yml

@@ -21,7 +21,7 @@ jobs:
 
     - uses: actions/setup-python@v6
       with:
-        python-version: '3.12'
+        python-version: 3.14
 
     - name: Install and upgrade pip
       run: python -m pip install --upgrade pip

.github/workflows/python.yml

@@ -24,7 +24,7 @@ jobs:
       - name: Set up Python
         uses: actions/setup-python@v6
         with:
-          python-version: 3.12
+          python-version: 3.14
 
       - name: Install dependencies
         run: |
@@ -76,49 +76,30 @@ jobs:
       - name: Set up Python
         uses: actions/setup-python@v6
         with:
-          python-version: 3.12
+          python-version: 3.14
 
       - name: Install dependencies
         run: |
           python -m pip install --upgrade pip
-          pip install setuptools wheel pytest mypy numpy wpilib pyntcore opencv-python robotpy==2026.1.1b1 pyfrc
+          pip install setuptools wheel pytest mypy
 
       - name: Build wheel
         working-directory: ./photon-lib/py
         run: python setup.py sdist bdist_wheel
 
-      - name: Run Unit Tests (Unix)
+      - name: Build and configure PhotonLibPy
         working-directory: ./photon-lib/py
-        if: runner.os != 'Windows'
+        shell: bash
-        run: |
-            pip install --no-cache-dir dist/*.whl
-            pytest
-
-      - name: Run Unit Tests (Windows)
-        working-directory: ./photon-lib/py
-        if: runner.os == 'Windows'
-        shell: cmd
-        run: |
-          for %%f in (dist/*.whl) do (
-          echo installing dist/%%f
-          pip install --no-cache-dir dist/%%f
-          )
-          pytest
-
-      - name: Build and configure PhotonLibPy (bash)
-        working-directory: ./photon-lib/py
-        if: runner.os != 'Windows'
         run: |
           ./buildAndTest.sh
           ./enableUsingDevBuilds.sh
 
-      - name: Build and configure PhotonLibPy (pwsh)
+      - name: Run Unit Tests
         working-directory: ./photon-lib/py
-        if: runner.os == 'Windows'
+        shell: bash
         run: |
-          ./buildandTest.bat
+            pip install --no-cache-dir dist/*.whl
-          ./enableUsingDevBuilds.bat
+            pytest
-
 
       - name: Run mypy type checking
         run: mypy --show-column-numbers --config-file photon-lib/py/pyproject.toml photon-lib

.python-version

@@ -1 +1 @@
-3.11
+3.14

build.gradle

@@ -2,10 +2,10 @@ import edu.wpi.first.toolchain.*
 
 plugins {
     id "cpp"
-    id "com.diffplug.spotless" version "6.24.0"
+    id "com.diffplug.spotless" version "8.1.0"
     id "edu.wpi.first.wpilib.repositories.WPILibRepositoriesPlugin" version "2020.2"
-    id "edu.wpi.first.GradleRIO" version "2026.1.1-beta-1"
+    id "edu.wpi.first.GradleRIO" version "2026.1.1"
-    id 'org.photonvision.tools.WpilibTools' version '2.2.0-photon'
+    id 'org.photonvision.tools.WpilibTools' version '2.3.3-photon'
     id 'com.google.protobuf' version '0.9.3' apply false
     id 'edu.wpi.first.GradleJni' version '1.1.0'
     id "org.ysb33r.doxygen" version "2.0.0" apply false
@@ -32,16 +32,16 @@ ext.allOutputsFolder = file("$project.buildDir/outputs")
 apply from: "versioningHelper.gradle"
 
 ext {
-    wpilibVersion = "2026.1.1-beta-1"
+    wpilibVersion = "2026.1.1"
     wpimathVersion = wpilibVersion
     openCVYear = "2025"
     openCVversion = "4.10.0-3"
     javalinVersion = "6.7.0"
-    libcameraDriverVersion = "dev-v2025.0.4-3-g95e2b38"
+    libcameraDriverVersion = "v2026.0.0"
-    rknnVersion = "dev-v2025.0.0-7-g83c1bf3"
+    rknnVersion = "v2026.0.1"
-    rubikVersion = "dev-v2025.1.0-7-g39588a8"
+    rubikVersion = "v2026.0.1"
-    frcYear = "2026beta"
+    frcYear = "2026"
-    mrcalVersion = "dev-v2025.0.0-6-g475031a";
+    mrcalVersion = "v2026.0.0";
 
     pubVersion = versionString
     isDev = pubVersion.startsWith("dev")

docs/requirements.txt

@@ -21,7 +21,6 @@ mdurl==0.1.2
 myst-parser==4.0.1
 packaging==25.0
 pbr==6.1.1
-pipreqs==0.5.0
 Pygments==2.19.1
 PyYAML==6.0.2
 requests==2.32.4
@@ -54,6 +53,6 @@ stevedore==5.4.1
 typing_extensions==4.13.2
 urllib3==2.5.0
 uvicorn==0.34.2
-watchfiles==1.0.5
+watchfiles==1.1.1
 websockets==15.0.1
 yarg==0.1.9

docs/source/docs/apriltag-pipelines/2D-tracking-tuning.md

@@ -23,7 +23,7 @@ AprilTag pipelines come with reasonable defaults to get you up and running with
 
 Target families are defined by two numbers (before and after the h). The first number is the number of bits the tag is able to encode (which means more tags are available in the respective family) and the second is the hamming distance. Hamming distance describes the ability for error correction while identifying tag ids. A high hamming distance generally means that it will be easier for a tag to be identified even if there are errors. However, as hamming distance increases, the number of available tags decreases.
 
-The 2025 FRC game will be using 36h11 tags, which can be found [here](https://github.com/AprilRobotics/apriltag-imgs/tree/main/tag36h11).
+The 2026 FRC game will be using 36h11 tags, which can be found [here](https://github.com/AprilRobotics/apriltag-imgs/tree/2bc821edb4eb7b408d13c6a590d326d8a9ec98f3/tag36h11).
 
 ### Decimate
 

docs/source/docs/apriltag-pipelines/about-apriltags.md

@@ -10,5 +10,5 @@ AprilTags are a common type of visual fiducial marker. Visual fiducial markers a
 A more technical explanation can be found in the [WPILib documentation](https://docs.wpilib.org/en/latest/docs/software/vision-processing/apriltag/apriltag-intro.html).
 
 :::{note}
-You can get FIRST's [official PDF of the targets used in 2025 here](https://firstfrc.blob.core.windows.net/frc2025/FieldAssets/Apriltag_Images_and_User_Guide.pdf).
+You can get FIRST's [official PDF of the targets used in 2026 here](https://firstfrc.blob.core.windows.net/frc2026/FieldAssets/2026-apriltag-images-user-guide.pdf).
 :::

docs/source/docs/apriltag-pipelines/multitag.md

@@ -7,7 +7,7 @@ MultiTag requires an accurate field layout JSON to be uploaded! Differences betw
 :::
 
 :::{warning}
-For the 2025 Reefscape Season, there are two different field layouts. The first is the [welded field layout](https://github.com/wpilibsuite/allwpilib/blob/main/apriltag/src/main/native/resources/edu/wpi/first/apriltag/2025-reefscape-welded.json), which photonvision ships with. The second is the [Andymark field layout](https://github.com/wpilibsuite/allwpilib/blob/main/apriltag/src/main/native/resources/edu/wpi/first/apriltag/2025-reefscape-andymark.json). It is very important to ensure that you use the correct field layout, both in the [PhotonPoseEstimator](https://docs.photonvision.org/en/latest/docs/programming/photonlib/robot-pose-estimator.html#apriltags-and-photonposeestimator) and on the [coprocessor](https://docs.photonvision.org/en/latest/docs/apriltag-pipelines/multitag.html#updating-the-field-layout).
+For the 2026 Rebuilt Season, there are two different field layouts. The first is the [welded field layout](https://github.com/wpilibsuite/allwpilib/blob/main/apriltag/src/main/native/resources/edu/wpi/first/apriltag/2026-rebuilt-welded.json), which photonvision ships with. The second is the [Andymark field layout](https://github.com/wpilibsuite/allwpilib/blob/main/apriltag/src/main/native/resources/edu/wpi/first/apriltag/2026-rebuilt-andymark.json). It is very important to ensure that you use the correct field layout, both in the [PhotonPoseEstimator](https://docs.photonvision.org/en/latest/docs/programming/photonlib/robot-pose-estimator.html#apriltags-and-photonposeestimator) and on the [coprocessor](https://docs.photonvision.org/en/latest/docs/apriltag-pipelines/multitag.html#updating-the-field-layout).
 :::
 
 ## Enabling MultiTag
@@ -66,7 +66,7 @@ The returned field to camera transform is a transform from the fixed field origi
 
 ## Updating the Field Layout
 
-PhotonVision ships by default with the [2025 welded field layout JSON](https://github.com/wpilibsuite/allwpilib/blob/main/apriltag/src/main/native/resources/edu/wpi/first/apriltag/2025-reefscape-welded.json). The layout can be inspected by navigating to the settings tab and scrolling down to the "AprilTag Field Layout" card, as shown below.
+PhotonVision ships by default with the [2026 welded field layout JSON](https://github.com/wpilibsuite/allwpilib/blob/main/apriltag/src/main/native/resources/edu/wpi/first/apriltag/2026-rebuilt-welded.json). The layout can be inspected by navigating to the settings tab and scrolling down to the "AprilTag Field Layout" card, as shown below.
 
 ```{image} images/field-layout.png
 :alt: The currently saved field layout in the Photon UI

docs/source/docs/examples/aimingatatarget.md

@@ -7,7 +7,7 @@ The following example is from the PhotonLib example repository ([Java](https://g
 - A Robot
 - A camera mounted rigidly to the robot's frame, centered and pointed forward.
 - A coprocessor running PhotonVision with an AprilTag or ArUco 2D Pipeline.
-- [A printout of AprilTag 7](https://firstfrc.blob.core.windows.net/frc2025/FieldAssets/Apriltag_Images_and_User_Guide.pdf), mounted on a rigid and flat surface.
+- [A printout of AprilTag 7](https://firstfrc.blob.core.windows.net/frc2026/FieldAssets/2026-apriltag-images-user-guide.pdf), mounted on a rigid and flat surface.
 
 ## Code
 

photon-core/src/main/java/org/photonvision/vision/processes/PipelineManager.java

@@ -158,7 +158,7 @@ public class PipelineManager {
             case CAL_3D_INDEX -> calibration3dPipeline;
             case DRIVERMODE_INDEX -> driverModePipeline;
             case FOCUS_INDEX -> focusPipeline;
-                // Just return the current user pipeline, we're not on a built-in one
+            // Just return the current user pipeline, we're not on a built-in one
             default -> currentUserPipeline;
         };
     }

photon-lib/py/setup.py

@@ -60,12 +60,12 @@ setup(
     package_data={"photonlibpy": ["py.typed"]},
     version=versionString,
     install_requires=[
-        "numpy~=2.1",
+        "numpy~=2.4",
-        "wpilib==2026.1.1b1",
+        "wpilib==2026.1.1",
-        "robotpy-wpimath==2026.1.1b1",
+        "robotpy-wpimath==2026.1.1",
-        "robotpy-apriltag==2026.1.1b1",
+        "robotpy-apriltag==2026.1.1",
-        "robotpy-cscore==2026.1.1b1",
+        "robotpy-cscore==2026.1.1",
-        "pyntcore==2026.1.1b1",
+        "pyntcore==2026.1.1",
         "opencv-python;platform_machine!='roborio'",
     ],
     description=descriptionStr,

photon-lib/src/main/java/org/photonvision/EstimatedRobotPose.java

@@ -63,6 +63,8 @@ public class EstimatedRobotPose {
      *
      * @param estimatedPose estimated pose
      * @param timestampSeconds timestamp of the estimate
+     * @param targetsUsed targets used to compute the pose
+     * @param strategy the strategy used to compute the pose
      */
     public EstimatedRobotPose(
             Pose3d estimatedPose,

photon-server/src/main/java/org/photonvision/server/RequestHandler.java

@@ -581,7 +581,7 @@ public class RequestHandler {
                         case "YOLOv5" -> NeuralNetworkModelManager.Version.YOLOV5;
                         case "YOLOv8" -> NeuralNetworkModelManager.Version.YOLOV8;
                         case "YOLO11" -> NeuralNetworkModelManager.Version.YOLOV11;
-                            // Add more versions as necessary for new models
+                        // Add more versions as necessary for new models
                         default -> {
                             ctx.status(400);
                             ctx.result("The provided version was not valid");

photonlib-cpp-examples/aimandrange/.wpilib/wpilib_preferences.json

@@ -1,6 +1,6 @@
 {
     "enableCppIntellisense": true,
     "currentLanguage": "cpp",
-    "projectYear": "2026beta",
+    "projectYear": "2026",
     "teamNumber": 5
 }

photonlib-cpp-examples/aimandrange/build.gradle

@@ -1,7 +1,7 @@
 plugins {
     id "cpp"
     id "google-test-test-suite"
-    id "edu.wpi.first.GradleRIO" version "2026.1.1-beta-1"
+    id "edu.wpi.first.GradleRIO" version "2026.1.1"
 }
 
 repositories {
@@ -11,8 +11,8 @@ repositories {
 
 wpi.maven.useLocal = false
 wpi.maven.useDevelopment = false
-wpi.versions.wpilibVersion = "2026.1.1-beta-1"
+wpi.versions.wpilibVersion = "2026.1.1"
-wpi.versions.wpimathVersion = "2026.1.1-beta-1"
+wpi.versions.wpimathVersion = "2026.1.1"
 
 // Define my targets (RoboRIO) and artifacts (deployable files)
 // This is added by GradleRIO's backing project DeployUtils.
@@ -37,6 +37,8 @@ deploy {
                 frcStaticFileDeploy(getArtifactTypeClass('FileTreeArtifact')) {
                     files = project.fileTree('src/main/deploy')
                     directory = '/home/lvuser/deploy'
+                    deleteOldFiles = false // Change to true to delete files on roboRIO that no
+                    // longer exist in deploy directory of this project
                 }
             }
         }

photonlib-cpp-examples/aimattarget/.wpilib/wpilib_preferences.json

@@ -1,6 +1,6 @@
 {
     "enableCppIntellisense": true,
     "currentLanguage": "cpp",
-    "projectYear": "2026beta",
+    "projectYear": "2026",
     "teamNumber": 5
 }

photonlib-cpp-examples/aimattarget/build.gradle

@@ -1,7 +1,7 @@
 plugins {
     id "cpp"
     id "google-test-test-suite"
-    id "edu.wpi.first.GradleRIO" version "2026.1.1-beta-1"
+    id "edu.wpi.first.GradleRIO" version "2026.1.1"
 }
 
 repositories {
@@ -11,8 +11,8 @@ repositories {
 
 wpi.maven.useLocal = false
 wpi.maven.useDevelopment = false
-wpi.versions.wpilibVersion = "2026.1.1-beta-1"
+wpi.versions.wpilibVersion = "2026.1.1"
-wpi.versions.wpimathVersion = "2026.1.1-beta-1"
+wpi.versions.wpimathVersion = "2026.1.1"
 
 // Define my targets (RoboRIO) and artifacts (deployable files)
 // This is added by GradleRIO's backing project DeployUtils.
@@ -37,6 +37,8 @@ deploy {
                 frcStaticFileDeploy(getArtifactTypeClass('FileTreeArtifact')) {
                     files = project.fileTree('src/main/deploy')
                     directory = '/home/lvuser/deploy'
+                    deleteOldFiles = false // Change to true to delete files on roboRIO that no
+                    // longer exist in deploy directory of this project
                 }
             }
         }

photonlib-cpp-examples/build.gradle

@@ -1,5 +1,5 @@
 plugins {
-    id "com.diffplug.spotless" version "6.1.2"
+    id "com.diffplug.spotless" version "8.1.0"
 }
 
 allprojects {

photonlib-cpp-examples/gradle/wrapper/gradle-wrapper.properties

@@ -1,7 +1,7 @@
 distributionBase=GRADLE_USER_HOME
-distributionPath=permwrapper/dists
+distributionPath=wrapper/dists
-distributionUrl=https\://services.gradle.org/distributions/gradle-8.4-bin.zip
+distributionUrl=https\://services.gradle.org/distributions/gradle-8.11-bin.zip
 networkTimeout=10000
 validateDistributionUrl=true
 zipStoreBase=GRADLE_USER_HOME
-zipStorePath=permwrapper/dists
+zipStorePath=wrapper/dists

photonlib-cpp-examples/gradlew

@@ -1,7 +1,7 @@
 #!/bin/sh
 
 #
-# Copyright <EFBFBD> 2015-2021 the original authors.
+# Copyright © 2015-2021 the original authors.
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.
@@ -15,7 +15,53 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 #
+# SPDX-License-Identifier: Apache-2.0
+#
 
+##############################################################################
+#
+#   Gradle start up script for POSIX generated by Gradle.
+#
+#   Important for running:
+#
+#   (1) You need a POSIX-compliant shell to run this script. If your /bin/sh is
+#       noncompliant, but you have some other compliant shell such as ksh or
+#       bash, then to run this script, type that shell name before the whole
+#       command line, like:
+#
+#           ksh Gradle
+#
+#       Busybox and similar reduced shells will NOT work, because this script
+#       requires all of these POSIX shell features:
+#         * functions;
+#         * expansions «$var», «${var}», «${var:-default}», «${var+SET}»,
+#           «${var#prefix}», «${var%suffix}», and «$( cmd )»;
+#         * compound commands having a testable exit status, especially «case»;
+#         * various built-in commands including «command», «set», and «ulimit».
+#
+#   Important for patching:
+#
+#   (2) This script targets any POSIX shell, so it avoids extensions provided
+#       by Bash, Ksh, etc; in particular arrays are avoided.
+#
+#       The "traditional" practice of packing multiple parameters into a
+#       space-separated string is a well documented source of bugs and security
+#       problems, so this is (mostly) avoided, by progressively accumulating
+#       options in "$@", and eventually passing that to Java.
+#
+#       Where the inherited environment variables (DEFAULT_JVM_OPTS, JAVA_OPTS,
+#       and GRADLE_OPTS) rely on word-splitting, this is performed explicitly;
+#       see the in-line comments for details.
+#
+#       There are tweaks for specific operating systems such as AIX, CygWin,
+#       Darwin, MinGW, and NonStop.
+#
+#   (3) This script is generated from the Groovy template
+#       https://github.com/gradle/gradle/blob/HEAD/platforms/jvm/plugins-application/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt
+#       within the Gradle project.
+#
+#       You can find Gradle at https://github.com/gradle/gradle/.
+#
 ##############################################################################
 
 # Attempt to set APP_HOME
@@ -36,14 +82,12 @@ do
     esac
 done
 
-# Discard cd standard output in case $CDPATH is set (https://github.com/gradle/gradle/issues/25036)
+# This is normally unused
-APP_HOME=$( cd "${APP_HOME:-./}" > /dev/null && pwd -P ) || exit
+# shellcheck disable=SC2034
-
-APP_NAME="Gradle"
 APP_BASE_NAME=${0##*/}
-
+# Discard cd standard output in case $CDPATH is set (https://github.com/gradle/gradle/issues/25036)
-# Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script.
+APP_HOME=$( cd -P "${APP_HOME:-./}" > /dev/null && printf '%s
-DEFAULT_JVM_OPTS='"-Xmx64m" "-Xms64m"'
+' "$PWD" ) || exit
 
 # Use the maximum available, or set MAX_FD != -1 to use that value.
 MAX_FD=maximum
@@ -90,22 +134,29 @@ location of your Java installation."
     fi
 else
     JAVACMD=java
-    which java >/dev/null 2>&1 || die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
+    if ! command -v java >/dev/null 2>&1
+    then
+        die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
 
 Please set the JAVA_HOME variable in your environment to match the
 location of your Java installation."
+    fi
 fi
 
 # Increase the maximum file descriptors if we can.
 if ! "$cygwin" && ! "$darwin" && ! "$nonstop" ; then
     case $MAX_FD in #(
       max*)
+        # In POSIX sh, ulimit -H is undefined. That's why the result is checked to see if it worked.
+        # shellcheck disable=SC2039,SC3045
         MAX_FD=$( ulimit -H -n ) ||
             warn "Could not query maximum file descriptor limit"
     esac
     case $MAX_FD in  #(
       '' | soft) :;; #(
       *)
+        # In POSIX sh, ulimit -n is undefined. That's why the result is checked to see if it worked.
+        # shellcheck disable=SC2039,SC3045
         ulimit -n "$MAX_FD" ||
             warn "Could not set maximum file descriptor limit to $MAX_FD"
     esac
@@ -150,11 +201,15 @@ if "$cygwin" || "$msys" ; then
     done
 fi
 
-# Collect all arguments for the java command;
+
-#   * $DEFAULT_JVM_OPTS, $JAVA_OPTS, and $GRADLE_OPTS can contain fragments of
+# Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script.
-#     shell script including quotes and variable substitutions, so put them in
+DEFAULT_JVM_OPTS='"-Xmx64m" "-Xms64m"'
-#     double quotes to make sure that they get re-expanded; and
+
-#   * put everything else in single quotes, so that it's not re-expanded.
+# Collect all arguments for the java command:
+#   * DEFAULT_JVM_OPTS, JAVA_OPTS, JAVA_OPTS, and optsEnvironmentVar are not allowed to contain shell fragments,
+#     and any embedded shellness will be escaped.
+#   * For example: A user cannot expect ${Hostname} to be expanded, as it is an environment variable and will be
+#     treated as '${Hostname}' itself on the command line.
 
 set -- \
         "-Dorg.gradle.appname=$APP_BASE_NAME" \
@@ -162,6 +217,12 @@ set -- \
         org.gradle.wrapper.GradleWrapperMain \
         "$@"
 
+# Stop when "xargs" is not available.
+if ! command -v xargs >/dev/null 2>&1
+then
+    die "xargs is not available"
+fi
+
 # Use "xargs" to parse quoted args.
 #
 # With -n1 it outputs one arg per line, with the quotes and backslashes removed.

photonlib-cpp-examples/gradlew.bat

@@ -13,8 +13,10 @@
 @rem See the License for the specific language governing permissions and
 @rem limitations under the License.
 @rem
+@rem SPDX-License-Identifier: Apache-2.0
+@rem
 
-@if "%DEBUG%" == "" @echo off
+@if "%DEBUG%"=="" @echo off
 @rem ##########################################################################
 @rem
 @rem  Gradle startup script for Windows
@@ -25,7 +27,8 @@
 if "%OS%"=="Windows_NT" setlocal
 
 set DIRNAME=%~dp0
-if "%DIRNAME%" == "" set DIRNAME=.
+if "%DIRNAME%"=="" set DIRNAME=.
+@rem This is normally unused
 set APP_BASE_NAME=%~n0
 set APP_HOME=%DIRNAME%
 
@@ -40,13 +43,13 @@ if defined JAVA_HOME goto findJavaFromJavaHome
 
 set JAVA_EXE=java.exe
 %JAVA_EXE% -version >NUL 2>&1
-if "%ERRORLEVEL%" == "0" goto execute
+if %ERRORLEVEL% equ 0 goto execute
 
-echo.
+echo. 1>&2
-echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
+echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH. 1>&2
-echo.
+echo. 1>&2
-echo Please set the JAVA_HOME variable in your environment to match the
+echo Please set the JAVA_HOME variable in your environment to match the 1>&2
-echo location of your Java installation.
+echo location of your Java installation. 1>&2
 
 goto fail
 
@@ -56,11 +59,11 @@ set JAVA_EXE=%JAVA_HOME%/bin/java.exe
 
 if exist "%JAVA_EXE%" goto execute
 
-echo.
+echo. 1>&2
-echo ERROR: JAVA_HOME is set to an invalid directory: %JAVA_HOME%
+echo ERROR: JAVA_HOME is set to an invalid directory: %JAVA_HOME% 1>&2
-echo.
+echo. 1>&2
-echo Please set the JAVA_HOME variable in your environment to match the
+echo Please set the JAVA_HOME variable in your environment to match the 1>&2
-echo location of your Java installation.
+echo location of your Java installation. 1>&2
 
 goto fail
 
@@ -75,13 +78,15 @@ set CLASSPATH=%APP_HOME%\gradle\wrapper\gradle-wrapper.jar
 
 :end
 @rem End local scope for the variables with windows NT shell
-if "%ERRORLEVEL%"=="0" goto mainEnd
+if %ERRORLEVEL% equ 0 goto mainEnd
 
 :fail
 rem Set variable GRADLE_EXIT_CONSOLE if you need the _script_ return code instead of
 rem the _cmd.exe /c_ return code!
-if  not "" == "%GRADLE_EXIT_CONSOLE%" exit 1
+set EXIT_CODE=%ERRORLEVEL%
-exit /b 1
+if %EXIT_CODE% equ 0 set EXIT_CODE=1
+if not ""=="%GRADLE_EXIT_CONSOLE%" exit %EXIT_CODE%
+exit /b %EXIT_CODE%
 
 :mainEnd
 if "%OS%"=="Windows_NT" endlocal

photonlib-cpp-examples/poseest/.wpilib/wpilib_preferences.json

@@ -1,6 +1,6 @@
 {
     "enableCppIntellisense": true,
     "currentLanguage": "cpp",
-    "projectYear": "2026beta",
+    "projectYear": "2026",
     "teamNumber": 5
 }

photonlib-cpp-examples/poseest/build.gradle

@@ -1,7 +1,7 @@
 plugins {
     id "cpp"
     id "google-test-test-suite"
-    id "edu.wpi.first.GradleRIO" version "2026.1.1-beta-1"
+    id "edu.wpi.first.GradleRIO" version "2026.1.1"
 }
 
 repositories {
@@ -11,8 +11,8 @@ repositories {
 
 wpi.maven.useLocal = false
 wpi.maven.useDevelopment = false
-wpi.versions.wpilibVersion = "2026.1.1-beta-1"
+wpi.versions.wpilibVersion = "2026.1.1"
-wpi.versions.wpimathVersion = "2026.1.1-beta-1"
+wpi.versions.wpimathVersion = "2026.1.1"
 
 // Define my targets (RoboRIO) and artifacts (deployable files)
 // This is added by GradleRIO's backing project DeployUtils.
@@ -37,6 +37,8 @@ deploy {
                 frcStaticFileDeploy(getArtifactTypeClass('FileTreeArtifact')) {
                     files = project.fileTree('src/main/deploy')
                     directory = '/home/lvuser/deploy'
+                    deleteOldFiles = false // Change to true to delete files on roboRIO that no
+                    // longer exist in deploy directory of this project
                 }
             }
         }

photonlib-java-examples/aimandrange/.wpilib/wpilib_preferences.json

@@ -1,6 +1,6 @@
 {
     "enableCppIntellisense": false,
     "currentLanguage": "java",
-    "projectYear": "2026beta",
+    "projectYear": "2026",
     "teamNumber": 4512
 }

photonlib-java-examples/aimandrange/build.gradle

@@ -1,6 +1,6 @@
 plugins {
     id "java"
-    id "edu.wpi.first.GradleRIO" version "2026.1.1-beta-1"
+    id "edu.wpi.first.GradleRIO" version "2026.1.1"
 }
 
 sourceCompatibility = JavaVersion.VERSION_17
@@ -13,8 +13,8 @@ repositories {
 }
 
 wpi.maven.useDevelopment = true
-wpi.versions.wpilibVersion = "2026.1.1-beta-1"
+wpi.versions.wpilibVersion = "2026.1.1"
-wpi.versions.wpimathVersion = "2026.1.1-beta-1"
+wpi.versions.wpimathVersion = "2026.1.1"
 
 
 // Define my targets (RoboRIO) and artifacts (deployable files)
@@ -40,6 +40,8 @@ deploy {
                 frcStaticFileDeploy(getArtifactTypeClass('FileTreeArtifact')) {
                     files = project.fileTree('src/main/deploy')
                     directory = '/home/lvuser/deploy'
+                    deleteOldFiles = false // Change to true to delete files on roboRIO that no
+                    // longer exist in deploy directory of this project
                 }
             }
         }
@@ -48,7 +50,8 @@ 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.
@@ -57,6 +60,7 @@ def includeDesktopSupport = true
 // Defining my dependencies. In this case, WPILib (+ friends), and vendor libraries.
 // Also defines JUnit 5.
 dependencies {
+    annotationProcessor wpi.java.deps.wpilibAnnotations()
     implementation wpi.java.deps.wpilib()
     implementation wpi.java.vendor.java()
 
@@ -74,7 +78,13 @@ dependencies {
     nativeRelease wpi.java.vendor.jniRelease(wpi.platforms.desktop)
     simulationRelease wpi.sim.enableRelease()
 
-    testImplementation 'junit:junit:4.13.1'
+    testImplementation 'org.junit.jupiter:junit-jupiter:5.10.1'
+    testRuntimeOnly 'org.junit.platform:junit-platform-launcher'
+}
+
+test {
+    useJUnitPlatform()
+    systemProperty 'junit.jupiter.extensions.autodetection.enabled', 'true'
 }
 
 // Simulation configuration (e.g. environment variables).
@@ -90,6 +100,9 @@ jar {
             it.isDirectory() ? it : zipTree(it)
         }
     }
+    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
 }

photonlib-java-examples/aimandrange/gradle/wrapper/gradle-wrapper.properties

@@ -1,5 +1,7 @@
 distributionBase=GRADLE_USER_HOME
 distributionPath=permwrapper/dists
-distributionUrl=https\://services\.gradle\.org/distributions/gradle-8\.4-bin\.zip
+distributionUrl=https\://services.gradle.org/distributions/gradle-8.11-bin.zip
+networkTimeout=10000
+validateDistributionUrl=true
 zipStoreBase=GRADLE_USER_HOME
 zipStorePath=permwrapper/dists

photonlib-java-examples/aimandrange/gradlew

@@ -15,6 +15,8 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 #
+# SPDX-License-Identifier: Apache-2.0
+#
 
 ##############################################################################
 #
@@ -55,7 +57,7 @@
 #       Darwin, MinGW, and NonStop.
 #
 #   (3) This script is generated from the Groovy template
-#       https://github.com/gradle/gradle/blob/master/subprojects/plugins/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt
+#       https://github.com/gradle/gradle/blob/HEAD/platforms/jvm/plugins-application/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt
 #       within the Gradle project.
 #
 #       You can find Gradle at https://github.com/gradle/gradle/.
@@ -80,14 +82,12 @@ do
     esac
 done
 
-# Discard cd standard output in case $CDPATH is set (https://github.com/gradle/gradle/issues/25036)
+# This is normally unused
-APP_HOME=$( cd "${APP_HOME:-./}" > /dev/null && pwd -P ) || exit
+# shellcheck disable=SC2034
-
-APP_NAME="Gradle"
 APP_BASE_NAME=${0##*/}
-
+# Discard cd standard output in case $CDPATH is set (https://github.com/gradle/gradle/issues/25036)
-# Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script.
+APP_HOME=$( cd -P "${APP_HOME:-./}" > /dev/null && printf '%s
-DEFAULT_JVM_OPTS='"-Xmx64m" "-Xms64m"'
+' "$PWD" ) || exit
 
 # Use the maximum available, or set MAX_FD != -1 to use that value.
 MAX_FD=maximum
@@ -134,22 +134,29 @@ location of your Java installation."
     fi
 else
     JAVACMD=java
-    which java >/dev/null 2>&1 || die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
+    if ! command -v java >/dev/null 2>&1
+    then
+        die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
 
 Please set the JAVA_HOME variable in your environment to match the
 location of your Java installation."
+    fi
 fi
 
 # Increase the maximum file descriptors if we can.
 if ! "$cygwin" && ! "$darwin" && ! "$nonstop" ; then
     case $MAX_FD in #(
       max*)
+        # In POSIX sh, ulimit -H is undefined. That's why the result is checked to see if it worked.
+        # shellcheck disable=SC2039,SC3045
         MAX_FD=$( ulimit -H -n ) ||
             warn "Could not query maximum file descriptor limit"
     esac
     case $MAX_FD in  #(
       '' | soft) :;; #(
       *)
+        # In POSIX sh, ulimit -n is undefined. That's why the result is checked to see if it worked.
+        # shellcheck disable=SC2039,SC3045
         ulimit -n "$MAX_FD" ||
             warn "Could not set maximum file descriptor limit to $MAX_FD"
     esac
@@ -194,11 +201,15 @@ if "$cygwin" || "$msys" ; then
     done
 fi
 
-# Collect all arguments for the java command;
+
-#   * $DEFAULT_JVM_OPTS, $JAVA_OPTS, and $GRADLE_OPTS can contain fragments of
+# Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script.
-#     shell script including quotes and variable substitutions, so put them in
+DEFAULT_JVM_OPTS='"-Xmx64m" "-Xms64m"'
-#     double quotes to make sure that they get re-expanded; and
+
-#   * put everything else in single quotes, so that it's not re-expanded.
+# Collect all arguments for the java command:
+#   * DEFAULT_JVM_OPTS, JAVA_OPTS, JAVA_OPTS, and optsEnvironmentVar are not allowed to contain shell fragments,
+#     and any embedded shellness will be escaped.
+#   * For example: A user cannot expect ${Hostname} to be expanded, as it is an environment variable and will be
+#     treated as '${Hostname}' itself on the command line.
 
 set -- \
         "-Dorg.gradle.appname=$APP_BASE_NAME" \

photonlib-java-examples/aimandrange/gradlew.bat

@@ -13,6 +13,8 @@
 @rem See the License for the specific language governing permissions and
 @rem limitations under the License.
 @rem
+@rem SPDX-License-Identifier: Apache-2.0
+@rem
 
 @if "%DEBUG%"=="" @echo off
 @rem ##########################################################################
@@ -26,6 +28,7 @@ if "%OS%"=="Windows_NT" setlocal
 
 set DIRNAME=%~dp0
 if "%DIRNAME%"=="" set DIRNAME=.
+@rem This is normally unused
 set APP_BASE_NAME=%~n0
 set APP_HOME=%DIRNAME%
 
@@ -42,11 +45,11 @@ set JAVA_EXE=java.exe
 %JAVA_EXE% -version >NUL 2>&1
 if %ERRORLEVEL% equ 0 goto execute
 
-echo.
+echo. 1>&2
-echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
+echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH. 1>&2
-echo.
+echo. 1>&2
-echo Please set the JAVA_HOME variable in your environment to match the
+echo Please set the JAVA_HOME variable in your environment to match the 1>&2
-echo location of your Java installation.
+echo location of your Java installation. 1>&2
 
 goto fail
 
@@ -56,11 +59,11 @@ set JAVA_EXE=%JAVA_HOME%/bin/java.exe
 
 if exist "%JAVA_EXE%" goto execute
 
-echo.
+echo. 1>&2
-echo ERROR: JAVA_HOME is set to an invalid directory: %JAVA_HOME%
+echo ERROR: JAVA_HOME is set to an invalid directory: %JAVA_HOME% 1>&2
-echo.
+echo. 1>&2
-echo Please set the JAVA_HOME variable in your environment to match the
+echo Please set the JAVA_HOME variable in your environment to match the 1>&2
-echo location of your Java installation.
+echo location of your Java installation. 1>&2
 
 goto fail
 

photonlib-java-examples/aimattarget/.wpilib/wpilib_preferences.json

@@ -1,6 +1,6 @@
 {
     "enableCppIntellisense": false,
     "currentLanguage": "java",
-    "projectYear": "2026beta",
+    "projectYear": "2026",
     "teamNumber": 4512
 }

photonlib-java-examples/aimattarget/build.gradle

@@ -1,6 +1,6 @@
 plugins {
     id "java"
-    id "edu.wpi.first.GradleRIO" version "2026.1.1-beta-1"
+    id "edu.wpi.first.GradleRIO" version "2026.1.1"
 }
 
 sourceCompatibility = JavaVersion.VERSION_17
@@ -9,8 +9,8 @@ targetCompatibility = JavaVersion.VERSION_17
 def ROBOT_MAIN_CLASS = "frc.robot.Main"
 
 wpi.maven.useDevelopment = true
-wpi.versions.wpilibVersion = "2026.1.1-beta-1"
+wpi.versions.wpilibVersion = "2026.1.1"
-wpi.versions.wpimathVersion = "2026.1.1-beta-1"
+wpi.versions.wpimathVersion = "2026.1.1"
 
 
 // Define my targets (RoboRIO) and artifacts (deployable files)
@@ -36,6 +36,8 @@ deploy {
                 frcStaticFileDeploy(getArtifactTypeClass('FileTreeArtifact')) {
                     files = project.fileTree('src/main/deploy')
                     directory = '/home/lvuser/deploy'
+                    deleteOldFiles = false // Change to true to delete files on roboRIO that no
+                    // longer exist in deploy directory of this project
                 }
             }
         }
@@ -44,7 +46,8 @@ 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.
@@ -53,6 +56,7 @@ def includeDesktopSupport = true
 // Defining my dependencies. In this case, WPILib (+ friends), and vendor libraries.
 // Also defines JUnit 5.
 dependencies {
+    annotationProcessor wpi.java.deps.wpilibAnnotations()
     implementation wpi.java.deps.wpilib()
     implementation wpi.java.vendor.java()
 
@@ -70,7 +74,13 @@ dependencies {
     nativeRelease wpi.java.vendor.jniRelease(wpi.platforms.desktop)
     simulationRelease wpi.sim.enableRelease()
 
-    testImplementation 'junit:junit:4.13.1'
+    testImplementation 'org.junit.jupiter:junit-jupiter:5.10.1'
+    testRuntimeOnly 'org.junit.platform:junit-platform-launcher'
+}
+
+test {
+    useJUnitPlatform()
+    systemProperty 'junit.jupiter.extensions.autodetection.enabled', 'true'
 }
 
 // Simulation configuration (e.g. environment variables).
@@ -86,6 +96,9 @@ jar {
             it.isDirectory() ? it : zipTree(it)
         }
     }
+    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
 }

photonlib-java-examples/aimattarget/gradle/wrapper/gradle-wrapper.properties

@@ -1,5 +1,7 @@
 distributionBase=GRADLE_USER_HOME
 distributionPath=permwrapper/dists
-distributionUrl=https\://services\.gradle\.org/distributions/gradle-8\.4-bin\.zip
+distributionUrl=https\://services.gradle.org/distributions/gradle-8.11-bin.zip
+networkTimeout=10000
+validateDistributionUrl=true
 zipStoreBase=GRADLE_USER_HOME
 zipStorePath=permwrapper/dists

photonlib-java-examples/aimattarget/gradlew

@@ -15,6 +15,8 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 #
+# SPDX-License-Identifier: Apache-2.0
+#
 
 ##############################################################################
 #
@@ -55,7 +57,7 @@
 #       Darwin, MinGW, and NonStop.
 #
 #   (3) This script is generated from the Groovy template
-#       https://github.com/gradle/gradle/blob/master/subprojects/plugins/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt
+#       https://github.com/gradle/gradle/blob/HEAD/platforms/jvm/plugins-application/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt
 #       within the Gradle project.
 #
 #       You can find Gradle at https://github.com/gradle/gradle/.
@@ -80,14 +82,12 @@ do
     esac
 done
 
-# Discard cd standard output in case $CDPATH is set (https://github.com/gradle/gradle/issues/25036)
+# This is normally unused
-APP_HOME=$( cd "${APP_HOME:-./}" > /dev/null && pwd -P ) || exit
+# shellcheck disable=SC2034
-
-APP_NAME="Gradle"
 APP_BASE_NAME=${0##*/}
-
+# Discard cd standard output in case $CDPATH is set (https://github.com/gradle/gradle/issues/25036)
-# Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script.
+APP_HOME=$( cd -P "${APP_HOME:-./}" > /dev/null && printf '%s
-DEFAULT_JVM_OPTS='"-Xmx64m" "-Xms64m"'
+' "$PWD" ) || exit
 
 # Use the maximum available, or set MAX_FD != -1 to use that value.
 MAX_FD=maximum
@@ -134,22 +134,29 @@ location of your Java installation."
     fi
 else
     JAVACMD=java
-    which java >/dev/null 2>&1 || die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
+    if ! command -v java >/dev/null 2>&1
+    then
+        die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
 
 Please set the JAVA_HOME variable in your environment to match the
 location of your Java installation."
+    fi
 fi
 
 # Increase the maximum file descriptors if we can.
 if ! "$cygwin" && ! "$darwin" && ! "$nonstop" ; then
     case $MAX_FD in #(
       max*)
+        # In POSIX sh, ulimit -H is undefined. That's why the result is checked to see if it worked.
+        # shellcheck disable=SC2039,SC3045
         MAX_FD=$( ulimit -H -n ) ||
             warn "Could not query maximum file descriptor limit"
     esac
     case $MAX_FD in  #(
       '' | soft) :;; #(
       *)
+        # In POSIX sh, ulimit -n is undefined. That's why the result is checked to see if it worked.
+        # shellcheck disable=SC2039,SC3045
         ulimit -n "$MAX_FD" ||
             warn "Could not set maximum file descriptor limit to $MAX_FD"
     esac
@@ -194,11 +201,15 @@ if "$cygwin" || "$msys" ; then
     done
 fi
 
-# Collect all arguments for the java command;
+
-#   * $DEFAULT_JVM_OPTS, $JAVA_OPTS, and $GRADLE_OPTS can contain fragments of
+# Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script.
-#     shell script including quotes and variable substitutions, so put them in
+DEFAULT_JVM_OPTS='"-Xmx64m" "-Xms64m"'
-#     double quotes to make sure that they get re-expanded; and
+
-#   * put everything else in single quotes, so that it's not re-expanded.
+# Collect all arguments for the java command:
+#   * DEFAULT_JVM_OPTS, JAVA_OPTS, JAVA_OPTS, and optsEnvironmentVar are not allowed to contain shell fragments,
+#     and any embedded shellness will be escaped.
+#   * For example: A user cannot expect ${Hostname} to be expanded, as it is an environment variable and will be
+#     treated as '${Hostname}' itself on the command line.
 
 set -- \
         "-Dorg.gradle.appname=$APP_BASE_NAME" \

photonlib-java-examples/aimattarget/gradlew.bat

@@ -13,6 +13,8 @@
 @rem See the License for the specific language governing permissions and
 @rem limitations under the License.
 @rem
+@rem SPDX-License-Identifier: Apache-2.0
+@rem
 
 @if "%DEBUG%"=="" @echo off
 @rem ##########################################################################
@@ -26,6 +28,7 @@ if "%OS%"=="Windows_NT" setlocal
 
 set DIRNAME=%~dp0
 if "%DIRNAME%"=="" set DIRNAME=.
+@rem This is normally unused
 set APP_BASE_NAME=%~n0
 set APP_HOME=%DIRNAME%
 
@@ -42,11 +45,11 @@ set JAVA_EXE=java.exe
 %JAVA_EXE% -version >NUL 2>&1
 if %ERRORLEVEL% equ 0 goto execute
 
-echo.
+echo. 1>&2
-echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
+echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH. 1>&2
-echo.
+echo. 1>&2
-echo Please set the JAVA_HOME variable in your environment to match the
+echo Please set the JAVA_HOME variable in your environment to match the 1>&2
-echo location of your Java installation.
+echo location of your Java installation. 1>&2
 
 goto fail
 
@@ -56,11 +59,11 @@ set JAVA_EXE=%JAVA_HOME%/bin/java.exe
 
 if exist "%JAVA_EXE%" goto execute
 
-echo.
+echo. 1>&2
-echo ERROR: JAVA_HOME is set to an invalid directory: %JAVA_HOME%
+echo ERROR: JAVA_HOME is set to an invalid directory: %JAVA_HOME% 1>&2
-echo.
+echo. 1>&2
-echo Please set the JAVA_HOME variable in your environment to match the
+echo Please set the JAVA_HOME variable in your environment to match the 1>&2
-echo location of your Java installation.
+echo location of your Java installation. 1>&2
 
 goto fail
 

photonlib-java-examples/aimattarget/src/test/java/frc/robot/JniLoadTest.java

@@ -24,12 +24,12 @@
 
 package frc.robot;
 
-import static org.junit.Assert.fail;
+import static org.junit.jupiter.api.Assertions.fail;
 
 import edu.wpi.first.math.geometry.Pose3d;
 import edu.wpi.first.math.geometry.Rotation2d;
 import java.util.List;
-import org.junit.Test;
+import org.junit.jupiter.api.Test;
 import org.photonvision.PhotonCamera;
 import org.photonvision.simulation.PhotonCameraSim;
 import org.photonvision.simulation.SimCameraProperties;
@@ -37,14 +37,14 @@ import org.photonvision.timesync.TimeSyncSingleton;
 
 public class JniLoadTest {
     @Test
-    public void smoketestTimeSync() {
+    void smoketestTimeSync() {
         if (!TimeSyncSingleton.load()) {
             fail("Could not load TimeSync JNI????????");
         }
     }
 
     @Test
-    public void smoketestPhotonCameraSim() {
+    void smoketestPhotonCameraSim() {
         // This will trigger a force load of OpenCV internally - good to smoketest
         var camera = new PhotonCamera("Hellowo");
         var cameraProp = new SimCameraProperties();

photonlib-java-examples/build.gradle

@@ -1,5 +1,5 @@
 plugins {
-    id "com.diffplug.spotless" version "6.1.2"
+    id "com.diffplug.spotless" version "8.1.0"
 }
 
 allprojects {

photonlib-java-examples/gradle/wrapper/gradle-wrapper.properties

@@ -1,7 +1,7 @@
 distributionBase=GRADLE_USER_HOME
-distributionPath=permwrapper/dists
+distributionPath=wrapper/dists
-distributionUrl=https\://services.gradle.org/distributions/gradle-8.4-bin.zip
+distributionUrl=https\://services.gradle.org/distributions/gradle-8.11-bin.zip
 networkTimeout=10000
 validateDistributionUrl=true
 zipStoreBase=GRADLE_USER_HOME
-zipStorePath=permwrapper/dists
+zipStorePath=wrapper/dists

photonlib-java-examples/gradlew

@@ -1,7 +1,7 @@
 #!/bin/sh
 
 #
-# Copyright <EFBFBD> 2015-2021 the original authors.
+# Copyright © 2015-2021 the original authors.
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.
@@ -15,7 +15,53 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 #
+# SPDX-License-Identifier: Apache-2.0
+#
 
+##############################################################################
+#
+#   Gradle start up script for POSIX generated by Gradle.
+#
+#   Important for running:
+#
+#   (1) You need a POSIX-compliant shell to run this script. If your /bin/sh is
+#       noncompliant, but you have some other compliant shell such as ksh or
+#       bash, then to run this script, type that shell name before the whole
+#       command line, like:
+#
+#           ksh Gradle
+#
+#       Busybox and similar reduced shells will NOT work, because this script
+#       requires all of these POSIX shell features:
+#         * functions;
+#         * expansions «$var», «${var}», «${var:-default}», «${var+SET}»,
+#           «${var#prefix}», «${var%suffix}», and «$( cmd )»;
+#         * compound commands having a testable exit status, especially «case»;
+#         * various built-in commands including «command», «set», and «ulimit».
+#
+#   Important for patching:
+#
+#   (2) This script targets any POSIX shell, so it avoids extensions provided
+#       by Bash, Ksh, etc; in particular arrays are avoided.
+#
+#       The "traditional" practice of packing multiple parameters into a
+#       space-separated string is a well documented source of bugs and security
+#       problems, so this is (mostly) avoided, by progressively accumulating
+#       options in "$@", and eventually passing that to Java.
+#
+#       Where the inherited environment variables (DEFAULT_JVM_OPTS, JAVA_OPTS,
+#       and GRADLE_OPTS) rely on word-splitting, this is performed explicitly;
+#       see the in-line comments for details.
+#
+#       There are tweaks for specific operating systems such as AIX, CygWin,
+#       Darwin, MinGW, and NonStop.
+#
+#   (3) This script is generated from the Groovy template
+#       https://github.com/gradle/gradle/blob/HEAD/platforms/jvm/plugins-application/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt
+#       within the Gradle project.
+#
+#       You can find Gradle at https://github.com/gradle/gradle/.
+#
 ##############################################################################
 
 # Attempt to set APP_HOME
@@ -36,14 +82,12 @@ do
     esac
 done
 
-# Discard cd standard output in case $CDPATH is set (https://github.com/gradle/gradle/issues/25036)
+# This is normally unused
-APP_HOME=$( cd "${APP_HOME:-./}" > /dev/null && pwd -P ) || exit
+# shellcheck disable=SC2034
-
-APP_NAME="Gradle"
 APP_BASE_NAME=${0##*/}
-
+# Discard cd standard output in case $CDPATH is set (https://github.com/gradle/gradle/issues/25036)
-# Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script.
+APP_HOME=$( cd -P "${APP_HOME:-./}" > /dev/null && printf '%s
-DEFAULT_JVM_OPTS='"-Xmx64m" "-Xms64m"'
+' "$PWD" ) || exit
 
 # Use the maximum available, or set MAX_FD != -1 to use that value.
 MAX_FD=maximum
@@ -90,22 +134,29 @@ location of your Java installation."
     fi
 else
     JAVACMD=java
-    which java >/dev/null 2>&1 || die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
+    if ! command -v java >/dev/null 2>&1
+    then
+        die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
 
 Please set the JAVA_HOME variable in your environment to match the
 location of your Java installation."
+    fi
 fi
 
 # Increase the maximum file descriptors if we can.
 if ! "$cygwin" && ! "$darwin" && ! "$nonstop" ; then
     case $MAX_FD in #(
       max*)
+        # In POSIX sh, ulimit -H is undefined. That's why the result is checked to see if it worked.
+        # shellcheck disable=SC2039,SC3045
         MAX_FD=$( ulimit -H -n ) ||
             warn "Could not query maximum file descriptor limit"
     esac
     case $MAX_FD in  #(
       '' | soft) :;; #(
       *)
+        # In POSIX sh, ulimit -n is undefined. That's why the result is checked to see if it worked.
+        # shellcheck disable=SC2039,SC3045
         ulimit -n "$MAX_FD" ||
             warn "Could not set maximum file descriptor limit to $MAX_FD"
     esac
@@ -150,11 +201,15 @@ if "$cygwin" || "$msys" ; then
     done
 fi
 
-# Collect all arguments for the java command;
+
-#   * $DEFAULT_JVM_OPTS, $JAVA_OPTS, and $GRADLE_OPTS can contain fragments of
+# Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script.
-#     shell script including quotes and variable substitutions, so put them in
+DEFAULT_JVM_OPTS='"-Xmx64m" "-Xms64m"'
-#     double quotes to make sure that they get re-expanded; and
+
-#   * put everything else in single quotes, so that it's not re-expanded.
+# Collect all arguments for the java command:
+#   * DEFAULT_JVM_OPTS, JAVA_OPTS, JAVA_OPTS, and optsEnvironmentVar are not allowed to contain shell fragments,
+#     and any embedded shellness will be escaped.
+#   * For example: A user cannot expect ${Hostname} to be expanded, as it is an environment variable and will be
+#     treated as '${Hostname}' itself on the command line.
 
 set -- \
         "-Dorg.gradle.appname=$APP_BASE_NAME" \
@@ -162,6 +217,12 @@ set -- \
         org.gradle.wrapper.GradleWrapperMain \
         "$@"
 
+# Stop when "xargs" is not available.
+if ! command -v xargs >/dev/null 2>&1
+then
+    die "xargs is not available"
+fi
+
 # Use "xargs" to parse quoted args.
 #
 # With -n1 it outputs one arg per line, with the quotes and backslashes removed.

photonlib-java-examples/gradlew.bat

@@ -13,8 +13,10 @@
 @rem See the License for the specific language governing permissions and
 @rem limitations under the License.
 @rem
+@rem SPDX-License-Identifier: Apache-2.0
+@rem
 
-@if "%DEBUG%" == "" @echo off
+@if "%DEBUG%"=="" @echo off
 @rem ##########################################################################
 @rem
 @rem  Gradle startup script for Windows
@@ -25,7 +27,8 @@
 if "%OS%"=="Windows_NT" setlocal
 
 set DIRNAME=%~dp0
-if "%DIRNAME%" == "" set DIRNAME=.
+if "%DIRNAME%"=="" set DIRNAME=.
+@rem This is normally unused
 set APP_BASE_NAME=%~n0
 set APP_HOME=%DIRNAME%
 
@@ -40,13 +43,13 @@ if defined JAVA_HOME goto findJavaFromJavaHome
 
 set JAVA_EXE=java.exe
 %JAVA_EXE% -version >NUL 2>&1
-if "%ERRORLEVEL%" == "0" goto execute
+if %ERRORLEVEL% equ 0 goto execute
 
-echo.
+echo. 1>&2
-echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
+echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH. 1>&2
-echo.
+echo. 1>&2
-echo Please set the JAVA_HOME variable in your environment to match the
+echo Please set the JAVA_HOME variable in your environment to match the 1>&2
-echo location of your Java installation.
+echo location of your Java installation. 1>&2
 
 goto fail
 
@@ -56,11 +59,11 @@ set JAVA_EXE=%JAVA_HOME%/bin/java.exe
 
 if exist "%JAVA_EXE%" goto execute
 
-echo.
+echo. 1>&2
-echo ERROR: JAVA_HOME is set to an invalid directory: %JAVA_HOME%
+echo ERROR: JAVA_HOME is set to an invalid directory: %JAVA_HOME% 1>&2
-echo.
+echo. 1>&2
-echo Please set the JAVA_HOME variable in your environment to match the
+echo Please set the JAVA_HOME variable in your environment to match the 1>&2
-echo location of your Java installation.
+echo location of your Java installation. 1>&2
 
 goto fail
 
@@ -75,13 +78,15 @@ set CLASSPATH=%APP_HOME%\gradle\wrapper\gradle-wrapper.jar
 
 :end
 @rem End local scope for the variables with windows NT shell
-if "%ERRORLEVEL%"=="0" goto mainEnd
+if %ERRORLEVEL% equ 0 goto mainEnd
 
 :fail
 rem Set variable GRADLE_EXIT_CONSOLE if you need the _script_ return code instead of
 rem the _cmd.exe /c_ return code!
-if  not "" == "%GRADLE_EXIT_CONSOLE%" exit 1
+set EXIT_CODE=%ERRORLEVEL%
-exit /b 1
+if %EXIT_CODE% equ 0 set EXIT_CODE=1
+if not ""=="%GRADLE_EXIT_CONSOLE%" exit %EXIT_CODE%
+exit /b %EXIT_CODE%
 
 :mainEnd
 if "%OS%"=="Windows_NT" endlocal

photonlib-java-examples/poseest/.wpilib/wpilib_preferences.json

@@ -1,6 +1,6 @@
 {
     "enableCppIntellisense": false,
     "currentLanguage": "java",
-    "projectYear": "2026beta",
+    "projectYear": "2026",
     "teamNumber": 4512
 }

photonlib-java-examples/poseest/build.gradle

@@ -1,6 +1,6 @@
 plugins {
     id "java"
-    id "edu.wpi.first.GradleRIO" version "2026.1.1-beta-1"
+    id "edu.wpi.first.GradleRIO" version "2026.1.1"
 }
 
 sourceCompatibility = JavaVersion.VERSION_17
@@ -9,8 +9,8 @@ targetCompatibility = JavaVersion.VERSION_17
 def ROBOT_MAIN_CLASS = "frc.robot.Main"
 
 wpi.maven.useDevelopment = true
-wpi.versions.wpilibVersion = "2026.1.1-beta-1"
+wpi.versions.wpilibVersion = "2026.1.1"
-wpi.versions.wpimathVersion = "2026.1.1-beta-1"
+wpi.versions.wpimathVersion = "2026.1.1"
 
 
 // Define my targets (RoboRIO) and artifacts (deployable files)
@@ -36,6 +36,8 @@ deploy {
                 frcStaticFileDeploy(getArtifactTypeClass('FileTreeArtifact')) {
                     files = project.fileTree('src/main/deploy')
                     directory = '/home/lvuser/deploy'
+                    deleteOldFiles = false // Change to true to delete files on roboRIO that no
+                    // longer exist in deploy directory of this project
                 }
             }
         }
@@ -44,7 +46,8 @@ 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.
@@ -53,6 +56,7 @@ def includeDesktopSupport = true
 // Defining my dependencies. In this case, WPILib (+ friends), and vendor libraries.
 // Also defines JUnit 5.
 dependencies {
+    annotationProcessor wpi.java.deps.wpilibAnnotations()
     implementation wpi.java.deps.wpilib()
     implementation wpi.java.vendor.java()
 
@@ -70,7 +74,13 @@ dependencies {
     nativeRelease wpi.java.vendor.jniRelease(wpi.platforms.desktop)
     simulationRelease wpi.sim.enableRelease()
 
-    testImplementation 'junit:junit:4.13.1'
+    testImplementation 'org.junit.jupiter:junit-jupiter:5.10.1'
+    testRuntimeOnly 'org.junit.platform:junit-platform-launcher'
+}
+
+test {
+    useJUnitPlatform()
+    systemProperty 'junit.jupiter.extensions.autodetection.enabled', 'true'
 }
 
 // Simulation configuration (e.g. environment variables).
@@ -86,6 +96,9 @@ jar {
             it.isDirectory() ? it : zipTree(it)
         }
     }
+    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
 }

photonlib-java-examples/poseest/gradle/wrapper/gradle-wrapper.properties

@@ -1,5 +1,7 @@
 distributionBase=GRADLE_USER_HOME
 distributionPath=permwrapper/dists
-distributionUrl=https\://services\.gradle\.org/distributions/gradle-8\.4-bin\.zip
+distributionUrl=https\://services.gradle.org/distributions/gradle-8.11-bin.zip
+networkTimeout=10000
+validateDistributionUrl=true
 zipStoreBase=GRADLE_USER_HOME
 zipStorePath=permwrapper/dists

photonlib-java-examples/poseest/gradlew

@@ -15,6 +15,8 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 #
+# SPDX-License-Identifier: Apache-2.0
+#
 
 ##############################################################################
 #
@@ -55,7 +57,7 @@
 #       Darwin, MinGW, and NonStop.
 #
 #   (3) This script is generated from the Groovy template
-#       https://github.com/gradle/gradle/blob/master/subprojects/plugins/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt
+#       https://github.com/gradle/gradle/blob/HEAD/platforms/jvm/plugins-application/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt
 #       within the Gradle project.
 #
 #       You can find Gradle at https://github.com/gradle/gradle/.
@@ -80,14 +82,12 @@ do
     esac
 done
 
-# Discard cd standard output in case $CDPATH is set (https://github.com/gradle/gradle/issues/25036)
+# This is normally unused
-APP_HOME=$( cd "${APP_HOME:-./}" > /dev/null && pwd -P ) || exit
+# shellcheck disable=SC2034
-
-APP_NAME="Gradle"
 APP_BASE_NAME=${0##*/}
-
+# Discard cd standard output in case $CDPATH is set (https://github.com/gradle/gradle/issues/25036)
-# Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script.
+APP_HOME=$( cd -P "${APP_HOME:-./}" > /dev/null && printf '%s
-DEFAULT_JVM_OPTS='"-Xmx64m" "-Xms64m"'
+' "$PWD" ) || exit
 
 # Use the maximum available, or set MAX_FD != -1 to use that value.
 MAX_FD=maximum
@@ -134,22 +134,29 @@ location of your Java installation."
     fi
 else
     JAVACMD=java
-    which java >/dev/null 2>&1 || die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
+    if ! command -v java >/dev/null 2>&1
+    then
+        die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
 
 Please set the JAVA_HOME variable in your environment to match the
 location of your Java installation."
+    fi
 fi
 
 # Increase the maximum file descriptors if we can.
 if ! "$cygwin" && ! "$darwin" && ! "$nonstop" ; then
     case $MAX_FD in #(
       max*)
+        # In POSIX sh, ulimit -H is undefined. That's why the result is checked to see if it worked.
+        # shellcheck disable=SC2039,SC3045
         MAX_FD=$( ulimit -H -n ) ||
             warn "Could not query maximum file descriptor limit"
     esac
     case $MAX_FD in  #(
       '' | soft) :;; #(
       *)
+        # In POSIX sh, ulimit -n is undefined. That's why the result is checked to see if it worked.
+        # shellcheck disable=SC2039,SC3045
         ulimit -n "$MAX_FD" ||
             warn "Could not set maximum file descriptor limit to $MAX_FD"
     esac
@@ -194,11 +201,15 @@ if "$cygwin" || "$msys" ; then
     done
 fi
 
-# Collect all arguments for the java command;
+
-#   * $DEFAULT_JVM_OPTS, $JAVA_OPTS, and $GRADLE_OPTS can contain fragments of
+# Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script.
-#     shell script including quotes and variable substitutions, so put them in
+DEFAULT_JVM_OPTS='"-Xmx64m" "-Xms64m"'
-#     double quotes to make sure that they get re-expanded; and
+
-#   * put everything else in single quotes, so that it's not re-expanded.
+# Collect all arguments for the java command:
+#   * DEFAULT_JVM_OPTS, JAVA_OPTS, JAVA_OPTS, and optsEnvironmentVar are not allowed to contain shell fragments,
+#     and any embedded shellness will be escaped.
+#   * For example: A user cannot expect ${Hostname} to be expanded, as it is an environment variable and will be
+#     treated as '${Hostname}' itself on the command line.
 
 set -- \
         "-Dorg.gradle.appname=$APP_BASE_NAME" \

photonlib-java-examples/poseest/gradlew.bat

@@ -13,6 +13,8 @@
 @rem See the License for the specific language governing permissions and
 @rem limitations under the License.
 @rem
+@rem SPDX-License-Identifier: Apache-2.0
+@rem
 
 @if "%DEBUG%"=="" @echo off
 @rem ##########################################################################
@@ -26,6 +28,7 @@ if "%OS%"=="Windows_NT" setlocal
 
 set DIRNAME=%~dp0
 if "%DIRNAME%"=="" set DIRNAME=.
+@rem This is normally unused
 set APP_BASE_NAME=%~n0
 set APP_HOME=%DIRNAME%
 
@@ -42,11 +45,11 @@ set JAVA_EXE=java.exe
 %JAVA_EXE% -version >NUL 2>&1
 if %ERRORLEVEL% equ 0 goto execute
 
-echo.
+echo. 1>&2
-echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
+echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH. 1>&2
-echo.
+echo. 1>&2
-echo Please set the JAVA_HOME variable in your environment to match the
+echo Please set the JAVA_HOME variable in your environment to match the 1>&2
-echo location of your Java installation.
+echo location of your Java installation. 1>&2
 
 goto fail
 
@@ -56,11 +59,11 @@ set JAVA_EXE=%JAVA_HOME%/bin/java.exe
 
 if exist "%JAVA_EXE%" goto execute
 
-echo.
+echo. 1>&2
-echo ERROR: JAVA_HOME is set to an invalid directory: %JAVA_HOME%
+echo ERROR: JAVA_HOME is set to an invalid directory: %JAVA_HOME% 1>&2
-echo.
+echo. 1>&2
-echo Please set the JAVA_HOME variable in your environment to match the
+echo Please set the JAVA_HOME variable in your environment to match the 1>&2
-echo location of your Java installation.
+echo location of your Java installation. 1>&2
 
 goto fail
 

photonlib-python-examples/aimandrange/pyproject.toml

@@ -6,7 +6,7 @@
 [tool.robotpy]
 
 # Version of robotpy this project depends on
-robotpy_version = "2026.1.1b1"
+robotpy_version = "2026.1.1"
 
 # Which extra RobotPy components should be installed
 # -> equivalent to `pip install robotpy[extra1, ...]

photonlib-python-examples/aimattarget/pyproject.toml

@@ -6,7 +6,7 @@
 [tool.robotpy]
 
 # Version of robotpy this project depends on
-robotpy_version = "2026.1.1b1"
+robotpy_version = "2026.1.1"
 
 # Which extra RobotPy components should be installed
 # -> equivalent to `pip install robotpy[extra1, ...]

photonlib-python-examples/poseest/pyproject.toml

@@ -6,7 +6,7 @@
 [tool.robotpy]
 
 # Version of robotpy this project depends on
-robotpy_version = "2026.1.1b1"
+robotpy_version = "2026.1.1"
 
 # Which extra RobotPy components should be installed
 # -> equivalent to `pip install robotpy[extra1, ...]