diff --git a/build.gradle b/build.gradle index 15de76bd3..ab433aa55 100644 --- a/build.gradle +++ b/build.gradle @@ -4,7 +4,7 @@ plugins { id "cpp" id "com.diffplug.spotless" version "6.24.0" id "edu.wpi.first.wpilib.repositories.WPILibRepositoriesPlugin" version "2020.2" - id "edu.wpi.first.GradleRIO" version "2025.3.2" + id "edu.wpi.first.GradleRIO" version "2026.1.1-beta-1" id 'edu.wpi.first.WpilibTools' version '1.3.0' id 'com.google.protobuf' version '0.9.3' apply false id 'edu.wpi.first.GradleJni' version '1.1.0' @@ -32,7 +32,7 @@ ext.allOutputsFolder = file("$project.buildDir/outputs") apply from: "versioningHelper.gradle" ext { - wpilibVersion = "2025.3.2" + wpilibVersion = "2026.1.1-beta-1" wpimathVersion = wpilibVersion openCVYear = "2025" openCVversion = "4.10.0-3" @@ -40,7 +40,7 @@ ext { libcameraDriverVersion = "dev-v2025.0.4-2-gc91d4b7" rknnVersion = "dev-v2025.0.0-7-g83c1bf3" rubikVersion = "dev-v2025.1.0-7-g39588a8" - frcYear = "2025" + frcYear = "2026beta" mrcalVersion = "dev-v2025.0.0-2-g2adb187"; diff --git a/docs/source/docs/advanced-installation/sw_install/mac-os.md b/docs/source/docs/advanced-installation/sw_install/mac-os.md index 0cede5e7e..4c030a187 100644 --- a/docs/source/docs/advanced-installation/sw_install/mac-os.md +++ b/docs/source/docs/advanced-installation/sw_install/mac-os.md @@ -12,7 +12,7 @@ VERY Limited macOS support is available. ## Installing Java -PhotonVision requires a JDK installed and on the system path. JDK 17 is needed (different versions will not work). You may already have this if you have installed WPILib 2025+. If not, [download and install it from here](https://adoptium.net/temurin/releases?version=17). +PhotonVision requires a JDK installed and on the system path. JDK 17 is needed (different versions will not work). You may already have this if you have installed WPILib 2026+. If not, [download and install it from here](https://adoptium.net/temurin/releases?version=17). :::{warning} Using a JDK other than JDK17 will cause issues when running PhotonVision and is not supported. diff --git a/docs/source/docs/advanced-installation/sw_install/windows-pc.md b/docs/source/docs/advanced-installation/sw_install/windows-pc.md index 629b32fa7..364d27210 100644 --- a/docs/source/docs/advanced-installation/sw_install/windows-pc.md +++ b/docs/source/docs/advanced-installation/sw_install/windows-pc.md @@ -12,15 +12,7 @@ Bonjour provides more stable networking when using Windows PCs. Install [Bonjour ## Installing Java -PhotonVision requires a JDK installed and on the system path. **JDK 17 is needed. Windows Users must use the JDK that ships with WPILib.** [Download and install it from here.](https://github.com/wpilibsuite/allwpilib/releases/tag/v2025.3.2) Either ensure the only Java on your PATH is the WPILIB Java or specify it to gradle with `-Dorg.gradle.java.home=C:\Users\Public\wpilib\2025\jdk`: - -``` -> ./gradlew run "-Dorg.gradle.java.home=C:\Users\Public\wpilib\2025\jdk" -``` - -:::{warning} -Using a JDK other than WPILIB's JDK17 will cause issues when running PhotonVision and is not supported. -::: +PhotonVision requires a JDK installed and on the system path. **JDK 17 is needed.** You may already have it if you installed WPILib, but ensure that running `java -version` shows JDK 17. You will likely have to add WPILib's JDK to JAVA_HOME and the JDK's `bin` directory to PATH. If you do not have a JDK 17 install, [download and install it from here.](https://adoptium.net/temurin/releases?version=17) ## Downloading the Latest Stable Release of PhotonVision diff --git a/docs/source/docs/contributing/building-photon.md b/docs/source/docs/contributing/building-photon.md index 2c0a65c3d..90d44bc78 100644 --- a/docs/source/docs/contributing/building-photon.md +++ b/docs/source/docs/contributing/building-photon.md @@ -8,7 +8,7 @@ This section contains the build instructions from the source code available at [ **Java Development Kit:** - This project requires Java Development Kit (JDK) 17 to be compiled. This is the same Java version that comes with WPILib for 2025+. **Windows Users must use the JDK that ships with WPILib.** For other platforms, you can follow the instructions to install JDK 17 for your platform [here](https://bell-sw.com/pages/downloads/#jdk-17-lts). + This project requires Java Development Kit (JDK) 17 to be compiled. This is the same Java version that comes with WPILib for 2026+. **Windows Users must use the JDK that ships with WPILib.** For other platforms, you can follow the instructions to install JDK 17 for your platform [here](https://bell-sw.com/pages/downloads/#jdk-17-lts). **Node JS:** diff --git a/docs/source/docs/troubleshooting/networking-troubleshooting.md b/docs/source/docs/troubleshooting/networking-troubleshooting.md index 1eb47d2db..6e0a80153 100644 --- a/docs/source/docs/troubleshooting/networking-troubleshooting.md +++ b/docs/source/docs/troubleshooting/networking-troubleshooting.md @@ -11,8 +11,8 @@ A few issues make up the majority of support requests. Run through this checklis - Even if there's a switch between your laptop and coprocessor, you'll still want a radio or router in the loop somehow. - The FRC radio is the _only_ router we will officially support due to the innumerable variations between routers. - (Raspberry Pi, Orange Pi & Limelight only) have you flashed the correct image, and is it [up to date](https://github.com/PhotonVision/photonvision/releases/latest)? -- Is your robot code using a **2025** version of WPILib, and is your coprocessor using the most up to date **2025** release? - - 2022, 2023, 2024, and 2025 versions of either cannot be mix-and-matched! +- Is your robot code using a **2026** version of WPILib, and is your coprocessor using the most up to date **2026** release? + - 2022, 2023, 2024, 2025, and 2026 versions of either cannot be mix-and-matched! - Your PhotonVision version can be checked on the settings tab. - Is your team number correctly set on the settings tab? @@ -30,7 +30,7 @@ Please check that: 1\. You don't have the NetworkTables Server on (toggleable in the settings tab). Turn this off when doing work on a robot. 2\. You have your team number set properly in the settings tab. 3\. Your camera name in the `PhotonCamera` constructor matches the name in the UI. -4\. You are using the 2025 version of WPILib and RoboRIO image. +4\. You are using the 2026 version of WPILib and RoboRIO image. 5\. Your robot is on. If all of the above are met and you still have issues, feel free to {ref}`contact us ` and provide the following information: diff --git a/photon-targeting/src/main/native/cpp/photon/constrained_solvepnp/wrap/casadi_wrapper.cpp b/photon-targeting/src/main/native/cpp/photon/constrained_solvepnp/wrap/casadi_wrapper.cpp index ffe1bb9e4..ebe0ea589 100644 --- a/photon-targeting/src/main/native/cpp/photon/constrained_solvepnp/wrap/casadi_wrapper.cpp +++ b/photon-targeting/src/main/native/cpp/photon/constrained_solvepnp/wrap/casadi_wrapper.cpp @@ -156,8 +156,7 @@ struct ProblemState { #undef MAKE_ARGV }; -wpi::expected +wpi::expected constrained_solvepnp::do_optimization( bool heading_free, int nTags, constrained_solvepnp::CameraCalibration cameraCal, @@ -173,7 +172,7 @@ constrained_solvepnp::do_optimization( if constexpr (VERBOSE) fmt::println("Got unexpected num cols!"); // TODO find a new error code return wpi::unexpected{ - sleipnir::SolverExitCondition::kNonfiniteInitialCostOrConstraints}; + slp::ExitStatus::NONFINITE_INITIAL_COST_OR_CONSTRAINTS}; } // rescale observations to homogenous pixel coordinates @@ -203,7 +202,7 @@ constrained_solvepnp::do_optimization( auto problemOpt = createProblem(nTags, heading_free); if (!problemOpt) { return wpi::unexpected{ - sleipnir::SolverExitCondition::kNonfiniteInitialCostOrConstraints}; + slp::ExitStatus::NONFINITE_INITIAL_COST_OR_CONSTRAINTS}; } ProblemState<3> pState{robot2camera, field2points, point_observations, @@ -233,7 +232,7 @@ constrained_solvepnp::do_optimization( // Check for diverging iterates if (x.template lpNorm() > 1e20 || !x.allFinite()) { - return wpi::unexpected{sleipnir::SolverExitCondition::kDivergingIterates}; + return wpi::unexpected{slp::ExitStatus::DIVERGING_ITERATES}; } GradMat g = pState.calculateGradJ(x); @@ -254,7 +253,7 @@ constrained_solvepnp::do_optimization( auto H_ldlt = H.ldlt(); if (H_ldlt.info() != Eigen::Success) { std::cerr << "LDLT decomp failed! H=" << std::endl << H << std::endl; - return wpi::unexpected{sleipnir::SolverExitCondition::kLocallyInfeasible}; + return wpi::unexpected{slp::ExitStatus::LOCALLY_INFEASIBLE}; } // Make sure H is positive definite (all eigenvalues are > 0) @@ -278,8 +277,7 @@ constrained_solvepnp::do_optimization( if (H_ldlt.info() != Eigen::Success) { std::cerr << "LDLT decomp failed! H=" << std::endl << H << std::endl; - return wpi::unexpected{ - sleipnir::SolverExitCondition::kLocallyInfeasible}; + return wpi::unexpected{slp::ExitStatus::LOCALLY_INFEASIBLE}; } // If our eigenvalues aren't positive definite, pick a new δ for next @@ -289,8 +287,7 @@ constrained_solvepnp::do_optimization( // If the Hessian perturbation is too high, report failure if (δ > 1e20) { - return wpi::unexpected{ - sleipnir::SolverExitCondition::kLocallyInfeasible}; + return wpi::unexpected{slp::ExitStatus::LOCALLY_INFEASIBLE}; } } else { // Done! @@ -301,8 +298,7 @@ constrained_solvepnp::do_optimization( } if (i_reg == MAX_REG_STEPS) { - return wpi::unexpected{ - sleipnir::SolverExitCondition::kLocallyInfeasible}; + return wpi::unexpected{slp::ExitStatus::LOCALLY_INFEASIBLE}; } } else { // std::printf("Already regularized\n"); @@ -345,8 +341,7 @@ constrained_solvepnp::do_optimization( // If our step size shrank too much, report local infesibility if (alpha < α_min_frac * γConstraint) { - return wpi::unexpected{ - sleipnir::SolverExitCondition::kLocallyInfeasible}; + return wpi::unexpected{slp::ExitStatus::LOCALLY_INFEASIBLE}; } } } diff --git a/photon-targeting/src/main/native/cpp/photon/estimation/VisionEstimation.cpp b/photon-targeting/src/main/native/cpp/photon/estimation/VisionEstimation.cpp index 2349a5831..0ae99457b 100644 --- a/photon-targeting/src/main/native/cpp/photon/estimation/VisionEstimation.cpp +++ b/photon-targeting/src/main/native/cpp/photon/estimation/VisionEstimation.cpp @@ -191,9 +191,8 @@ std::optional EstimateRobotPoseConstrainedSolvePNP( guess2.X().value(), guess2.Y().value(), guess2.Rotation().Radians().value()}; - wpi::expected - result = constrained_solvepnp::do_optimization( + wpi::expected result = + constrained_solvepnp::do_optimization( headingFree, knownTags.size(), cameraCal, robotToCamera, guessMat, field2points, pointObservations, gyroTheta.Radians().value(), gyroErrorScaleFac); diff --git a/photon-targeting/src/main/native/include/photon/constrained_solvepnp/wrap/casadi_wrapper.h b/photon-targeting/src/main/native/include/photon/constrained_solvepnp/wrap/casadi_wrapper.h index da966a87e..c71629f73 100644 --- a/photon-targeting/src/main/native/include/photon/constrained_solvepnp/wrap/casadi_wrapper.h +++ b/photon-targeting/src/main/native/include/photon/constrained_solvepnp/wrap/casadi_wrapper.h @@ -18,7 +18,7 @@ #pragma once #include -#include +#include #include namespace constrained_solvepnp { @@ -40,7 +40,7 @@ using RobotStateMat = Eigen::Matrix; * to this. The number of columns in field2points and point_observations just be * exactly 4x nTags. */ -wpi::expected do_optimization( +wpi::expected do_optimization( bool heading_free, int nTags, CameraCalibration cameraCal, // Note that casadi is column major, apparently Eigen::Matrix robot2camera, diff --git a/photon-targeting/src/main/native/jni/ConstrainedSolvepnpJNI.cpp b/photon-targeting/src/main/native/jni/ConstrainedSolvepnpJNI.cpp index 8e7672d4f..b67451206 100644 --- a/photon-targeting/src/main/native/jni/ConstrainedSolvepnpJNI.cpp +++ b/photon-targeting/src/main/native/jni/ConstrainedSolvepnpJNI.cpp @@ -84,9 +84,8 @@ Java_org_photonvision_jni_ConstrainedSolvepnpJni_do_1optimization std::cout << "observations:\n" << pointObservationsMat << std::endl; #endif - wpi::expected - result = constrained_solvepnp::do_optimization( + wpi::expected result = + constrained_solvepnp::do_optimization( headingFree, nTags, cameraCal_, robot2cameraMat, xGuessMat, field2pointsMat, pointObservationsMat, gyro_θ, gyro_error_scale_fac); diff --git a/photonlib-cpp-examples/aimandrange/.wpilib/wpilib_preferences.json b/photonlib-cpp-examples/aimandrange/.wpilib/wpilib_preferences.json index cc94c138c..4c9e01a94 100644 --- a/photonlib-cpp-examples/aimandrange/.wpilib/wpilib_preferences.json +++ b/photonlib-cpp-examples/aimandrange/.wpilib/wpilib_preferences.json @@ -1,6 +1,6 @@ { "enableCppIntellisense": true, "currentLanguage": "cpp", - "projectYear": "2025", + "projectYear": "2026beta", "teamNumber": 5 } diff --git a/photonlib-cpp-examples/aimandrange/build.gradle b/photonlib-cpp-examples/aimandrange/build.gradle index 0c20a5cdd..e00e0d0d7 100644 --- a/photonlib-cpp-examples/aimandrange/build.gradle +++ b/photonlib-cpp-examples/aimandrange/build.gradle @@ -1,7 +1,7 @@ plugins { id "cpp" id "google-test-test-suite" - id "edu.wpi.first.GradleRIO" version "2025.3.2" + id "edu.wpi.first.GradleRIO" version "2026.1.1-beta-1" } repositories { @@ -11,8 +11,8 @@ repositories { wpi.maven.useLocal = false wpi.maven.useDevelopment = false -wpi.versions.wpilibVersion = "2025.3.2" -wpi.versions.wpimathVersion = "2025.3.2" +wpi.versions.wpilibVersion = "2026.1.1-beta-1" +wpi.versions.wpimathVersion = "2026.1.1-beta-1" // Define my targets (RoboRIO) and artifacts (deployable files) // This is added by GradleRIO's backing project DeployUtils. diff --git a/photonlib-cpp-examples/aimandrange/settings.gradle b/photonlib-cpp-examples/aimandrange/settings.gradle index 5f9cf4bef..882b61321 100644 --- a/photonlib-cpp-examples/aimandrange/settings.gradle +++ b/photonlib-cpp-examples/aimandrange/settings.gradle @@ -5,7 +5,7 @@ pluginManagement { mavenLocal() jcenter() gradlePluginPortal() - String frcYear = '2025' + String frcYear = '2026' File frcHome if (OperatingSystem.current().isWindows()) { String publicFolder = System.getenv('PUBLIC') diff --git a/photonlib-cpp-examples/aimattarget/.wpilib/wpilib_preferences.json b/photonlib-cpp-examples/aimattarget/.wpilib/wpilib_preferences.json index cc94c138c..4c9e01a94 100644 --- a/photonlib-cpp-examples/aimattarget/.wpilib/wpilib_preferences.json +++ b/photonlib-cpp-examples/aimattarget/.wpilib/wpilib_preferences.json @@ -1,6 +1,6 @@ { "enableCppIntellisense": true, "currentLanguage": "cpp", - "projectYear": "2025", + "projectYear": "2026beta", "teamNumber": 5 } diff --git a/photonlib-cpp-examples/aimattarget/build.gradle b/photonlib-cpp-examples/aimattarget/build.gradle index 0c20a5cdd..e00e0d0d7 100644 --- a/photonlib-cpp-examples/aimattarget/build.gradle +++ b/photonlib-cpp-examples/aimattarget/build.gradle @@ -1,7 +1,7 @@ plugins { id "cpp" id "google-test-test-suite" - id "edu.wpi.first.GradleRIO" version "2025.3.2" + id "edu.wpi.first.GradleRIO" version "2026.1.1-beta-1" } repositories { @@ -11,8 +11,8 @@ repositories { wpi.maven.useLocal = false wpi.maven.useDevelopment = false -wpi.versions.wpilibVersion = "2025.3.2" -wpi.versions.wpimathVersion = "2025.3.2" +wpi.versions.wpilibVersion = "2026.1.1-beta-1" +wpi.versions.wpimathVersion = "2026.1.1-beta-1" // Define my targets (RoboRIO) and artifacts (deployable files) // This is added by GradleRIO's backing project DeployUtils. diff --git a/photonlib-cpp-examples/aimattarget/settings.gradle b/photonlib-cpp-examples/aimattarget/settings.gradle index 5f9cf4bef..882b61321 100644 --- a/photonlib-cpp-examples/aimattarget/settings.gradle +++ b/photonlib-cpp-examples/aimattarget/settings.gradle @@ -5,7 +5,7 @@ pluginManagement { mavenLocal() jcenter() gradlePluginPortal() - String frcYear = '2025' + String frcYear = '2026' File frcHome if (OperatingSystem.current().isWindows()) { String publicFolder = System.getenv('PUBLIC') diff --git a/photonlib-cpp-examples/poseest/.wpilib/wpilib_preferences.json b/photonlib-cpp-examples/poseest/.wpilib/wpilib_preferences.json index cc94c138c..4c9e01a94 100644 --- a/photonlib-cpp-examples/poseest/.wpilib/wpilib_preferences.json +++ b/photonlib-cpp-examples/poseest/.wpilib/wpilib_preferences.json @@ -1,6 +1,6 @@ { "enableCppIntellisense": true, "currentLanguage": "cpp", - "projectYear": "2025", + "projectYear": "2026beta", "teamNumber": 5 } diff --git a/photonlib-cpp-examples/poseest/build.gradle b/photonlib-cpp-examples/poseest/build.gradle index 0c20a5cdd..e00e0d0d7 100644 --- a/photonlib-cpp-examples/poseest/build.gradle +++ b/photonlib-cpp-examples/poseest/build.gradle @@ -1,7 +1,7 @@ plugins { id "cpp" id "google-test-test-suite" - id "edu.wpi.first.GradleRIO" version "2025.3.2" + id "edu.wpi.first.GradleRIO" version "2026.1.1-beta-1" } repositories { @@ -11,8 +11,8 @@ repositories { wpi.maven.useLocal = false wpi.maven.useDevelopment = false -wpi.versions.wpilibVersion = "2025.3.2" -wpi.versions.wpimathVersion = "2025.3.2" +wpi.versions.wpilibVersion = "2026.1.1-beta-1" +wpi.versions.wpimathVersion = "2026.1.1-beta-1" // Define my targets (RoboRIO) and artifacts (deployable files) // This is added by GradleRIO's backing project DeployUtils. diff --git a/photonlib-cpp-examples/poseest/settings.gradle b/photonlib-cpp-examples/poseest/settings.gradle index 5f9cf4bef..882b61321 100644 --- a/photonlib-cpp-examples/poseest/settings.gradle +++ b/photonlib-cpp-examples/poseest/settings.gradle @@ -5,7 +5,7 @@ pluginManagement { mavenLocal() jcenter() gradlePluginPortal() - String frcYear = '2025' + String frcYear = '2026' File frcHome if (OperatingSystem.current().isWindows()) { String publicFolder = System.getenv('PUBLIC') diff --git a/photonlib-java-examples/aimandrange/.wpilib/wpilib_preferences.json b/photonlib-java-examples/aimandrange/.wpilib/wpilib_preferences.json index 0a7465268..09acd7f32 100644 --- a/photonlib-java-examples/aimandrange/.wpilib/wpilib_preferences.json +++ b/photonlib-java-examples/aimandrange/.wpilib/wpilib_preferences.json @@ -1,6 +1,6 @@ { "enableCppIntellisense": false, "currentLanguage": "java", - "projectYear": "2025", + "projectYear": "2026beta", "teamNumber": 4512 } diff --git a/photonlib-java-examples/aimandrange/WPILib-License.md b/photonlib-java-examples/aimandrange/WPILib-License.md index d744196fe..eb3061b0d 100644 --- a/photonlib-java-examples/aimandrange/WPILib-License.md +++ b/photonlib-java-examples/aimandrange/WPILib-License.md @@ -1,4 +1,4 @@ -Copyright (c) 2009-2025 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 diff --git a/photonlib-java-examples/aimandrange/build.gradle b/photonlib-java-examples/aimandrange/build.gradle index 274072eb0..9dc902a9b 100644 --- a/photonlib-java-examples/aimandrange/build.gradle +++ b/photonlib-java-examples/aimandrange/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-beta-1" } sourceCompatibility = JavaVersion.VERSION_17 @@ -13,8 +13,8 @@ repositories { } wpi.maven.useDevelopment = true -wpi.versions.wpilibVersion = "2025.3.2" -wpi.versions.wpimathVersion = "2025.3.2" +wpi.versions.wpilibVersion = "2026.1.1-beta-1" +wpi.versions.wpimathVersion = "2026.1.1-beta-1" // Define my targets (RoboRIO) and artifacts (deployable files) diff --git a/photonlib-java-examples/aimandrange/settings.gradle b/photonlib-java-examples/aimandrange/settings.gradle index c906787bf..699b16496 100644 --- a/photonlib-java-examples/aimandrange/settings.gradle +++ b/photonlib-java-examples/aimandrange/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') diff --git a/photonlib-java-examples/aimattarget/.wpilib/wpilib_preferences.json b/photonlib-java-examples/aimattarget/.wpilib/wpilib_preferences.json index 0a7465268..09acd7f32 100644 --- a/photonlib-java-examples/aimattarget/.wpilib/wpilib_preferences.json +++ b/photonlib-java-examples/aimattarget/.wpilib/wpilib_preferences.json @@ -1,6 +1,6 @@ { "enableCppIntellisense": false, "currentLanguage": "java", - "projectYear": "2025", + "projectYear": "2026beta", "teamNumber": 4512 } diff --git a/photonlib-java-examples/aimattarget/WPILib-License.md b/photonlib-java-examples/aimattarget/WPILib-License.md index d744196fe..eb3061b0d 100644 --- a/photonlib-java-examples/aimattarget/WPILib-License.md +++ b/photonlib-java-examples/aimattarget/WPILib-License.md @@ -1,4 +1,4 @@ -Copyright (c) 2009-2025 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 diff --git a/photonlib-java-examples/aimattarget/build.gradle b/photonlib-java-examples/aimattarget/build.gradle index 15409f7cd..12719b057 100644 --- a/photonlib-java-examples/aimattarget/build.gradle +++ b/photonlib-java-examples/aimattarget/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-beta-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 = "2025.3.2" -wpi.versions.wpimathVersion = "2025.3.2" +wpi.versions.wpilibVersion = "2026.1.1-beta-1" +wpi.versions.wpimathVersion = "2026.1.1-beta-1" // Define my targets (RoboRIO) and artifacts (deployable files) diff --git a/photonlib-java-examples/aimattarget/settings.gradle b/photonlib-java-examples/aimattarget/settings.gradle index c906787bf..699b16496 100644 --- a/photonlib-java-examples/aimattarget/settings.gradle +++ b/photonlib-java-examples/aimattarget/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') diff --git a/photonlib-java-examples/poseest/.wpilib/wpilib_preferences.json b/photonlib-java-examples/poseest/.wpilib/wpilib_preferences.json index 0a7465268..09acd7f32 100644 --- a/photonlib-java-examples/poseest/.wpilib/wpilib_preferences.json +++ b/photonlib-java-examples/poseest/.wpilib/wpilib_preferences.json @@ -1,6 +1,6 @@ { "enableCppIntellisense": false, "currentLanguage": "java", - "projectYear": "2025", + "projectYear": "2026beta", "teamNumber": 4512 } diff --git a/photonlib-java-examples/poseest/WPILib-License.md b/photonlib-java-examples/poseest/WPILib-License.md index d744196fe..eb3061b0d 100644 --- a/photonlib-java-examples/poseest/WPILib-License.md +++ b/photonlib-java-examples/poseest/WPILib-License.md @@ -1,4 +1,4 @@ -Copyright (c) 2009-2025 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 diff --git a/photonlib-java-examples/poseest/build.gradle b/photonlib-java-examples/poseest/build.gradle index b8ee5358c..3b903edfc 100644 --- a/photonlib-java-examples/poseest/build.gradle +++ b/photonlib-java-examples/poseest/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-beta-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 = "2025.3.2" -wpi.versions.wpimathVersion = "2025.3.2" +wpi.versions.wpilibVersion = "2026.1.1-beta-1" +wpi.versions.wpimathVersion = "2026.1.1-beta-1" // Define my targets (RoboRIO) and artifacts (deployable files) diff --git a/photonlib-java-examples/poseest/settings.gradle b/photonlib-java-examples/poseest/settings.gradle index c906787bf..699b16496 100644 --- a/photonlib-java-examples/poseest/settings.gradle +++ b/photonlib-java-examples/poseest/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') diff --git a/photonlib-python-examples/aimandrange/pyproject.toml b/photonlib-python-examples/aimandrange/pyproject.toml index 3fc8c5bde..4f8a37014 100644 --- a/photonlib-python-examples/aimandrange/pyproject.toml +++ b/photonlib-python-examples/aimandrange/pyproject.toml @@ -6,7 +6,7 @@ [tool.robotpy] # Version of robotpy this project depends on -robotpy_version = "2025.3.2" +robotpy_version = "2026.1.1-beta-1" # Which extra RobotPy components should be installed # -> equivalent to `pip install robotpy[extra1, ...] diff --git a/photonlib-python-examples/aimattarget/pyproject.toml b/photonlib-python-examples/aimattarget/pyproject.toml index 3fc8c5bde..4f8a37014 100644 --- a/photonlib-python-examples/aimattarget/pyproject.toml +++ b/photonlib-python-examples/aimattarget/pyproject.toml @@ -6,7 +6,7 @@ [tool.robotpy] # Version of robotpy this project depends on -robotpy_version = "2025.3.2" +robotpy_version = "2026.1.1-beta-1" # Which extra RobotPy components should be installed # -> equivalent to `pip install robotpy[extra1, ...] diff --git a/photonlib-python-examples/poseest/pyproject.toml b/photonlib-python-examples/poseest/pyproject.toml index 3fc8c5bde..4f8a37014 100644 --- a/photonlib-python-examples/poseest/pyproject.toml +++ b/photonlib-python-examples/poseest/pyproject.toml @@ -6,7 +6,7 @@ [tool.robotpy] # Version of robotpy this project depends on -robotpy_version = "2025.3.2" +robotpy_version = "2026.1.1-beta-1" # Which extra RobotPy components should be installed # -> equivalent to `pip install robotpy[extra1, ...] diff --git a/shared/config.gradle b/shared/config.gradle index 71cb2ca21..6db9f7b2b 100644 --- a/shared/config.gradle +++ b/shared/config.gradle @@ -10,7 +10,7 @@ nativeUtils.wpi.configureDependencies { wpimathVersion = wpimathVersion opencvYear = 'frc'+openCVYear opencvVersion = openCVversion - niLibVersion = "2025.0.0" + niLibVersion = "2026.1.0" } // Configure warnings and errors