Release processed Focus mat to not leak, cache, and fix cvmat refcounting (#2356)

## Description

Presently, any tests using our old configs happen in place. This is
problematic, as it changes the files themselves. This means that anyone
running the tests will cause unintentional modifications, which stand a
chance of being committed and merged into main. We want these old
database files to remain untouched, thus we copy them to a temp
directory prior to running our tests.

## Meta

Merge checklist:
- [x] Pull Request title is [short, imperative
summary](https://cbea.ms/git-commit/) of proposed changes
- [x] The description documents the _what_ and _why_, including events
that led to this PR
- [ ] If this PR changes behavior or adds a feature, user documentation
is updated
- [ ] If this PR touches photon-serde, all messages have been
regenerated and hashes have not changed unexpectedly
- [ ] If this PR touches configuration, this is backwards compatible
with all settings going back to the previous seasons's last release
(seasons end after champs ends)
- [ ] If this PR touches pipeline settings or anything related to data
exchange, the frontend typing is updated
- [ ] If this PR addresses a bug, a regression test for it is added

.clang-format

@@ -68,19 +68,26 @@ ForEachMacros:
   - BOOST_FOREACH
 IncludeBlocks:   Regroup
 IncludeCategories:
-  - Regex:           '^<ext/.*\.h>'
-    Priority:        2
-    SortPriority:    0
-  - Regex:           '^<.*\.h>'
-    Priority:        1
-    SortPriority:    0
-  - Regex:           '^<.*'
-    Priority:        2
-    SortPriority:    0
-  - Regex:           '.*'
-    Priority:        3
-    SortPriority:    0
-IncludeIsMainRegex: '([-_](test|unittest))?$'
+  # C standard library headers
+  #
+  # https://en.cppreference.com/w/cpp/header:
+  #  * C compatibility headers
+  #  * Special C compatibility headers
+  #  * Empty C headers
+  #  * Meaningless C headers
+  #  * Unsupported C headers
+  - Regex:        '^<(assert\.h|ctype\.h|errno\.h|fenv\.h|float\.h|inttypes\.h|limits\.h|locale\.h|math\.h|setjmp\.h|signal\.h|stdarg\.h|stddef\.h|stdint\.h|stdio\.h|stdlib\.h|string\.h|time\.h|uchar\.h|wchar\.h|wctype\.h|stdatomic\.h|ccomplex|complex\.h|ctgmath|tgmath\.h|ciso646|cstdalign|cstdbool|iso646\.h|stdalign\.h|stdbool\.h|stdatomic\.h|stdnoreturn\.h|threads\.h)>'
+    Priority:     1
+  # C++ standard library headers (lowercase and underscores with no .h suffix)
+  - Regex:        '^<[a-z_]+>'
+    Priority:     2
+  # Other library headers (angle brackets)
+  - Regex:        '^<.*'
+    Priority:     3
+  # Project headers (double quotes)
+  - Regex:        '^".*'
+    Priority:     4
+IncludeIsMainRegex: '(Test|_test)?$'
 IncludeIsMainSourceRegex: ''
 IndentCaseLabels: true
 IndentGotoLabels: true
@@ -136,7 +143,7 @@ RawStringFormats:
     CanonicalDelimiter: ''
     BasedOnStyle:    google
 ReflowComments:  true
-SortIncludes:    false
+SortIncludes:    true
 SortUsingDeclarations: true
 SpaceAfterCStyleCast: false
 SpaceAfterLogicalNot: false

.github/ISSUE_TEMPLATE/bug_report.md

@@ -22,6 +22,7 @@ If applicable, add screenshots to help explain your problem. Additionally, provi
 
 **Platform:**
  - Hardware Platform (ex. Raspberry Pi 4, Windows x64):
+   - How is it powered? (ex. Zinc-V, Pololu Buck Converter, Battery Bank):
  - Network Configuration (Connection between the Radio and any devices in between, such as a Network Switch):
  - PhotonVision Version:
  - Browser (with Version) (Chrome, Edge, Firefox, etc.):

.github/ISSUE_TEMPLATE/docs_issue.md

@@ -0,0 +1,17 @@
+---
+name: Documentation Request
+about: Something needs to be documented/updated in the documentation
+title: ''
+labels: documentation
+assignees: ''
+
+---
+
+**Are you requesting documentation for a new feature, or updated documentation for an old feature?**
+Put the feature you are requesting documentation for here, along with whether the documentation is stale and needs to be updated, or whether the documentation does not exist, and needs to be created.
+
+**Where is it?**
+Put the location of the documentation that needs to be updated here.  If you're requesting documenation for a new feature, put where you think it should go.
+
+**Additional context**
+Add any other context or screenshots about the feature request here.

.github/labeler.yml

@@ -0,0 +1,15 @@
+"backend":
+  - changed-files:
+      - any-glob-to-any-file: [photon-core/**, photon-server/**]
+"documentation":
+  - changed-files:
+      - any-glob-to-any-file: [docs/**, photon-docs/**]
+"frontend":
+  - changed-files:
+      - any-glob-to-any-file: photon-client/**
+"photonlib":
+  - changed-files:
+      - any-glob-to-any-file: photon-lib*/**
+"website":
+  - changed-files:
+      - any-glob-to-any-file: website/**

.github/pull_request_template.md

@@ -1,17 +1,18 @@
 ## Description
 
-<!-- What changed? Why? (the code + comments should speak for itself on the "how") -->
+What changed? Why? (the code + comments should speak for itself on the "how")
 
-<!-- Fun screenshots or a cool video or something are super helpful as well. If this touches platform-specific behavior, this is where test evidence should be collected. -->
+Include fun testing screenshots or a cool video, to collect test evidence in a place where we can later reference it. Including proof this change was tested makes reviewing easier, helps us make sure we tested all our edge cases, and helps provide context for the future.
 
-<!-- Any issues this pull request closes or pull requests this supersedes should be linked with `Closes #issuenumber`. -->
+Any issues this pull request closes or pull requests this supersedes should be linked with `Closes #issuenumber`.
 
 ## Meta
 
 Merge checklist:
 - [ ] Pull Request title is [short, imperative summary](https://cbea.ms/git-commit/) of proposed changes
-- [ ] The description documents the _what_ and _why_
+- [ ] The description documents the _what_ and _why_, including events that led to this PR
 - [ ] If this PR changes behavior or adds a feature, user documentation is updated
 - [ ] If this PR touches photon-serde, all messages have been regenerated and hashes have not changed unexpectedly
-- [ ] If this PR touches configuration, this is backwards compatible with settings back to v2024.3.1
+- [ ] If this PR touches configuration, this is backwards compatible with all settings going back to the previous seasons's last release (seasons end after champs ends)
+- [ ] If this PR touches pipeline settings or anything related to data exchange, the frontend typing is updated
 - [ ] If this PR addresses a bug, a regression test for it is added

.github/workflows/build.yml

@@ -3,38 +3,24 @@ name: Build
 on:
   # Run on pushes to main and pushed tags, and on pull requests against main, but ignore the docs folder
   push:
-    branches: [ main ]
-    tags:
-      - 'v*'
   pull_request:
-    branches: [ main ]
-  merge_group:
 
 concurrency:
   group: ${{ github.workflow }}-${{ github.head_ref || github.ref }}
   cancel-in-progress: true
 
+env:
+  IMAGE_VERSION: v2026.1.2
+
 jobs:
-  build-client:
-    name: "PhotonClient Build"
-    defaults:
-      run:
-        working-directory: photon-client
-    runs-on: ubuntu-22.04
+
+  validation:
+    name: "Validation"
+    runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v4
-      - name: Setup Node.js
-        uses: actions/setup-node@v4
-        with:
-          node-version: 18
-      - name: Install Dependencies
-        run: npm ci
-      - name: Build Production Client
-        run: npm run build
-      - uses: actions/upload-artifact@v4
-        with:
-          name: built-client
-          path: photon-client/dist/
+      - uses: actions/checkout@v6
+      - uses: gradle/actions/wrapper-validation@v5
+
   build-examples:
 
     strategy:
@@ -42,77 +28,148 @@ jobs:
       matrix:
         include:
           - os: windows-2022
-            architecture: x64
+            artifact-name: Win64
           - os: macos-14
-            architecture: aarch64
-          - os: ubuntu-22.04
+            artifact-name: macOS
+          - os: ubuntu-24.04
+            artifact-name: Linux
 
     name: "Photonlib - Build Examples - ${{ matrix.os }}"
     runs-on: ${{ matrix.os }}
+    needs: [build-photonlib-host, build-photonlib-docker]
 
     steps:
       - name: Checkout code
-        uses: actions/checkout@v4
+        uses: actions/checkout@v6
         with:
           fetch-depth: 0
       - name: Fetch tags
         run: git fetch --tags --force
       - name: Install Java 17
-        uses: actions/setup-java@v4
+        uses: actions/setup-java@v5
         with:
           java-version: 17
           distribution: temurin
       - name: Install RoboRIO Toolchain
         run: ./gradlew installRoboRioToolchain
-      # Need to publish to maven local first, so that C++ sim can pick it up
-      - name: Publish photonlib to maven local
-        run: ./gradlew photon-targeting:publishtomavenlocal photon-lib:publishtomavenlocal -x check
+      - name: Delete duplicate toolchains
+        run: |
+          find ~/.gradle/cache/ -name *roborio-academic* -exec rm -rf {} +
+          du -h . | sort -h
+        if: matrix.os == 'ubuntu-24.04'
+      # Download prebuilt photonlib artifacts
+      - uses: actions/download-artifact@v7
+        with:
+          name: maven-${{ matrix.artifact-name }}
+      - uses: actions/download-artifact@v7
+        with:
+          name: maven-Athena
+      - name: Move to maven local
+        run: |
+          mkdir -p ~/.m2/repository/
+          mv maven/org ~/.m2/repository/
+      - name: Copy vendordeps
+        shell: bash
+        run: |
+          for vendordep_folder in photonlib-*-examples/*/; do
+          # Remove trailing slash for cross-platform compatibility
+            vendordep_folder="${vendordep_folder%/}"
+
+            # Filter for projects only
+            if [ -e "$vendordep_folder/build.gradle" ]; then
+              mkdir -p "$vendordep_folder/vendordeps/"
+              cp vendordeps/photonlib-json-1.0.json "$vendordep_folder/vendordeps/"
+            fi
+          done
       - name: Build Java examples
         working-directory: photonlib-java-examples
-        run: ./gradlew build
+        run: |
+          ./gradlew build
+          ./gradlew clean
       - name: Build C++ examples
         working-directory: photonlib-cpp-examples
-        run: ./gradlew build
-  build-gradle:
-    name: "Gradle Build"
-    runs-on: ubuntu-22.04
+        run: |
+          ./gradlew build
+          ./gradlew clean
+
+  playwright-tests:
+    name: "Playwright E2E tests"
+    runs-on: ubuntu-24.04
+    needs: [validation]
     steps:
       # Checkout code.
       - name: Checkout code
-        uses: actions/checkout@v4
+        uses: actions/checkout@v6
         with:
           fetch-depth: 0
       - name: Fetch tags
         run: git fetch --tags --force
       - name: Install Java 17
-        uses: actions/setup-java@v4
+        uses: actions/setup-java@v5
         with:
           java-version: 17
           distribution: temurin
-      - name: Install mrcal deps
-        run: sudo apt-get update && sudo apt-get install -y libcholmod3 liblapack3 libsuitesparseconfig5
+      - name: Install pnpm
+        uses: pnpm/action-setup@v4
+        with:
+          version: 10
+      - name: Setup Node.js
+        uses: actions/setup-node@v6
+        with:
+          node-version: 22
+      - name: Setup tests
+        working-directory: photon-client
+        run: |
+          pnpm install
+          pnpm test-setup
+      - name: Prebuild Gradle
+        run: ./gradlew photon-targeting:build photon-core:build photon-server:build -x check
+      - name: Run Playwright tests
+        working-directory: photon-client
+        run: pnpm test
+      - uses: actions/upload-artifact@v6
+        if: ${{ !cancelled() }}
+        with:
+          name: playwright-report
+          path: photon-client/playwright-report/
+          retention-days: 30
+  build-gradle:
+    name: "Gradle Build"
+    runs-on: ubuntu-24.04
+    needs: [validation]
+    steps:
+      # Checkout code.
+      - name: Checkout code
+        uses: actions/checkout@v6
+        with:
+          fetch-depth: 0
+      - name: Fetch tags
+        run: git fetch --tags --force
+      - name: Install Java 17
+        uses: actions/setup-java@v5
+        with:
+          java-version: 17
+          distribution: temurin
+      - name: Install pnpm
+        uses: pnpm/action-setup@v4
+        with:
+          version: 10
+      - name: Setup Node.js
+        uses: actions/setup-node@v6
+        with:
+          node-version: 22
       - name: Gradle Build
         run: ./gradlew photon-targeting:build photon-core:build photon-server:build -x check
-      - name: Gradle Tests
-        run: ./gradlew testHeadless -i --stacktrace
-      - name: Gradle Coverage
-        run: ./gradlew jacocoTestReport
-      - name: Publish Coverage Report
-        uses: codecov/codecov-action@v4
-        with:
-          file: ./photon-server/build/reports/jacoco/test/jacocoTestReport.xml
-      - name: Publish Core Coverage Report
-        uses: codecov/codecov-action@v4
-        with:
-          file: ./photon-core/build/reports/jacoco/test/jacocoTestReport.xml
+      - name: Gradle Tests and Coverage
+        run: ./gradlew test jacocoTestReport --stacktrace
   build-offline-docs:
     name: "Build Offline Docs"
-    runs-on: ubuntu-22.04
+    runs-on: ubuntu-24.04
     steps:
-      - uses: actions/checkout@v4
-      - uses: actions/setup-python@v5
+      - uses: actions/checkout@v6
+      - uses: actions/setup-python@v6
         with:
-          python-version: '3.11'
+          python-version: 3.14
       - name: Install graphviz
         run: |
           sudo apt-get update
@@ -127,21 +184,22 @@ jobs:
         working-directory: docs
         run: |
           make html
-      - uses: actions/upload-artifact@v4
+      - uses: actions/upload-artifact@v6
         with:
           name: built-docs
           path: docs/build/html
 
   build-photonlib-vendorjson:
     name: "Build Vendor JSON"
-    runs-on: ubuntu-22.04
+    runs-on: ubuntu-24.04
+    needs: [validation]
     steps:
-      - uses: actions/checkout@v4
+      - uses: actions/checkout@v6
         with:
           fetch-depth: 0
 
       - name: Install Java 17
-        uses: actions/setup-java@v4
+        uses: actions/setup-java@v5
         with:
           java-version: 17
           distribution: temurin
@@ -156,41 +214,39 @@ jobs:
           mv photon-lib/build/generated/vendordeps/photonlib.json photon-lib/build/generated/vendordeps/photonlib-$(git describe --tags --match=v*).json
 
       # Upload it here so it shows up in releases
-      - uses: actions/upload-artifact@v4
+      - uses: actions/upload-artifact@v6
         with:
           name: photonlib-vendor-json
           path: photon-lib/build/generated/vendordeps/photonlib-*.json
 
   build-photonlib-host:
     env:
-      MACOSX_DEPLOYMENT_TARGET: 13
+      MACOSX_DEPLOYMENT_TARGET: 14
     strategy:
       fail-fast: false
       matrix:
         include:
           - os: windows-2022
             artifact-name: Win64
-            architecture: x64
-          - os: macos-14
+          - os: macos-26
             artifact-name: macOS
-            architecture: aarch64
-          - os: ubuntu-22.04
+          - os: ubuntu-24.04
             artifact-name: Linux
 
     name: "Photonlib - Build Host - ${{ matrix.artifact-name }}"
     runs-on: ${{ matrix.os }}
+    needs: [validation]
     steps:
-      - uses: actions/checkout@v4
+      - uses: actions/checkout@v6
         with:
           fetch-depth: 0
       - name: Install Java 17
-        uses: actions/setup-java@v4
+        uses: actions/setup-java@v5
         with:
           java-version: 17
           distribution: temurin
-          architecture: ${{ matrix.architecture }}
       - run: git fetch --tags --force
-      - run: ./gradlew photon-targeting:build photon-lib:build -i
+      - run: ./gradlew photon-targeting:build photon-lib:build
         name: Build with Gradle
       - run: ./gradlew photon-lib:publish photon-targeting:publish
         name: Publish
@@ -199,7 +255,7 @@ jobs:
         if: github.event_name == 'push' && github.repository_owner == 'photonvision'
       # Copy artifacts to build/outputs/maven
       - run: ./gradlew photon-lib:publish photon-targeting:publish -PcopyOfflineArtifacts
-      - uses: actions/upload-artifact@v4
+      - uses: actions/upload-artifact@v6
         with:
           name: maven-${{ matrix.artifact-name }}
           path: build/outputs
@@ -219,11 +275,12 @@ jobs:
             artifact-name: Aarch64
             build-options: "-Ponlylinuxarm64"
 
-    runs-on: ubuntu-22.04
+    runs-on: ubuntu-24.04
     container: ${{ matrix.container }}
     name: "Photonlib - Build Docker - ${{ matrix.artifact-name }}"
+    needs: [validation]
     steps:
-      - uses: actions/checkout@v4
+      - uses: actions/checkout@v6
         with:
           fetch-depth: 0
       - name: Config Git
@@ -231,7 +288,7 @@ jobs:
           git config --global --add safe.directory /__w/photonvision/photonvision
       - name: Build PhotonLib
         # We don't need to run tests, since we specify only non-native platforms
-        run: ./gradlew photon-targeting:build photon-lib:build ${{ matrix.build-options }} -i -x test
+        run: ./gradlew photon-targeting:build photon-lib:build ${{ matrix.build-options }} -x test
       - name: Publish
         run: ./gradlew photon-lib:publish photon-targeting:publish ${{ matrix.build-options }}
         env:
@@ -239,7 +296,7 @@ jobs:
         if: github.event_name == 'push' && github.repository_owner == 'photonvision'
       # Copy artifacts to build/outputs/maven
       - run: ./gradlew photon-lib:publish photon-targeting:publish -PcopyOfflineArtifacts ${{ matrix.build-options }}
-      - uses: actions/upload-artifact@v4
+      - uses: actions/upload-artifact@v6
         with:
           name: maven-${{ matrix.artifact-name }}
           path: build/outputs
@@ -247,14 +304,14 @@ jobs:
   combine:
     name: Combine
     needs: [build-photonlib-docker, build-photonlib-host]
-    runs-on: ubuntu-22.04
+    runs-on: ubuntu-24.04
     steps:
-      - uses: actions/checkout@v4
+      - uses: actions/checkout@v6
         with:
           fetch-depth: 0
       - run: git fetch --tags --force
       # download all maven-* artifacts to outputs/
-      - uses: actions/download-artifact@v4
+      - uses: actions/download-artifact@v7
         with:
           merge-multiple: true
           path: output
@@ -264,68 +321,51 @@ jobs:
         name: ZIP stuff up
         working-directory: output
       - run: ls output
-      - uses: actions/upload-artifact@v4
+      - uses: actions/upload-artifact@v6
         with:
           name: photonlib-offline
           path: output/*.zip
 
-  build-package:
-    needs: [build-client, build-gradle, build-offline-docs]
+  build-package-linux:
+    needs: [build-gradle, build-offline-docs]
 
     strategy:
       fail-fast: false
       matrix:
         include:
-          - os: windows-latest
-            artifact-name: Win64
-            architecture: x64
-            arch-override: winx64
-          - os: macos-latest
-            artifact-name: macOS
-            architecture: x64
-            arch-override: macx64
-          - os: macos-latest
-            artifact-name: macOSArm
-            architecture: x64
-            arch-override: macarm64
-          - os: ubuntu-22.04
+          - os: ubuntu-24.04
             artifact-name: Linux
-            architecture: x64
             arch-override: linuxx64
-          - os: ubuntu-22.04
+          - os: ubuntu-24.04
             artifact-name: LinuxArm64
-            architecture: x64
             arch-override: linuxarm64
 
     runs-on: ${{ matrix.os }}
     name: "Build fat JAR - ${{ matrix.artifact-name }}"
 
-    steps:
-      - uses: actions/checkout@v4
+    steps: &build-package-steps
+      - uses: actions/checkout@v6
         with:
           fetch-depth: 0
       - name: Install Java 17
-        uses: actions/setup-java@v4
+        uses: actions/setup-java@v5
         with:
           java-version: 17
           distribution: temurin
-          architecture: ${{ matrix.architecture }}
+      - name: Install pnpm
+        uses: pnpm/action-setup@v4
+        with:
+          version: 10
+      - name: Setup Node.js
+        uses: actions/setup-node@v6
+        with:
+          node-version: 22
+          cache: pnpm
+          cache-dependency-path: photon-client/pnpm-lock.yaml
       - name: Install Arm64 Toolchain
         run: ./gradlew installArm64Toolchain
         if: ${{ (matrix.artifact-name) == 'LinuxArm64' }}
-      - run: |
-          rm -rf photon-server/src/main/resources/web/*
-          mkdir -p photon-server/src/main/resources/web/docs
-        if: ${{ (matrix.os) != 'windows-latest' }}
-      - run: |
-          del photon-server\src\main\resources\web\*.*
-          mkdir photon-server\src\main\resources\web\docs
-        if: ${{ (matrix.os) == 'windows-latest' }}
-      - uses: actions/download-artifact@v4
-        with:
-          name: built-client
-          path: photon-server/src/main/resources/web/
-      - uses: actions/download-artifact@v4
+      - uses: actions/download-artifact@v7
         with:
           name: built-docs
           path: photon-server/src/main/resources/web/docs
@@ -333,266 +373,288 @@ jobs:
         if: ${{ (matrix.arch-override != 'none') }}
       - run: ./gradlew photon-server:shadowJar
         if: ${{ (matrix.arch-override == 'none') }}
-      - uses: actions/upload-artifact@v4
+      - uses: actions/upload-artifact@v6
         with:
           name: jar-${{ matrix.artifact-name }}
           path: photon-server/build/libs
-      - uses: actions/upload-artifact@v4
+      - uses: actions/upload-artifact@v6
         with:
           name: photon-targeting_jar-${{ matrix.artifact-name }}
           path: photon-targeting/build/libs
 
-  run-smoketest-native:
-    needs: [build-package]
+  build-package-macos:
+    needs: [build-gradle, build-offline-docs]
 
     strategy:
       fail-fast: false
       matrix:
         include:
-          - os: ubuntu-22.04
+          - os: macos-latest
+            artifact-name: macOSArm
+            arch-override: macarm64
+          - os: macos-latest
+            artifact-name: macOS
+            arch-override: macx64
+
+    runs-on: ${{ matrix.os }}
+    name: "Build fat JAR - ${{ matrix.artifact-name }}"
+
+    steps: *build-package-steps
+
+  build-package-windows:
+    needs: [build-gradle, build-offline-docs]
+
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          - os: windows-latest
+            artifact-name: Win64
+            arch-override: winx64
+
+    runs-on: ${{ matrix.os }}
+    name: "Build fat JAR - ${{ matrix.artifact-name }}"
+
+    steps: *build-package-steps
+
+  run-smoketest-native:
+    needs: [build-package-linux, build-package-macos, build-package-windows]
+
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          - os: ubuntu-24.04
             artifact-name: jar-Linux
             extraOpts: -Djdk.lang.Process.launchMechanism=vfork
           - os: windows-latest
             artifact-name: jar-Win64
-            extraOpts: ""
           - os: macos-latest
             artifact-name: jar-macOS
-            architecture: x64
 
     runs-on: ${{ matrix.os }}
 
     steps:
       - name: Install Java 17
-        uses: actions/setup-java@v4
+        uses: actions/setup-java@v5
         with:
           java-version: 17
           distribution: temurin
-      - uses: actions/download-artifact@v4
+      - uses: actions/download-artifact@v7
         with:
           name: ${{ matrix.artifact-name }}
-      # On linux, install mrcal packages
-      - run: |
-          sudo apt-get update
-          sudo apt-get install --yes libcholmod3 liblapack3 libsuitesparseconfig5
-        if: ${{ (matrix.os) == 'ubuntu-22.04' }}
-      # and actually run the jar
       - run: java -jar ${{ matrix.extraOpts }} *.jar --smoketest
         if: ${{ (matrix.os) != 'windows-latest' }}
       - run: ls *.jar | %{ Write-Host "Running $($_.Name)"; Start-Process "java" -ArgumentList "-jar `"$($_.FullName)`" --smoketest" -NoNewWindow -Wait; break }
         if: ${{ (matrix.os) == 'windows-latest' }}
 
-  run-smoketest-chroot:
-    needs: [build-package]
-
-    strategy:
-      fail-fast: false
-      matrix:
-        include:
-          - os: ubuntu-22.04
-            artifact-name: LinuxArm64
-            image_suffix: RaspberryPi
-            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/v2025.0.3/photonvision_raspi.img.xz
-            cpu: cortex-a7
-            image_additional_mb: 0
-            extraOpts: -Djdk.lang.Process.launchMechanism=vfork
-
-    runs-on: ${{ matrix.os }}
-    name: smoketest-${{ matrix.image_suffix }}
-
-    steps:
-      - uses: actions/download-artifact@v4
-        with:
-          name: jar-${{ matrix.artifact-name }}
-
-      - uses: pguyot/arm-runner-action@v2
-        name: Run photon smoketest
-        id: generate_image
-        with:
-          base_image: ${{ matrix.image_url }}
-          image_additional_mb: ${{ matrix.image_additional_mb }}
-          optimize_image: yes
-          cpu: ${{ matrix.cpu }}
-          # We do _not_ wanna copy photon into the image. Bind mount instead
-          bind_mount_repository: true
-          # our image better have java installed already
-          commands: |
-            java -jar ${{ matrix.extraOpts }} *.jar --smoketest
-
   build-image:
-    needs: [build-package]
-
-    if: ${{ github.event_name != 'pull_request' }}
+    needs: [build-package-linux]
 
     strategy:
       fail-fast: false
       matrix:
         include:
-          - os: ubuntu-22.04
+          - os: ubuntu-24.04-arm
             artifact-name: LinuxArm64
             image_suffix: RaspberryPi
-            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/v2025.0.3/photonvision_raspi.img.xz
-            cpu: cortex-a7
-            image_additional_mb: 0
-          - os: ubuntu-22.04
+            plat_override: LINUX_RASPBIAN64
+            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/$IMAGE_VERSION/photonvision_raspi.img.xz
+            minimum_free_mb: 100
+          - os: ubuntu-24.04-arm
             artifact-name: LinuxArm64
             image_suffix: limelight2
-            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/v2025.0.3/photonvision_limelight.img.xz
-            cpu: cortex-a7
-            image_additional_mb: 0
-          - os: ubuntu-22.04
+            plat_override: LINUX_RASPBIAN64
+            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/$IMAGE_VERSION/photonvision_limelight.img.xz
+            minimum_free_mb: 100
+          - os: ubuntu-24.04-arm
             artifact-name: LinuxArm64
             image_suffix: limelight3
-            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/v2025.0.3/photonvision_limelight3.img.xz
-            cpu: cortex-a7
-            image_additional_mb: 0
-          - os: ubuntu-22.04
+            plat_override: LINUX_RASPBIAN64
+            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/$IMAGE_VERSION/photonvision_limelight3.img.xz
+            minimum_free_mb: 100
+          - os: ubuntu-24.04-arm
             artifact-name: LinuxArm64
             image_suffix: limelight3G
-            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/v2025.0.3/photonvision_limelight3g.img.xz
-            cpu: cortex-a7
-            image_additional_mb: 0
-          - os: ubuntu-22.04
+            plat_override: LINUX_RASPBIAN64
+            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/$IMAGE_VERSION/photonvision_limelight3g.img.xz
+            minimum_free_mb: 100
+          - os: ubuntu-24.04-arm
+            artifact-name: LinuxArm64
+            image_suffix: limelight4
+            plat_override: LINUX_RASPBIAN64
+            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/$IMAGE_VERSION/photonvision_limelight4.img.xz
+            minimum_free_mb: 100
+          - os: ubuntu-24.04-arm
+            artifact-name: LinuxArm64
+            image_suffix: luma_p1
+            plat_override: LINUX_RASPBIAN64
+            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/$IMAGE_VERSION/photonvision_luma_p1.img.xz
+            minimum_free_mb: 100
+          - os: ubuntu-24.04-arm
             artifact-name: LinuxArm64
             image_suffix: orangepi5
-            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/v2025.0.3/photonvision_opi5.img.xz
-            cpu: cortex-a8
-            image_additional_mb: 1024
-          - os: ubuntu-22.04
+            plat_override: LINUX_RK3588_64
+            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/$IMAGE_VERSION/photonvision_opi5.img.xz
+            minimum_free_mb: 1024
+          - os: ubuntu-24.04-arm
             artifact-name: LinuxArm64
             image_suffix: orangepi5b
-            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/v2025.0.3/photonvision_opi5b.img.xz
-            cpu: cortex-a8
-            image_additional_mb: 1024
-          - os: ubuntu-22.04
+            plat_override: LINUX_RK3588_64
+            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/$IMAGE_VERSION/photonvision_opi5b.img.xz
+            minimum_free_mb: 1024
+          - os: ubuntu-24.04-arm
             artifact-name: LinuxArm64
             image_suffix: orangepi5plus
-            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/v2025.0.3/photonvision_opi5plus.img.xz
-            cpu: cortex-a8
-            image_additional_mb: 1024
-          - os: ubuntu-22.04
+            plat_override: LINUX_RK3588_64
+            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/$IMAGE_VERSION/photonvision_opi5plus.img.xz
+            minimum_free_mb: 1024
+          - os: ubuntu-24.04-arm
             artifact-name: LinuxArm64
             image_suffix: orangepi5pro
-            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/v2025.0.3/photonvision_opi5pro.img.xz
-            cpu: cortex-a8
-            image_additional_mb: 1024
-          - os: ubuntu-22.04
+            plat_override: LINUX_RK3588_64
+            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/$IMAGE_VERSION/photonvision_opi5pro.img.xz
+            minimum_free_mb: 1024
+          - os: ubuntu-24.04-arm
             artifact-name: LinuxArm64
             image_suffix: orangepi5max
-            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/v2025.0.3/photonvision_opi5max.img.xz
-            cpu: cortex-a8
-            image_additional_mb: 1024
-          - os: ubuntu-22.04
+            plat_override: LINUX_RK3588_64
+            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/$IMAGE_VERSION/photonvision_opi5max.img.xz
+            minimum_free_mb: 1024
+          - os: ubuntu-24.04-arm
             artifact-name: LinuxArm64
             image_suffix: rock5c
-            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/v2025.0.3/photonvision_rock5c.img.xz
-            cpu: cortex-a8
-            image_additional_mb: 1024
+            plat_override: LINUX_RK3588_64
+            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/$IMAGE_VERSION/photonvision_rock5c.img.xz
+            minimum_free_mb: 1024
+          - os: ubuntu-24.04-arm
+            artifact-name: LinuxArm64
+            image_suffix: rubikpi3
+            plat_override: LINUX_QCS6490
+            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/$IMAGE_VERSION/photonvision_rubikpi3.tar.xz
+            minimum_free_mb: 1024
+            root_location: 'offset=569376768'
+            shrink_image: 'no'
 
     runs-on: ${{ matrix.os }}
-    name: "Build image - ${{ matrix.image_url }}"
+    name: "Build image - ${{ matrix.image_suffix }}"
 
     steps:
       - name: Checkout code
-        uses: actions/checkout@v4
+        uses: actions/checkout@v6
         with:
           fetch-depth: 0
-      - uses: actions/download-artifact@v4
+      - uses: actions/download-artifact@v7
         with:
           name: jar-${{ matrix.artifact-name }}
-      - uses: pguyot/arm-runner-action@HEAD
+      - uses: photonvision/photon-image-runner@HEAD
         name: Generate image
         id: generate_image
         with:
-          base_image: ${{ matrix.image_url }}
-          image_additional_mb: ${{ matrix.image_additional_mb }}
-          optimize_image: yes
-          cpu: ${{ matrix.cpu }}
-          # We do _not_ wanna copy photon into the image. Bind mount instead
-          bind_mount_repository: true
-          commands: |
-            chmod +x scripts/armrunner.sh
-            ./scripts/armrunner.sh
+          image_url: ${{ matrix.image_url }}
+          minimum_free_mb: ${{ matrix.minimum_free_mb }}
+          root_location: ${{ matrix.root_location || 'partition=2' }}
+          shrink_image: ${{ matrix.shrink_image || 'yes' }}
+          commands: ./scripts/armrunner.sh
+
       - name: Compress image
+        # Compress the standard images
+        if: ${{ ! startsWith(matrix.image_suffix, 'rubik') }}
         run: |
+          set -ex
           new_jar=$(realpath $(find . -name photonvision\*-linuxarm64.jar))
           new_image_name=$(basename "${new_jar/.jar/_${{ matrix.image_suffix }}.img}")
-          mv ${{ steps.generate_image.outputs.image }} $new_image_name
-          sudo xz -T 0 -v $new_image_name
-      - uses: actions/upload-artifact@v4
+          sudo mv ${{ steps.generate_image.outputs.image }} $new_image_name
+          sudo xz -T 0 -kv $new_image_name
+          echo "smoketest_image_loc=${new_image_name}" >> $GITHUB_ENV
+
+      - name: Tar built image (Rubik)
+        # Build the RubikPi3-specific tar file
+        if: ${{ startsWith(matrix.image_suffix, 'rubik') }}
+        run: |
+          set -ex
+          new_jar=$(realpath $(find . -name photonvision\*-linuxarm64.jar))
+          tardir=$(basename "${new_jar/.jar/_${{ matrix.image_suffix }}.img}")
+          imagedir=$(dirname ${{ steps.generate_image.outputs.image }})
+          sudo mkdir --parents ${tardir}
+          sudo cp ${imagedir}/* ${tardir}/
+          sudo tar -I 'xz -T0' -cf ${tardir}.tar.xz ${tardir} --checkpoint=10000 --checkpoint-action=echo='%T'
+          # Point smoketest to the old image
+          echo "smoketest_image_loc=${{ steps.generate_image.outputs.image }}" >> $GITHUB_ENV
+
+      - uses: actions/upload-artifact@v6
         name: Upload image
         with:
           name: image-${{ matrix.image_suffix }}
           path: photonvision*.xz
+
+        # This is done after uploading the image to avoid contaminating the image with logs, caches, etc.
+      - uses: photonvision/photon-image-runner@HEAD
+        name: Smoketest Image
+        with:
+          image_url: file://${{ env.smoketest_image_loc }}
+          minimum_free_mb: ${{ matrix.minimum_free_mb }}
+          root_location: ${{ matrix.root_location || 'partition=2' }}
+          shrink_image: ${{ matrix.shrink_image || 'yes' }}
+          commands: java -jar *.jar --smoketest --platform=${{ matrix.plat_override }}
+
+  matrix-checker:
+    # This job always runs last to set the overall result based on the matrix jobs. If any matrix job failed, this job will fail.
+    # This makes it so that we don't need to add each matrix job individually to CI checks.
+    runs-on: ubuntu-latest
+    needs: [build-image]
+    if: always()
+    steps:
+      - run: ${{!contains(needs.*.result, 'failure')}}
+
   release:
-    needs: [build-package, build-image, combine]
-    runs-on: ubuntu-22.04
+    # Require smoketest-native so that if those fail, we don't release broken artifacts
+    needs: [build-photonlib-vendorjson, build-image, combine, build-package-linux, build-package-macos, build-package-windows, run-smoketest-native]
+    if: (github.ref == 'refs/heads/main' || startsWith(github.ref, 'refs/tags/v')) && github.repository == 'PhotonVision/photonvision'
+    runs-on: ubuntu-24.04
     steps:
       # Download all fat JARs
-      - uses: actions/download-artifact@v4
+      - uses: actions/download-artifact@v7
         with:
           merge-multiple: true
           pattern: jar-*
       # Download offline photonlib
-      - uses: actions/download-artifact@v4
+      - uses: actions/download-artifact@v7
         with:
           merge-multiple: true
           pattern: photonlib-offline
       # Download vendor json
-      - uses: actions/download-artifact@v4
+      - uses: actions/download-artifact@v7
         with:
           merge-multiple: true
           pattern: photonlib-vendor-json
       # Download all images
-      - uses: actions/download-artifact@v4
+      - uses: actions/download-artifact@v7
         with:
           merge-multiple: true
           pattern: image-*
 
       - run: find
       # Push to dev release
-      - uses: pyTooling/Actions/releaser@r0
+      - uses: pyTooling/Actions/releaser@r6
         with:
           token: ${{ secrets.GITHUB_TOKEN }}
           tag: 'Dev'
           rm: true
+          snapshots: false
           files: |
             **/*.xz
-            **/*.jar
+            **/*linux*.jar
+            **/*win*.jar
             **/photonlib*.json
             **/photonlib*.zip
         if: github.event_name == 'push'
-      # Upload all jars and xz archives
-      # Split into two uploads to work around max size limits in action-gh-releases
-      # https://github.com/softprops/action-gh-release/issues/353
-      - uses: softprops/action-gh-release@v2.0.9
-        with:
-          files: |
-            **/@(*orangepi5*|*rock5*).xz
-        if: startsWith(github.ref, 'refs/tags/v')
-        env:
-          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
-      - uses: softprops/action-gh-release@v2.0.9
-        with:
-          files: |
-            **/!(*orangepi5*|*rock5*).xz
-            **/*.jar
-            **/photonlib*.json
-            **/photonlib*.zip
-        if: startsWith(github.ref, 'refs/tags/v')
-        env:
-          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
-
-  dispatch:
-    name: dispatch
-    needs: [build-photonlib-vendorjson, release]
-    runs-on: ubuntu-22.04
-    steps:
-      - uses: peter-evans/repository-dispatch@v3
-        if: |
-          github.repository == 'PhotonVision/photonvision' &&
-          startsWith(github.ref, 'refs/tags/v')
+      - name: Create Vendor JSON Repo PR
+        uses: wpilibsuite/vendor-json-repo/.github/actions/add_vendordep@HEAD
         with:
+          repo: PhotonVision/vendor-json-repo
           token: ${{ secrets.VENDOR_JSON_REPO_PUSH_TOKEN }}
-          repository: PhotonVision/vendor-json-repo
-          event-type: tag
-          client-payload: '{"run_id": "${{ github.run_id }}", "package_version": "${{ github.ref_name }}"}'
+          vendordep_file: ${{ github.workspace }}/photonlib-${{ github.ref_name }}.json
+          pr_title: Update photonlib to ${{ github.ref_name }}
+          pr_branch: photonlib-${{ github.ref_name }}
+        if: github.repository == 'PhotonVision/photonvision' && startsWith(github.ref, 'refs/tags/v')

.github/workflows/cut-new-tag.yml

@@ -1,17 +0,0 @@
-name: Cut a new tag
-
-on:
-  workflow_dispatch:
-    inputs:
-      tag_name:
-        type: string
-        description: The full name of the new tag to push to the latest commit to main
-
-jobs:
-  push_tag:
-    runs-on: ubuntu-latest
-
-    steps:
-      - uses: actions/checkout@v4
-      - run: git tag ${{ github.event.inputs.tag_name }}
-      - run: git push origin ${{ github.event.inputs.tag_name }}

.github/workflows/dependency-submission.yml

@@ -0,0 +1,22 @@
+name: Dependency Submission
+
+on:
+  push:
+    branches: [ 'main' ]
+
+permissions:
+  contents: write
+
+jobs:
+  dependency-submission:
+    runs-on: ubuntu-latest
+    steps:
+    - name: Checkout sources
+      uses: actions/checkout@v6
+    - name: Setup Java
+      uses: actions/setup-java@v5
+      with:
+        distribution: 'temurin'
+        java-version: 17
+    - name: Generate and submit dependency graph
+      uses: gradle/actions/dependency-submission@v5

.github/workflows/labeler.yml

@@ -0,0 +1,14 @@
+name: "Pull Request Labeler"
+on:
+  - pull_request_target
+
+jobs:
+  labeler:
+    permissions:
+      contents: read
+      pull-requests: write
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/labeler@v6
+        with:
+          sync-labels: true

.github/workflows/lint-format.yml

@@ -3,87 +3,110 @@ name: Lint and Format
 on:
   # Run on pushes to main and pushed tags, and on pull requests against main, but ignore the docs folder
   push:
-    branches: [ main ]
-    tags:
-      - 'v*'
   pull_request:
-    branches: [ main ]
-  merge_group:
 
 concurrency:
   group: ${{ github.workflow }}-${{ github.head_ref || github.ref }}
   cancel-in-progress: true
 
 jobs:
+  validation:
+    name: "Validation"
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v6
+      - uses: gradle/actions/wrapper-validation@v5
   wpiformat:
     name: "wpiformat"
-    runs-on: ubuntu-22.04
+    runs-on: ubuntu-24.04
     steps:
-      - uses: actions/checkout@v4
+      - uses: actions/checkout@v6
       - name: Fetch all history and metadata
         run: |
           git fetch --prune --unshallow
           git checkout -b pr
           git branch -f main origin/main
-      - name: Set up Python 3.8
-        uses: actions/setup-python@v4
+      - name: Set up Python
+        uses: actions/setup-python@v6
         with:
-          python-version: 3.11
+          python-version: 3.14
       - name: Install wpiformat
-        run: pip3 install wpiformat==2024.45
+        run: pip3 install wpiformat==2025.79
       - name: Run
         run: wpiformat
       - name: Check output
-        run: git --no-pager diff --exit-code HEAD
+        run: |
+          set +e
+          git --no-pager diff --exit-code HEAD
+          exit_code=$?
+          if test "$exit_code" -ne "0"; then
+            echo "::error ::Linting failed. See https://docs.photonvision.org/en/latest/docs/contributing/linting.html"
+            exit $exit_code
+          fi
       - name: Generate diff
         run: git diff HEAD > wpiformat-fixes.patch
         if: ${{ failure() }}
-      - uses: actions/upload-artifact@v4
+      - uses: actions/upload-artifact@v6
         with:
           name: wpiformat fixes
           path: wpiformat-fixes.patch
         if: ${{ failure() }}
   javaformat:
     name: "Java Formatting"
-    runs-on: ubuntu-22.04
+    needs: [validation]
+    runs-on: ubuntu-24.04
     steps:
-      - uses: actions/checkout@v4
+      - uses: actions/checkout@v6
         with:
           fetch-depth: 0
-      - uses: actions/setup-java@v4
+      - uses: actions/setup-java@v5
         with:
           java-version: 17
           distribution: temurin
-      - run: ./gradlew spotlessCheck
+      - run: |
+          set +e
+          ./gradlew spotlessCheck
+          exit_code=$?
+          if test "$exit_code" -ne "0"; then
+            echo "::error ::Linting failed. See https://docs.photonvision.org/en/latest/docs/contributing/linting.html"
+            exit $exit_code
+          fi
         name: Run spotless
-
   client-lint-format:
     name: "PhotonClient Lint and Formatting"
     defaults:
       run:
         working-directory: photon-client
-    runs-on: ubuntu-22.04
+    runs-on: ubuntu-24.04
     steps:
-      - uses: actions/checkout@v4
-      - name: Setup Node.js
-        uses: actions/setup-node@v4
+      - uses: actions/checkout@v6
+      - name: Install pnpm
+        uses: pnpm/action-setup@v4
         with:
-          node-version: 18
+          version: 10
+      - name: Setup Node.js
+        uses: actions/setup-node@v6
+        with:
+          node-version: 22
+          cache: pnpm
+          cache-dependency-path: photon-client/pnpm-lock.yaml
       - name: Install Dependencies
-        run: npm ci
+        run: pnpm i --frozen-lockfile
       - name: Check Linting
-        run: npm run lint-ci
-      - name: Check Formatting
-        run: npm run format-ci
-  server-index:
-    name: "Check server index.html not changed"
-    runs-on: ubuntu-22.04
-    steps:
-      - uses: actions/checkout@v4
-      - name: Fetch all history and metadata
         run: |
-          git fetch --prune --unshallow
-          git checkout -b pr
-          git branch -f main origin/main
-      - name: Check index.html not changed
-        run: git --no-pager diff --exit-code origin/main photon-server/src/main/resources/web/index.html
+          set +e
+          pnpm run lint-ci
+          exit_code=$?
+          if test "$exit_code" -ne "0"; then
+            echo "::error ::Linting failed. See https://docs.photonvision.org/en/latest/docs/contributing/linting.html"
+            exit $exit_code
+          fi
+      - name: Check Formatting
+        run: |
+          set +e
+          pnpm run format-ci
+          exit_code=$?
+          if test "$exit_code" -ne "0"; then
+            echo "::error ::Linting failed. See https://docs.photonvision.org/en/latest/docs/contributing/linting.html"
+            exit $exit_code
+          fi

.github/workflows/photon-api-docs.yml

@@ -0,0 +1,120 @@
+name: Photon API Documentation
+
+on:
+  # Run on pushes to main and pushed tags, and on pull requests against main, but ignore the docs folder
+  push:
+  pull_request:
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.head_ref || github.ref }}
+  cancel-in-progress: true
+
+# Sets permissions of the GITHUB_TOKEN to allow deployment to GitHub Pages
+permissions:
+  contents: read
+  pages: write
+  id-token: write
+
+jobs:
+  validation:
+    name: "Validation"
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v6
+      - uses: gradle/actions/wrapper-validation@v5
+  build_demo:
+    name: Build PhotonClient Demo
+    defaults:
+      run:
+        working-directory: photon-client
+    runs-on: ubuntu-24.04
+    steps:
+      - uses: actions/checkout@v6
+      - name: Install pnpm
+        uses: pnpm/action-setup@v4
+        with:
+          version: 10
+      - name: Setup Node.js
+        uses: actions/setup-node@v6
+        with:
+          node-version: 22
+          cache: pnpm
+          cache-dependency-path: photon-client/pnpm-lock.yaml
+      - name: Install Dependencies
+        run: pnpm i --frozen-lockfile
+      - name: Build Production Client
+        run: pnpm run build-demo
+      - uses: actions/upload-artifact@v6
+        with:
+          name: built-demo
+          path: photon-client/dist/
+
+  run_java_cpp_docs:
+    name: Build Java and C++ API Docs
+    needs: [validation]
+    runs-on: "ubuntu-24.04"
+    steps:
+    - name: Checkout code
+      uses: actions/checkout@v6
+      with:
+        fetch-depth: 0
+    - name: Fetch tags
+      run: git fetch --tags --force
+    - name: Install Java 17
+      uses: actions/setup-java@v5
+      with:
+        java-version: 17
+        distribution: temurin
+    - name: Build javadocs/doxygen
+      run: |
+        chmod +x gradlew
+        ./gradlew photon-docs:generateJavaDocs photon-docs:doxygen
+    - uses: actions/upload-artifact@v6
+      with:
+        name: docs-java-cpp
+        path: photon-docs/build/docs
+
+  publish_api_docs:
+    name: Publish API Docs
+    needs: [run_java_cpp_docs]
+    runs-on: ubuntu-24.04
+    steps:
+      # Download docs artifact
+      - uses: actions/download-artifact@v7
+        with:
+          pattern: docs-*
+      - run: find .
+      - name: Publish Docs To Development
+        if: github.ref == 'refs/heads/main'
+        uses: up9cloud/action-rsync@v1.4
+        env:
+          HOST: ${{ secrets.WEBMASTER_SSH_HOST }}
+          USER: ${{ secrets.WEBMASTER_SSH_USERNAME }}
+          KEY: ${{secrets.WEBMASTER_SSH_KEY}}
+          TARGET: /var/www/html/photonvision-docs/development/
+      - name: Publish Docs To Release
+        if: startsWith(github.ref, 'refs/tags/v')
+        uses: up9cloud/action-rsync@v1.4
+        env:
+          HOST: ${{ secrets.WEBMASTER_SSH_HOST }}
+          USER: ${{ secrets.WEBMASTER_SSH_USERNAME }}
+          KEY: ${{ secrets.WEBMASTER_SSH_KEY }}
+          TARGET: /var/www/html/photonvision-docs/release/
+
+  publish_demo:
+      name: Publish PhotonClient Demo
+      needs: [build_demo]
+      runs-on: ubuntu-24.04
+      steps:
+      - uses: actions/download-artifact@v7
+        with:
+          name: built-demo
+      - run: find .
+      - name: Publish demo
+        if: github.ref == 'refs/heads/main'
+        uses: up9cloud/action-rsync@v1.4
+        env:
+          HOST: ${{ secrets.WEBMASTER_SSH_HOST }}
+          USER: ${{ secrets.WEBMASTER_SSH_USERNAME }}
+          KEY: ${{ secrets.WEBMASTER_SSH_KEY }}
+          TARGET: /var/www/html/photonvision-demo

.github/workflows/photon-code-docs.yml

@@ -1,89 +0,0 @@
-name: Photon Code Documentation
-
-on:
-  # Run on pushes to main and pushed tags, and on pull requests against main, but ignore the docs folder
-  push:
-    branches: [ main ]
-    tags:
-      - 'v*'
-  pull_request:
-    branches: [ main ]
-  merge_group:
-
-concurrency:
-  group: ${{ github.workflow }}-${{ github.head_ref || github.ref }}
-  cancel-in-progress: true
-
-# Sets permissions of the GITHUB_TOKEN to allow deployment to GitHub Pages
-permissions:
-  contents: read
-  pages: write
-  id-token: write
-
-jobs:
-  build-client:
-    name: "PhotonClient Build"
-    defaults:
-      run:
-        working-directory: photon-client
-    runs-on: ubuntu-22.04
-    steps:
-      - uses: actions/checkout@v4
-      - name: Setup Node.js
-        uses: actions/setup-node@v4
-        with:
-          node-version: 18
-      - name: Install Dependencies
-        run: npm ci
-      - name: Build Production Client
-        run: npm run build-demo
-      - uses: actions/upload-artifact@v4
-        with:
-          name: built-client
-          path: photon-client/dist/
-
-  run_docs:
-    runs-on: "ubuntu-22.04"
-    steps:
-    - name: Checkout code
-      uses: actions/checkout@v4
-      with:
-        fetch-depth: 0
-    - name: Fetch tags
-      run: git fetch --tags --force
-    - name: Install Java 17
-      uses: actions/setup-java@v4
-      with:
-        java-version: 17
-        distribution: temurin
-
-    - name: Build javadocs/doxygen
-      run: |
-        chmod +x gradlew
-        ./gradlew photon-docs:generateJavaDocs photon-docs:doxygen
-
-    - uses: actions/upload-artifact@v4
-      with:
-        name: built-docs
-        path: photon-docs/build/docs
-
-  release:
-    needs: [build-client, run_docs]
-
-    runs-on: ubuntu-22.04
-    steps:
-
-      # Download literally every single artifact.
-      - uses: actions/download-artifact@v4
-
-      - run: find .
-      - name: copy file via ssh password
-        if: github.ref == 'refs/heads/main'
-        uses: appleboy/scp-action@v0.1.7
-        with:
-          host: ${{ secrets.WEBMASTER_SSH_HOST }}
-          username: ${{ secrets.WEBMASTER_SSH_USERNAME }}
-          password: ${{ secrets.WEBMASTER_SSH_KEY }}
-          port: ${{ secrets.WEBMASTER_SSH_PORT }}
-          source: "*"
-          target: /var/www/html/photonvision-docs/

.github/workflows/photonvision-rtd.yml

@@ -1,11 +1,8 @@
-name: PhotonVision Sphinx Documentation Checks
+name: PhotonVision ReadTheDocs Checks
 
 on:
   push:
-    branches: [ main ]
   pull_request:
-    branches: [ main ]
-  merge_group:
 
 concurrency:
   group: ${{ github.workflow }}-${{ github.head_ref || github.ref }}
@@ -16,14 +13,15 @@ env:
 
 jobs:
   build:
-    runs-on: ubuntu-22.04
+    name: Build and Check Docs
+    runs-on: ubuntu-24.04
 
     steps:
-    - uses: actions/checkout@v4
+    - uses: actions/checkout@v6
 
-    - uses: actions/setup-python@v4
+    - uses: actions/setup-python@v6
       with:
-        python-version: '3.11'
+        python-version: 3.14
 
     - name: Install and upgrade pip
       run: python -m pip install --upgrade pip

.github/workflows/python.yml

@@ -5,68 +5,141 @@ permissions:
 
 on:
   push:
-    branches: [ main ]
-    tags:
-      - 'v*'
   pull_request:
-    branches: [ main ]
-  merge_group:
 
 concurrency:
   group: ${{ github.workflow }}-${{ github.head_ref || github.ref }}
   cancel-in-progress: true
 
 jobs:
-  buildAndDeploy:
-    runs-on: ubuntu-22.04
+  build-py:
+    runs-on: ubuntu-24.04
 
     steps:
       - name: Checkout code
-        uses: actions/checkout@v4
+        uses: actions/checkout@v6
         with:
           fetch-depth: 0
 
       - name: Set up Python
-        uses: actions/setup-python@v5
+        uses: actions/setup-python@v6
         with:
-          python-version: 3.11
+          python-version: 3.14
 
       - name: Install dependencies
         run: |
           python -m pip install --upgrade pip
-          pip install setuptools wheel pytest mypy
+          pip install setuptools wheel
 
       - name: Build wheel
         working-directory: ./photon-lib/py
-        run: |
-          python setup.py sdist bdist_wheel
-
-      - name: Run Unit Tests
-        working-directory: ./photon-lib/py
-        run: |
-            pip install --no-cache-dir dist/*.whl
-            pytest
-
-      - name: Run mypy type checking
-        uses: liskin/gh-problem-matcher-wrap@v3
-        with:
-          linters: mypy
-          run: |
-            mypy --show-column-numbers --config-file photon-lib/py/pyproject.toml photon-lib
-
+        run: python setup.py sdist bdist_wheel
 
       - name: Upload artifacts
-        uses: actions/upload-artifact@master
+        uses: actions/upload-artifact@v6
         with:
           name: dist
           path: ./photon-lib/py/dist/
 
-      - name: Publish package distributions to TestPyPI
-        # Only upload on tags
-        if: startsWith(github.ref, 'refs/tags/v')
+  test-py:
+    needs: build-py
+    runs-on: ubuntu-24.04
+
+    steps:
+      - name: Checkout code
+        uses: actions/checkout@v6
+        with:
+          fetch-depth: 0
+
+      - name: Set up Python
+        uses: actions/setup-python@v6
+        with:
+          python-version: 3.14
+
+      - name: Install dependencies
+        run: |
+          python -m pip install --upgrade pip
+          pip install pytest mypy
+
+      - name: Download artifacts
+        uses: actions/download-artifact@v6
+        with:
+          name: dist
+          path: dist/
+
+      - name: Install package
+        shell: bash
+        run: pip install --no-cache-dir dist/*.whl
+
+      - name: Run Unit Tests
+        shell: bash
+        run: pytest --import-mode=importlib photon-lib/py/test/
+
+      - name: Run mypy type checking
+        run: mypy --show-column-numbers --config-file photon-lib/py/pyproject.toml photon-lib
+
+  build-python-examples:
+    needs: build-py
+    strategy:
+      matrix:
+        os: [ubuntu-24.04, windows-2022, macos-14]
+    runs-on: ${{ matrix.os }}
+
+    steps:
+
+      - name: Checkout code
+        uses: actions/checkout@v6
+        with:
+          fetch-depth: 0
+
+      - name: Set up Python
+        uses: actions/setup-python@v6
+        with:
+          python-version: 3.14
+
+      - name: Install dependencies
+        run: |
+          python -m pip install --upgrade pip
+
+      - name: Download artifacts
+        uses: actions/download-artifact@v6
+        with:
+          name: dist
+          path: ./photon-lib/py/dist/
+
+      - name: Install PhotonLibPy package
+        working-directory: ./photon-lib/py
+        shell: bash
+        run: |
+            pip install --no-cache-dir dist/*.whl
+
+      - name: Build Python examples
+        working-directory: photonlib-python-examples
+        shell: bash
+        run: |
+          for folder in */;
+          do
+            echo $folder
+            ./run.sh $folder
+          done
+
+  deploy:
+    needs: [test-py, build-python-examples]
+    runs-on: ubuntu-24.04
+    # Only upload on tags
+    if: startsWith(github.ref, 'refs/tags/v')
+
+    steps:
+      - name: Download artifacts
+        uses: actions/download-artifact@v6
+        with:
+          name: dist
+          path: dist/
+
+      - name: Publish package distributions to PyPI
         uses: pypa/gh-action-pypi-publish@release/v1
         with:
-          packages_dir: ./photon-lib/py/dist/
+          packages-dir: ./dist/
 
     permissions:
       id-token: write  # IMPORTANT: this permission is mandatory for trusted publishing

.github/workflows/website.yml

@@ -0,0 +1,58 @@
+name: Website
+
+on:
+  push:
+  pull_request:
+
+jobs:
+  rsync:
+    name: Build and Sync Files
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v6
+      - name: Install pnpm
+        uses: pnpm/action-setup@v4
+        with:
+          version: 10
+      - name: Setup Node
+        uses: actions/setup-node@v6
+        with:
+          node-version: 22
+          cache: pnpm
+          cache-dependency-path: website/pnpm-lock.yaml
+      - name: Install packages
+        run: pnpm i --frozen-lockfile
+        working-directory: website
+      - name: Build project
+        run: pnpm run build
+        working-directory: website
+      - uses: up9cloud/action-rsync@v1.4
+        if: github.ref == 'refs/heads/main'
+        env:
+          HOST: ${{ secrets.WEBMASTER_SSH_HOST }}
+          USER: ${{ secrets.WEBMASTER_SSH_USERNAME }}
+          KEY: ${{secrets.WEBMASTER_SSH_KEY}}
+          SOURCE: website/dist/*
+          TARGET: /var/www/html/photonvision-website
+
+  format-check:
+    name: Check Formatting
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v6
+      - name: Install pnpm
+        uses: pnpm/action-setup@v4
+        with:
+          version: 10
+      - name: Setup Node
+        uses: actions/setup-node@v6
+        with:
+          node-version: 22
+          cache: pnpm
+          cache-dependency-path: website/pnpm-lock.yaml
+      - name: Install Packages
+        run: pnpm i --frozen-lockfile
+        working-directory: website
+      - name: Run Formatting Check
+        run: pnpm prettier -c .
+        working-directory: website

.gitignore

@@ -1,19 +1,14 @@
-Python/__pycache__/WebSiteHandler\.cpython-37\.pyc
-
 \.idea/
 
 *.pyc
-
-Python/app/__pycache__/
-
-Python/app/handlers/__pycache__/
-
-\.vscode/
+__pycache__/
 
 /.vs
-
 backend/settings/
-/.vscode/
+.vscode/*
+!.vscode/settings.json
+# Docs
+_build
 # Compiled class file
 *.class
 
@@ -109,7 +104,6 @@ fabric.properties
 
 # Temporary build files
 **/.gradle
-**/target
 **/src/main/java/META-INF
 **/.settings
 **/.classpath
@@ -125,8 +119,6 @@ compile_commands.json
 .clangd/
 .cache/
 
-New client/photon-client/*
-
 *.prefs
 *.jfr
 .DS_Store
@@ -146,7 +138,21 @@ photonlib-cpp-examples/*/vendordeps/*
 photonlib-cpp-examples/*/networktables.json.bck
 photonlib-java-examples/*/networktables.json.bck
 *.sqlite
-photon-server/src/main/resources/web/*
 venv
 .venv/*
 .venv
+networktables.json
+# Web stuff
+photon-server/src/main/resources/web/*
+node_modules
+dist
+dist-ssr
+components.d.ts
+photon-server/src/main/resources/web/index.html
+
+# Playwright
+photon-client/test-results/
+photon-client/playwright-report/
+photon-client/blob-report/
+photon-client/playwright/.cache/
+photon-client/playwright/.auth/

.python-version

@@ -0,0 +1 @@
+3.14

.readthedocs.yaml

@@ -6,9 +6,9 @@ sphinx:
   fail_on_warning: true
 
 build:
-  os: ubuntu-22.04
+  os: ubuntu-24.04
   tools:
-    python: "3.11"
+    python: "3.12"
   apt_packages:
     - graphviz
   jobs:

.styleguide

@@ -1,37 +0,0 @@
-cppHeaderFileInclude {
-  \.h$
-  \.hpp$
-  \.inc$
-  \.inl$
-}
-
-cppSrcFileInclude {
-  \.cpp$
-}
-
-modifiableFileExclude {
-  \.jpg$
-  \.jpeg$
-  \.png$
-  \.gif$
-  \.so$
-  \.dll$
-  \.webp$
-  \.ico$
-  \.rknn$
-  gradlew
-  photon-lib/py/photonlibpy/generated/
-  photon-targeting/src/main/native/cpp/photon/constrained_solvepnp/generate/
-  photon-targeting/src/generated/
-}
-
-includeProject {
-  ^photonLib/
-}
-
-includeOtherLibs {
-  ^frc/
-  ^networktables/
-  ^units/
-  ^wpi/
-}

.vscode/settings.json

@@ -0,0 +1,6 @@
+{
+    "python.testing.unittestEnabled": false,
+    "python.testing.pytestEnabled": true,
+    "python.testing.cwd": "photon-lib/py",
+    "java.configuration.updateBuildConfiguration": "automatic"
+}

.wpiformat

@@ -0,0 +1,9 @@
+cppHeaderFileInclude {
+  \.h$
+}
+
+modifiableFileExclude {
+  photon-lib/py/photonlibpy/generated/
+  photon-targeting/src/generated/
+  photon-targeting/src/main/native/cpp/photon/constrained_solvepnp/generate/
+}

README.md

@@ -8,22 +8,22 @@ The latest release of platform-specific jars and images is found [here](https://
 
 If you are interested in contributing code or documentation to the project, please [read our getting started page for contributors](https://docs.photonvision.org/en/latest/docs/contributing/index.html) and **[join the Discord](https://discord.gg/wYxTwym) to introduce yourself!** We hope to provide a welcoming community to anyone who is interested in helping.
 
+## Documentation
+
+- Our main documentation page: [docs.photonvision.org](https://docs.photonvision.org)
+- Photon UI demo: [demo.photonvision.org](https://demo.photonvision.org)
+- Javadocs: [javadocs.photonvision.org](https://javadocs.photonvision.org)
+- C++ Doxygen: [cppdocs.photonvision.org](https://cppdocs.photonvision.org)
+
 ## Authors
 
 <a href="https://github.com/PhotonVision/photonvision/graphs/contributors">
   <img src="https://contrib.rocks/image?repo=PhotonVision/photonvision" />
 </a>
 
-## Documentation
-
-- Our main documentation page: [docs.photonvision.org](https://docs.photonvision.org)
-- Photon UI demo: [http://photonvision.global/](http://photonvision.global/) (or [manual link](https://photonvision.github.io/photonvision/built-client/))
-- Javadocs: [javadocs.photonvision.org](https://javadocs.photonvision.org) (or [manual link](https://photonvision.github.io/photonvision/built-docs/javadoc/))
-- C++ Doxygen  [cppdocs.photonvision.org](https://cppdocs.photonvision.org) (or [manual link](https://photonvision.github.io/photonvision/built-docs/doxygen/html/))
-
 ## Building
 
-Gradle is used for all C++ and Java code, and NPM is used for the web UI. Instructions to compile PhotonVision yourself can be found [in our docs](https://docs.photonvision.org/en/latest/docs/contributing/building-photon.html#compiling-instructions).
+Gradle is used for all C++ and Java code, and pnpm is used for the web UI. Instructions to compile PhotonVision yourself can be found [in our docs](https://docs.photonvision.org/en/latest/docs/contributing/building-photon.html#compiling-instructions).
 
 You can run one of the many built in examples straight from the command line, too! They contain a fully featured robot project, and some include simulation support. The projects can be found inside the [`photonlib-java-examples`](photonlib-java-examples) and [`photonlib-cpp-examples`](photonlib-cpp-examples) subdirectories, respectively. Instructions for running these examples directly from the repo are found [in the docs](https://docs.photonvision.org/en/latest/docs/contributing/building-photon.html#running-examples).
 
@@ -32,7 +32,6 @@ You can run one of the many built in examples straight from the command line, to
 Note that these are case sensitive!
 
 * `-PArchOverride=foobar`: builds for a target system other than your current architecture. [Valid overrides](https://github.com/wpilibsuite/wpilib-tool-plugin/blob/main/src/main/java/edu/wpi/first/tools/NativePlatforms.java) are:
-    * winx32
     * winx64
     * winarm64
     * macx64
@@ -41,41 +40,39 @@ Note that these are case sensitive!
     * linuxarm64
     * linuxathena
 - `-PtgtIP`: Specifies where `./gradlew deploy` should try to copy the fat JAR to
+- `-PtgtUser`: Specifies custom username for `./gradlew deploy` to SSH into
+- `-PtgtPw`: Specifies custom password for `./gradlew deploy` to SSH into
 - `-Pprofile`: enables JVM profiling
+- `-PwithSanitizers`: On Linux, enables `-fsanitize=address,undefined,leak`
 
-If you're cross-compiling, you'll need the wpilib toolchain installed. This can be done via Gradle: for example `./gradlew installArm64Toolchain` or `./gradlew installRoboRioToolchain`
+If you're cross-compiling, you'll need the WPILib toolchain installed. This must be done via Gradle: for example `./gradlew installArm64Toolchain` or `./gradlew installRoboRioToolchain`
 
 ## Out-of-Source Dependencies
 
 PhotonVision uses the following additional out-of-source repositories for building code.
 
-- Base system images for Raspberry Pi & Orange Pi: https://github.com/PhotonVision/photon-image-modifier
+- Base system images for supported coprocessors: https://github.com/PhotonVision/photon-image-modifier
 - C++ driver for Raspberry Pi CSI cameras: https://github.com/PhotonVision/photon-libcamera-gl-driver
 - JNI code for [mrcal](https://mrcal.secretsauce.net/): https://github.com/PhotonVision/mrcal-java
-- Custom build of OpenCV with GStreamer/Protobuf/other custom flags: https://github.com/PhotonVision/thirdparty-opencv
-- JNI code for aruco-nano: https://github.com/PhotonVision/aruconano-jni
-
-## Additional packages
-
-For now, using mrcal requires installing these additional packages on Linux systems:
-
-```
-sudo apt install libcholmod3 liblapack3 libsuitesparseconfig5
-```
+- JNI code for RKNN: https://github.com/PhotonVision/rknn_jni
+- JNI code for Rubik Pi NPU: https://github.com/PhotonVision/rubik_jni
 
 ## Acknowledgments
 
 PhotonVision was forked from [Chameleon Vision](https://github.com/Chameleon-Vision/chameleon-vision/). Thank you to everyone who worked on the original project.
 
-* [WPILib](https://github.com/wpilibsuite) - Specifically [cscore](https://github.com/wpilibsuite/allwpilib/tree/main/cscore), [CameraServer](https://github.com/wpilibsuite/allwpilib/tree/main/cameraserver), [NTCore](https://github.com/wpilibsuite/allwpilib/tree/main/ntcore), and [OpenCV](https://github.com/wpilibsuite/thirdparty-opencv).
-
-* [Apache Commons](https://commons.apache.org/) - Specifically [Commons Math](https://commons.apache.org/proper/commons-math/), and [Commons Lang](https://commons.apache.org/proper/commons-lang/)
-
+* [WPILib](https://github.com/wpilibsuite) - Specifically [allwpilib](https://github.com/wpilibsuite/allwpilib) and [their build of OpenCV](https://github.com/wpilibsuite/thirdparty-opencv).
+* [Apache Commons](https://commons.apache.org/) - Specifically [Commons IO](https://commons.apache.org/proper/commons-io/), and [Commons CLI](https://commons.apache.org/proper/commons-cli/)
+* [diozero](https://www.diozero.com/)
+* [EJML](https://github.com/lessthanoptimal/ejml)
 * [Javalin](https://javalin.io/)
-
 * [JSON](https://json.org)
-
 * [FasterXML](https://github.com/FasterXML) - Specifically [jackson](https://github.com/FasterXML/jackson)
+* [MessagePack for Java](https://github.com/msgpack/msgpack-java)
+* [OSHI](https://github.com/oshi/oshi)
+* [QuickBuffers](https://github.com/HebiRobotics/QuickBuffers)
+* [SQLite JDBC](https://github.com/xerial/sqlite-jdbc)
+* [ZT ZIP](https://github.com/zeroturnaround/zt-zip)
 
 ## License
 

build.gradle

@@ -2,25 +2,24 @@ 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 "2025.3.1"
-    id 'edu.wpi.first.WpilibTools' version '1.3.0'
+    id "edu.wpi.first.GradleRIO" version "2026.2.1"
+    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 "1.0.4" apply false
+    id "org.ysb33r.doxygen" version "2.0.0" apply false
     id 'com.gradleup.shadow' version '8.3.4' apply false
     id "com.github.node-gradle.node" version "7.0.1" apply false
-    id "org.hidetake.ssh" version "2.11.2" apply false
 }
 
 allprojects {
     repositories {
+        maven { url = "https://frcmaven.wpi.edu/artifactory/ex-mvn/" }
         mavenCentral()
         mavenLocal()
         maven { url = "https://maven.photonvision.org/releases" }
         maven { url = "https://maven.photonvision.org/snapshots" }
-        maven { url = "https://jogamp.org/deployment/maven/" }
     }
     wpilibRepositories.addAllReleaseRepositories(it)
     wpilibRepositories.addAllDevelopmentRepositories(it)
@@ -33,29 +32,22 @@ ext.allOutputsFolder = file("$project.buildDir/outputs")
 apply from: "versioningHelper.gradle"
 
 ext {
-    wpilibVersion = "2025.3.1"
+    wpilibVersion = "2026.2.1"
     wpimathVersion = wpilibVersion
     openCVYear = "2025"
     openCVversion = "4.10.0-3"
-    joglVersion = "2.4.0"
-    javalinVersion = "5.6.2"
-    libcameraDriverVersion = "v2025.0.3"
-    rknnVersion = "dev-v2025.0.0-1-g33b6263"
-    frcYear = "2025"
-    mrcalVersion = "v2025.0.0";
-
+    javalinVersion = "6.7.0"
+    libcameraDriverVersion = "v2026.0.0"
+    rknnVersion = "v2026.0.1"
+    rubikVersion = "v2026.0.1"
+    frcYear = "2026"
+    mrcalVersion = "v2026.0.0";
 
     pubVersion = versionString
     isDev = pubVersion.startsWith("dev")
 
-    // A list, for legacy reasons, with only the current platform contained
     wpilibNativeName = wpilibTools.platformMapper.currentPlatform.platformName;
-    def nativeName = wpilibNativeName
-    if (wpilibNativeName == "linuxx64") nativeName = "linuxx86-64";
-    if (wpilibNativeName == "winx64") nativeName = "windowsx86-64";
-    if (wpilibNativeName == "macx64") nativeName = "osxx86-64";
-    if (wpilibNativeName == "macarm64") nativeName = "osxarm64";
-    jniPlatform = nativeName
+    jniPlatform = wpilibTools.platformMapper.wpilibClassifier;
 
     println("Building for platform " + jniPlatform + " wpilib: " + wpilibNativeName)
     println("Using Wpilib: " + wpilibVersion)
@@ -93,7 +85,7 @@ spotless {
     format 'misc', {
         target fileTree('.') {
             include '**/*.md', '**/.gitignore'
-            exclude '**/build/**', '**/build-*/**'
+            exclude '**/build/**', '**/build-*/**', '**/node_modules/**'
         }
         trimTrailingWhitespace()
         indentWithSpaces(2)
@@ -102,7 +94,7 @@ spotless {
 }
 
 wrapper {
-    gradleVersion '8.11'
+    gradleVersion = '8.14.3'
 }
 
 ext.getCurrentArch = {
@@ -120,5 +112,6 @@ subprojects {
         options.addStringOption("charset", "utf-8")
         options.addStringOption("docencoding", "utf-8")
         options.addStringOption("encoding", "utf-8")
+        options.addBooleanOption("Xdoclint/package:-org.photonvision.proto,-org.photonvision.struct,-org.photonvision.targeting.proto,-org.photonvision.jni", true)
     }
 }

devTools/calibrationUtils.py

@@ -1,10 +1,8 @@
 import argparse
-import base64
 import json
 import os
 from dataclasses import dataclass
 
-import cv2
 import mrcal
 import numpy as np
 from wpimath.geometry import Quaternion as _Quat
@@ -12,8 +10,8 @@ from wpimath.geometry import Quaternion as _Quat
 
 @dataclass
 class Size:
-    width: int
-    height: int
+    width: float
+    height: float
 
 
 @dataclass
@@ -24,14 +22,6 @@ class JsonMatOfDoubles:
     data: list[float]
 
 
-@dataclass
-class JsonMat:
-    rows: int
-    cols: int
-    type: int
-    data: str  # Base64-encoded PNG data
-
-
 @dataclass
 class Point2:
     x: float
@@ -84,8 +74,7 @@ class Observation:
     # If we should use this observation when re-calculating camera calibration
     includeObservationInCalibration: bool
     snapshotName: str
-    # The actual image the snapshot is from
-    snapshotData: JsonMat
+    snapshotDataLocation: str
 
 
 @dataclass
@@ -97,6 +86,7 @@ class CameraCalibration:
     calobjectWarp: list[float]
     calobjectSize: Size
     calobjectSpacing: float
+    lensmodel: str
 
 
 def __convert_cal_to_mrcal_cameramodel(
@@ -127,6 +117,13 @@ def __convert_cal_to_mrcal_cameramodel(
         ]
         return np.concatenate((r, t))
 
+    imagersize = (int(cal.resolution.width), int(cal.resolution.height))
+
+    def fill_missing_corners(observations: list[list[float]], width: int, height: int):
+        num_corners = width * height
+        observations += [[0, 0, -1] for x in range(num_corners - len(observations))]
+        return observations
+
     imagersize = (cal.resolution.width, cal.resolution.height)
 
     # Always weight=1 for Photon data
@@ -135,8 +132,12 @@ def __convert_cal_to_mrcal_cameramodel(
         [
             # note that we expect row-major observations here. I think this holds
             np.array(
-                list(map(lambda it: [it.x, it.y, WEIGHT], o.locationInImageSpace))
-            ).reshape((cal.calobjectSize.width, cal.calobjectSize.height, 3))
+                fill_missing_corners(
+                    list(map(lambda it: [it.x, it.y, WEIGHT], o.locationInImageSpace)),
+                    int(cal.calobjectSize.width),
+                    int(cal.calobjectSize.height),
+                )
+            ).reshape((int(cal.calobjectSize.width), int(cal.calobjectSize.height), 3))
             for o in cal.observations
         ]
     )
@@ -206,14 +207,6 @@ def convert_photon_to_mrcal(photon_cal_json_path: str, output_folder: str):
         if not os.path.exists(output_folder):
             os.makedirs(output_folder)
 
-        # Decode each image and save it as a png
-        for obs in camera_cal_data.observations:
-            image = obs.snapshotData.data
-            decoded_data = base64.b64decode(image)
-            np_data = np.frombuffer(decoded_data, np.uint8)
-            img = cv2.imdecode(np_data, cv2.IMREAD_UNCHANGED)
-            cv2.imwrite(f"{output_folder}/{obs.snapshotName}", img)
-
         # And create a VNL file for use with mrcal
         with open(f"{output_folder}/corners.vnl", "w+") as vnl_file:
             vnl_file.write("# filename x y level\n")

devTools/photon.lua

@@ -0,0 +1,165 @@
+-- PhotonVision Time Synchronization Protocol Dissector
+-- Protocol runs on UDP port 5810
+-- Reference: https://docs.photonvision.org/en/v2026.0.0-alpha-1/docs/contributing/design-descriptions/time-sync.html
+
+photon_timesync_proto = Proto("photon_timesync", "PhotonVision Time Sync Protocol")
+
+-- Protocol fields
+local pf_version = ProtoField.uint8("photon_timesync.version", "Version", base.DEC)
+local pf_message_id = ProtoField.uint8("photon_timesync.message_id", "Message ID", base.DEC, {
+  [0] = "Ping",
+  [1] = "Pong"
+})
+local pf_client_time = ProtoField.uint64("photon_timesync.client_time", "Client Time (μs)", base.DEC)
+local pf_server_time = ProtoField.uint64("photon_timesync.server_time", "Server Time (μs)", base.DEC)
+local pf_response_in = ProtoField.framenum("photon_timesync.response_in", "Response In Frame", base.NONE,
+  frametype.RESPONSE)
+local pf_response_to = ProtoField.framenum("photon_timesync.response_to", "Response To Frame", base.NONE,
+  frametype.REQUEST)
+local pf_response_time = ProtoField.relative_time("photon_timesync.response_time", "Response Time")
+
+-- Register fields
+photon_timesync_proto.fields = {
+  pf_version,
+  pf_message_id,
+  pf_client_time,
+  pf_server_time,
+  pf_response_in,
+  pf_response_to,
+  pf_response_time
+}
+
+-- Table to track ping/pong relationships
+-- Key: client_time as string, Value: frame number of ping
+local ping_table = {}
+-- Table to store pong responses for pings
+-- Key: ping frame number, Value: pong frame number
+local pong_table = {}
+
+-- Dissector function
+function photon_timesync_proto.dissector(buffer, pinfo, tree)
+  -- Check if buffer has minimum length (TspPing = 10 bytes)
+  local length = buffer:len()
+  if length < 10 then
+    return 0
+  end
+
+  -- Set protocol column
+  pinfo.cols.protocol = photon_timesync_proto.name
+
+  -- Create protocol tree
+  local subtree = tree:add(photon_timesync_proto, buffer(), "PhotonVision Time Sync Protocol Data")
+
+  -- Parse version (1 byte)
+  local version = buffer(0, 1):uint()
+  subtree:add(pf_version, buffer(0, 1))
+
+  -- Parse message_id (1 byte)
+  local msg_id = buffer(1, 1):uint()
+  subtree:add(pf_message_id, buffer(1, 1))
+
+  -- Parse client_time (8 bytes, little-endian uint64)
+  local client_time = buffer(2, 8):le_uint64()
+  subtree:add_le(pf_client_time, buffer(2, 8))
+
+  -- Convert client_time to string for use as key
+  local client_time_key = tostring(client_time)
+  local frame_num = pinfo.number
+
+  -- Track relationships between ping and pong
+  if not pinfo.visited then
+    -- First pass: build the relationship tables
+    if msg_id == 1 then
+      -- This is a Ping - store it
+      ping_table[client_time_key] = frame_num
+    elseif msg_id == 2 then
+      -- This is a Pong - find matching Ping
+      local ping_frame = ping_table[client_time_key]
+      if ping_frame then
+        pong_table[ping_frame] = frame_num
+      end
+    end
+  end
+
+  -- Update info column and parse based on message type
+  if msg_id == 1 then
+    -- TspPing: version(1) + message_id(1) + client_time(8) = 10 bytes
+    pinfo.cols.info = string.format("Time Sync Ping (client_time: %s μs)", tostring(client_time))
+
+    -- Check if we have a response for this ping
+    local pong_frame = pong_table[frame_num]
+    if pong_frame then
+      local response_item = subtree:add(pf_response_in, pong_frame)
+      response_item:set_generated()
+    end
+  elseif msg_id == 2 then
+    -- TspPong: TspPing + server_time(8) = 18 bytes
+    pinfo.cols.info = "Time Sync Pong"
+
+    if length >= 18 then
+      local server_time = buffer(10, 8):le_uint64()
+      subtree:add_le(pf_server_time, buffer(10, 8))
+      pinfo.cols.info = string.format("Time Sync Pong (client: %s, server: %s μs)",
+        tostring(client_time), tostring(server_time))
+
+      -- Find the matching ping frame
+      local ping_frame = ping_table[client_time_key]
+      if ping_frame then
+        local request_item = subtree:add(pf_response_to, ping_frame)
+        request_item:set_generated()
+
+        -- Calculate response time if we can get the ping packet
+        local ping_time = pinfo.abs_ts - pinfo.rel_ts
+        -- Note: This is an approximation. For accurate timing, we'd need to
+        -- store the timestamp of the ping packet
+      end
+    end
+  else
+    pinfo.cols.info = string.format("Time Sync Unknown (ID: %d)", msg_id)
+  end
+
+  return length
+end
+
+-- Register dissector on UDP port 5810
+local udp_port = DissectorTable.get("udp.port")
+udp_port:add(5810, photon_timesync_proto)
+
+-- Heuristic dissector function
+local function heuristic_checker(buffer, pinfo, tree)
+  local length = buffer:len()
+
+  -- Check minimum length (TspPing = 10 bytes)
+  if length < 10 then
+    return false
+  end
+
+  local version = buffer(0, 1):uint()
+  local msg_id = buffer(1, 1):uint()
+
+  -- Check if this looks like our protocol
+  -- Version should be reasonable (0-10), message_id should be 1 or 2
+  if version <= 10 and (msg_id == 1 or msg_id == 2) then
+    -- Validate packet structure
+    if msg_id == 1 and length == 10 then
+      -- TspPing is exactly 10 bytes
+      photon_timesync_proto.dissector(buffer, pinfo, tree)
+      return true
+    elseif msg_id == 2 and length == 18 then
+      -- TspPong is exactly 18 bytes
+      photon_timesync_proto.dissector(buffer, pinfo, tree)
+      return true
+    end
+  end
+
+  return false
+end
+
+-- Register heuristic dissector
+photon_timesync_proto:register_heuristic("udp", heuristic_checker)
+
+-- Initialize function to reset tables on new capture
+function photon_timesync_proto.init()
+  ping_table = {}
+  pong_table = {}
+end

docs/.gitignore

@@ -1,9 +0,0 @@
-build/*
-.DS_Store
-.vscode/*
-.idea/*
-source/_build
-source/docs/_build
-
-venv/*
-.venv/*

docs/.styleguide

@@ -1,17 +0,0 @@
-
-modifiableFileExclude {
-  \.jpg$
-  \.jpeg$
-  \.png$
-  \.gif$
-  \.so$
-  \.pdf$
-  \.mp4$
-  \.dll$
-  \.webp$
-  \.ico$
-  \.rknn$
-  \.svg$
-  \.woff2$
-  gradlew
-}

docs/requirements.txt

@@ -1,44 +1,58 @@
-alabaster==0.7.13
-Babel==2.13.1
-beautifulsoup4==4.12.2
-certifi==2023.11.17
-charset-normalizer==3.3.2
+alabaster==0.7.16
+anyio==4.9.0
+babel==2.17.0
+beautifulsoup4==4.13.4
+certifi==2025.4.26
+charset-normalizer==3.4.2
+click==8.1.8
 colorama==0.4.6
-doc8==0.11.2
+doc8==1.1.2
 docopt==0.6.2
-docutils==0.18.1
-furo==2023.9.10
-idna==3.4
+docutils==0.20.1
+furo==2024.8.6
+h11==0.16.0
+idna==3.10
 imagesize==1.4.1
-Jinja2==3.0.3
-MarkupSafe==2.1.3
-packaging==23.2
-pbr==6.0.0
-pipreqs==0.4.13
-Pygments==2.17.1
-requests==2.31.0
+Jinja2==3.1.6
+markdown-it-py==3.0.0
+MarkupSafe==3.0.2
+mdit-py-plugins==0.4.2
+mdurl==0.1.2
+myst-parser==4.0.1
+packaging==25.0
+pbr==6.1.1
+Pygments==2.19.1
+PyYAML==6.0.2
+requests==2.32.4
 restructuredtext-lint==1.4.0
-six==1.16.0
-snowballstemmer==2.2.0
-soupsieve==2.5
-Sphinx==7.2.6
+roman-numerals-py==3.1.0
+setuptools==80.3.1
+six==1.17.0
+sniffio==1.3.1
+snowballstemmer==3.0.0.1
+soupsieve==2.7
+Sphinx==8.1.3
+sphinx-autobuild==2024.10.3
 sphinx-basic-ng==1.0.0b2
-sphinx-notfound-page==1.0.0
-sphinx-rtd-theme==1.3.0
-sphinx-tabs==3.4.4
-sphinx_design==0.5.0
-sphinxcontrib-applehelp==1.0.7
-sphinxcontrib-devhelp==1.0.5
+sphinx-notfound-page==1.1.0
+sphinx-rtd-theme==3.0.2
+sphinx-tabs==3.4.7
+sphinx_design==0.6.1
+sphinxcontrib-applehelp==2.0.0
+sphinxcontrib-devhelp==2.0.0
 sphinxcontrib-ghcontributors==0.2.3
-sphinxcontrib-htmlhelp==2.0.4
+sphinxcontrib-htmlhelp==2.1.0
 sphinxcontrib-jquery==4.1
 sphinxcontrib-jsmath==1.0.1
-sphinxcontrib-qthelp==1.0.6
-sphinxcontrib-serializinghtml==1.1.9
-sphinxext-opengraph==0.9.0
-sphinxext-remoteliteralinclude==0.4.0
-stevedore==5.1.0
-urllib3==2.1.0
+sphinxcontrib-qthelp==2.0.0
+sphinxcontrib-serializinghtml==2.0.0
+sphinxext-opengraph==0.10.0
+sphinxext-remoteliteralinclude==0.5.0
+starlette==0.47.2
+stevedore==5.4.1
+typing_extensions==4.13.2
+urllib3==2.5.0
+uvicorn==0.34.2
+watchfiles==1.1.1
+websockets==15.0.1
 yarg==0.1.9
-sphinx-autobuild==2024.4.16
-myst_parser==3.0.1

docs/source/_templates/layout.html

@@ -1,74 +0,0 @@
-{# Import the theme's layout. #}
-{% extends '!layout.html' %}
-
-{%- block extrahead %}
-<script>
-    if (localStorage.getItem("colorTheme") === "dark") {
-        document.documentElement.setAttribute('data-theme', 'dark');
-    } else if (localStorage.getItem("colorTheme") === "light") {
-        document.documentElement.setAttribute('data-theme', 'light');
-    } else {
-        var userPrefersDark = window.matchMedia && window.matchMedia('(prefers-color-scheme: dark)').matches;
-        if (userPrefersDark) {
-            document.documentElement.setAttribute('data-theme', 'dark');
-       } else {
-            document.documentElement.setAttribute('data-theme', 'light');
-        }
-    }
-
-</script>
-
-{# Call the parent block #}
-{{ super() }}
-{% endblock %}
-
-{%- block extrafooter %}
-{# Add custom things to the head HTML tag #}
-
-<div class="dark-mode-toggle-container">
-    <strong class="light-label md-icon">&#xE430</strong>
-
-    <div class="dark-mode-toggle">
-        <input type="checkbox" id="switch" name="theme"/><label class="toggle" for="switch">Toggle</label>
-    </div>
-
-    <strong class="dark-label md-icon">&#xE42D</strong>
-</div>
-
-<script>
-    var checkbox = document.querySelector('input[name=theme]');
-
-    var element = document.documentElement.getAttribute('data-theme');
-
-    if (element == 'dark') {
-        // Auto check the checkbox if the set theme is "dark".
-        checkbox.checked = true;
-    }
-
-    checkbox.addEventListener('change', function() {
-        if (this.checked) {
-            document.documentElement.setAttribute('data-theme', 'dark');
-            localStorage.setItem("colorTheme", "dark");
-        } else {
-            document.documentElement.setAttribute('data-theme', 'light');
-            localStorage.setItem("colorTheme", "light");
-        }
-    });
-
-    window.matchMedia('(prefers-color-scheme: dark)')
-      .addEventListener('change', event => {
-        if (event.matches) {
-            document.documentElement.setAttribute('data-theme', 'dark');
-            localStorage.setItem("colorTheme", "dark");
-            checkbox.checked = true;
-        } else {
-            document.documentElement.setAttribute('data-theme', 'light');
-            localStorage.setItem("colorTheme", "light");
-            checkbox.checked = false;
-        }
-    });
-</script>
-
-{# Call the parent block #}
-{{ super() }}
-{%- endblock %}

docs/source/conf.py

@@ -21,6 +21,29 @@ project = "PhotonVision"
 copyright = "2024, PhotonVision"
 author = "Banks Troutman, Matt Morley"
 
+# -- Git configuration -----------------------------------------------------
+import subprocess
+
+try:
+    # Use closest tag
+    git_tag_ref = (
+        subprocess.check_output(
+            [
+                "git",
+                "describe",
+                "--tags",
+            ],
+            stderr=subprocess.DEVNULL,
+        )
+        .strip()
+        .decode()
+    )
+except subprocess.CalledProcessError:
+    # Couldn't find closest tag, fallback to main
+    git_tag_ref = "main"
+
+myst_substitutions = {"git_tag_ref": git_tag_ref}
+
 # -- General configuration ---------------------------------------------------
 
 # Add any Sphinx extension module names here, as strings. They can be
@@ -30,7 +53,6 @@ extensions = [
     "sphinx_rtd_theme",
     "sphinx.ext.autosectionlabel",
     "sphinx.ext.todo",
-    "sphinx_tabs.tabs",
     "notfound.extension",
     "sphinxext.remoteliteralinclude",
     "sphinxext.opengraph",
@@ -47,9 +69,6 @@ ogp_site_url = "https://docs.photonvision.org/en/latest/"
 ogp_site_name = "PhotonVision Documentation"
 ogp_image = "https://raw.githubusercontent.com/PhotonVision/photonvision-docs/main/source/assets/RectLogo.png"
 
-# Add any paths that contain templates here, relative to this directory.
-templates_path = ["_templates"]
-
 # List of patterns, relative to source directory, that match files and
 # directories to ignore when looking for source files.
 # This pattern also affects html_static_path and html_extra_path.
@@ -70,6 +89,10 @@ html_title = "PhotonVision Docs"
 html_theme = "furo"
 html_favicon = "assets/RoundLogo.png"
 
+# Specify canonical root
+# This tells search engines that this domain is preferred
+html_baseurl = "https://docs.photonvision.org/en/latest/"
+
 # Add any paths that contain custom static files (such as style sheets) here,
 # relative to this directory. They are copied after the builtin static files,
 # so a file named "default.css" will overwrite the builtin "default.css".
@@ -87,6 +110,9 @@ pygments_style = "sphinx"
 
 html_theme_options = {
     "sidebar_hide_name": True,
+    "top_of_page_buttons": ["view", "edit"],
+    "source_edit_link": "https://github.com/PhotonVision/photonvision/edit/main/docs/source/{filename}",
+    "source_view_link": "https://github.com/PhotonVision/photonvision/blob/main/docs/source/{filename}",
     "light_logo": "assets/PhotonVision-Header-onWhite.png",
     "dark_logo": "assets/PhotonVision-Header-noBG.png",
     "light_css_variables": {
@@ -144,11 +170,15 @@ sphinx_tabs_valid_builders = ["epub", "linkcheck"]
 
 # Excluded links for linkcheck
 # These should be periodically checked by hand to ensure that they are still functional
-linkcheck_ignore = [R"https://www.raspberrypi.com/software/", R"http://10\..+"]
+linkcheck_ignore = [
+    R"https://www.raspberrypi.com/software/",
+    R"http://10\..+",
+    R"https://www.gnu.org/",
+]
 
 token = os.environ.get("GITHUB_TOKEN", None)
 if token:
     linkcheck_auth = [(R"https://github.com/.+", token)]
 
 # MyST configuration (https://myst-parser.readthedocs.io/en/latest/configuration.html)
-myst_enable_extensions = ["colon_fence"]
+myst_enable_extensions = ["colon_fence", "substitution"]

docs/source/docs/additional-resources/best-practices.md

@@ -7,10 +7,14 @@
 - Some time before the competition, lock down the version you are using and do not upgrade unless you encounter a critical bug.
 - Have a copy of the installation image for the version you are using on your programming laptop, in case re-imaging (without internet) is needed.
 - Extensively test at your home setup. Practice tuning from scratch under different lighting conditions.
-- Use SmartDashboard / Shuffleboard to view your camera streams during practice.
-- Confirm you have followed all the recommendations under the Networking section in installation (network switch and static IP).
+- Confirm you have followed all the recommendations under the {ref}`Networking<docs/quick-start/networking:Networking>` documentation (network switch and static IP).
 - Only use high quality ethernet cables that have been rigorously tested.
-- Set up RIO USB port forwarding using the guide in the Networking section in installation.
+
+## Camera Streaming
+- All camera streams are published under the NetworkTables table `CameraPublisher`.
+- The only subtable under `CameraPublisher` that will work for viewing a driver mode camera stream is the one that contains `Output` in the name.
+- To view a camera stream in a dashboard, drag the correct subtable from the NetworkTables tree into your dashboard.
+- Use the latest driver dashboard recommended by [WPILib](https://docs.wpilib.org/en/stable/docs/software/dashboards/dashboard-intro.html) on your driver station laptop.
 
 ## During the Competition
 
@@ -19,7 +23,7 @@
   - Make sure the field has match-accurate lighting conditions active.
   - Turn on your robot and pull up the dashboard on your driver station.
   - Point your robot at the targets and ensure you get a consistent tracking (you hold one targets consistently, the ceiling lights aren't detected, etc.).
-  - If you have problems with your pipeline, go to the pipeline tuning section and retune the pipeline using the guide there.
+  - If you have problems with your pipeline, retune the pipeline following the {ref}`camera tuning <docs/pipelines/input:Camera Tuning / Input>` documentation.
   - Move the robot close, far, angled, and around the field to ensure no extra targets are found.
   - Monitor camera feeds during a practice match to ensure everything is working correctly.
 - After field calibration, use the "Export Settings" button in the "Settings" page to create a backup.

docs/source/docs/additional-resources/nt-api.md

@@ -3,13 +3,15 @@
 ## About
 
 :::{warning}
-PhotonVision interfaces with PhotonLib, our vendor dependency, using NetworkTables. If you are running PhotonVision on a robot (ie. with a RoboRIO), you should **turn the NetworkTables server switch (in the settings tab) off** in order to get PhotonLib to work. Also ensure that you set your team number. The NetworkTables server should only be enabled if you know what you're doing!
+PhotonVision interfaces with PhotonLib, our vendor dependency, using NetworkTables. If you are running PhotonVision on a robot (ie. with a RoboRIO), you should **turn the NetworkTables server switch (in the settings tab) off** in order to get PhotonLib to work. Also ensure that you set your team number. **The NetworkTables server should only be enabled if you know what you're doing!**
 :::
 
 ## API
 
 :::{warning}
-NetworkTables is not a supported setup/viable option when using PhotonVision as we only send one target at a time (this is problematic when using AprilTags, which will return data from multiple tags at once). We recommend using PhotonLib.
+NetworkTables is not a supported setup/viable option when using PhotonVision as we only send one target at a time (this is problematic when using AprilTags, which will return data from multiple tags at once).
+
+**We strongly recommend using PhotonLib instead, as the NetworkTables API will most likely be removed in 2027.**
 :::
 
 The tables below contain the the name of the key for each entry that PhotonVision sends over the network and a short description of the key. The entries should be extracted from a subtable with your camera's nickname (visible in the PhotonVision UI) under the main `photonvision` table.

docs/source/docs/advanced-installation/sw_install/files/Limelight2+/hardwareConfig.json

@@ -3,7 +3,6 @@
   "supportURL" : "https://limelightvision.io",
   "ledPins" : [ 13, 18 ],
   "ledsCanDim" : true,
-  "ledPWMRange" : [ 0, 100 ],
-  "ledPWMFrequency" : 30000,
+  "ledPWMFrequency" : 1000,
   "vendorFOV" : 75.76079874010732
 }

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.
@@ -23,7 +23,7 @@ Using a JDK other than JDK17 will cause issues when running PhotonVision and is
 Go to the [GitHub releases page](https://github.com/PhotonVision/photonvision/releases) and download the relevant .jar file for your coprocessor.
 
 :::{note}
-If you have an M1/M2 Mac, download the macarm64.jar file.
+If you have an M Series Mac, download the macarm64.jar file.
 
 If you have an Intel based Mac, download the macx64.jar file.
 :::

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/v2025.3.1) 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
 

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

@@ -2,7 +2,7 @@
 
 ## Tracking AprilTags
 
-Before you get started tracking AprilTags, ensure that you have followed the previous sections on installation, wiring and networking. Next, open the Web UI, go to the top right card, and switch to the "AprilTag" or "Aruco" type. You should see a screen similar to the one below.
+Before you get started tracking AprilTags, ensure that you have followed the previous sections on installation, wiring and networking. Next, open the Web UI, go to the top right card, and switch to the "AprilTag" or "ArUco" type. You should see a screen similar to the one below.
 
 ```{image} images/apriltag.png
 :align: center
@@ -12,7 +12,7 @@ You are now able to detect and track AprilTags in 2D (yaw, pitch, roll, etc.). I
 
 ## Tuning AprilTags
 
-AprilTag pipelines come with reasonable defaults to get you up and running with tracking. However, in order to optimize your performance and accuracy, you must tune your AprilTag pipeline using the settings below. Note that the settings below are different between the AprilTag and Aruco detectors but the concepts are the same.
+AprilTag pipelines come with reasonable defaults to get you up and running with tracking. However, in order to optimize your performance and accuracy, you must tune your AprilTag pipeline using the settings below. Note that the settings below are different between the AprilTag and ArUco detectors but the concepts are the same.
 
 ```{image} images/apriltag-tune.png
 :align: center
@@ -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/3D-tracking.md

@@ -1,10 +1,10 @@
 # 3D Tracking
 
-3D AprilTag tracking will allow you to track the real-world position and rotation of a tag relative to the camera's image sensor. This is useful for robot pose estimation and other applications like autonomous scoring. In order to use 3D tracking, you must first {ref}`calibrate your camera <docs/calibration/calibration:Calibrating Your Camera>`. Once you have, you need to enable 3D mode in the UI and you will now be able to get 3D pose information from the tag! For information on getting and using this information in your code, see {ref}`the programming reference. <docs/programming/index:Programming Reference>`.
+3D AprilTag tracking will allow you to track the real-world position and rotation of a tag relative to the camera's image sensor. This is useful for robot pose estimation and other applications like autonomous scoring. In order to use 3D tracking, you must first {ref}`calibrate your camera <docs/calibration/calibration:Calibrating Your Camera>`. Once you have, you need to enable 3D mode in the UI and you will now be able to get 3D pose information from the tag! For information on getting and using this information in your code, see {ref}`the programming reference <docs/programming/index:Programming Reference>`.
 
 ## Ambiguity
 
-Translating from 2D to 3D using data from the calibration and the four tag corners can lead to "pose ambiguity", where it appears that the AprilTag pose is flipping between two different poses. You can read more about this issue `here. <https://docs.wpilib.org/en/stable/docs/software/vision-processing/apriltag/apriltag-intro.html#d-to-3d-ambiguity>` Ambiguity is calculated as the ratio of reprojection errors between two pose solutions (if they exist), where reprojection error is the error corresponding to the image distance between where the apriltag's corners are detected vs where we expect to see them based on the tag's estimated camera relative pose.
+Translating from 2D to 3D using data from the calibration and the four tag corners can lead to "pose ambiguity", where it appears that the AprilTag pose is flipping between two different poses. You can read more about this issue [here](https://docs.wpilib.org/en/stable/docs/software/vision-processing/apriltag/apriltag-intro.html#d-to-3d-ambiguity). Ambiguity is calculated as the ratio of reprojection errors between two pose solutions (if they exist), where reprojection error is the error corresponding to the image distance between where the apriltag's corners are detected vs where we expect to see them based on the tag's estimated camera relative pose.
 
 There are a few steps you can take to resolve/mitigate this issue:
 

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/detector-types.md

@@ -8,8 +8,8 @@ Note that both of these pipeline types detect AprilTag markers and are just two
 
 ## AprilTag
 
-The AprilTag pipeline type is based on the [AprilTag](https://april.eecs.umich.edu/software/apriltag.html) library from the University of Michigan and we recommend it for most use cases. It is (to our understanding) most accurate pipeline type, but is also ~2x slower than AruCo. This was the pipeline type used by teams in the 2023 season and is well tested.
+The AprilTag pipeline type is based on the [AprilTag](https://april.eecs.umich.edu/software/apriltag.html) library from the University of Michigan and we recommend it for most use cases. It is (to our understanding) most accurate pipeline type, but is also ~2x slower than ArUco. This was the pipeline type used by teams in the 2023 season and is well tested.
 
-## AruCo
+## ArUco
 
-The AruCo pipeline is based on the [AruCo](https://docs.opencv.org/4.8.0/d9/d6a/group__aruco.html) library implementation from OpenCV. It is ~2x higher fps and ~2x lower latency than the AprilTag pipeline type, but is less accurate. We recommend this pipeline type for teams that need to run at a higher framerate or have a lower powered device. This pipeline type was new for the 2024 season.
+The ArUco pipeline is based on the [ArUco](https://docs.opencv.org/4.8.0/d9/d6a/group__aruco.html) library implementation from OpenCV. It is ~2x higher fps and ~2x lower latency than the AprilTag pipeline type, but is less accurate. We recommend this pipeline type for teams that need to run at a higher framerate or have a lower powered device. This pipeline type was new for the 2024 season.

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

@@ -6,6 +6,10 @@ PhotonVision can combine AprilTag detections from multiple simultaneously observ
 MultiTag requires an accurate field layout JSON to be uploaded! Differences between this layout and the tags' physical location will drive error in the estimated pose output.
 :::
 
+:::{warning}
+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
 
 Ensure that your camera is calibrated and 3D mode is enabled. Navigate to the Output tab and enable "Do Multi-Target Estimation". This enables MultiTag to use the uploaded field layout JSON to calculate your camera's pose in the field. This 3D transform will be shown as an additional table in the "targets" tab, along with the IDs of AprilTags used to compute this transform.
@@ -19,30 +23,41 @@ Ensure that your camera is calibrated and 3D mode is enabled. Navigate to the Ou
 By default, enabling multi-target will disable calculating camera-to-target transforms for each observed AprilTag target to increase performance; the X/Y/angle numbers shown in the target table of the UI are instead calculated using the tag's expected location (per the field layout JSON) and the field-to-camera transform calculated using MultiTag. If you additionally want the individual camera-to-target transform calculated using SolvePNP for each target, enable "Always Do Single-Target Estimation".
 :::
 
-This multi-target pose estimate can be accessed using PhotonLib. We suggest using {ref}`the PhotonPoseEstimator class <docs/programming/photonlib/robot-pose-estimator:AprilTags and PhotonPoseEstimator>` with the `MULTI_TAG_PNP_ON_COPROCESSOR` strategy to simplify code, but the transform can be directly accessed using `getMultiTagResult`/`MultiTagResult()` (Java/C++).
+This multi-target pose estimate can be accessed using PhotonLib. We suggest using {ref}`the PhotonPoseEstimator class <docs/programming/photonlib/robot-pose-estimator:AprilTags and PhotonPoseEstimator>` with the `MULTI_TAG_PNP_ON_COPROCESSOR` strategy to simplify code, but the transform can be directly accessed using `getMultiTagResult`/`MultiTagResult()`/`multitagResult` (Java/C++/Python).
 
 ```{eval-rst}
 .. tab-set-code::
 
-    .. code-block:: Java
+    .. code-block:: java
 
-        var result = camera.getLatestResult();
-        if (result.getMultiTagResult().estimatedPose.isPresent) {
-          Transform3d fieldToCamera = result.getMultiTagResult().estimatedPose.best;
+        var results = camera.getAllUnreadResults();
+        for (var result : results) {
+          var multiTagResult = result.getMultiTagResult();
+          if (multiTagResult.isPresent()) {
+            var fieldToCamera = multiTagResult.get().estimatedPose.best;
+          }
         }
 
 
-    .. code-block:: C++
+    .. code-block:: c++
 
-        auto result = camera.GetLatestResult();
-        if (result.MultiTagResult().result.isPresent) {
-          frc::Transform3d fieldToCamera = result.MultiTagResult().result.best;
+      auto results = camera.GetAllUnreadResults();
+      for (auto &result : results)
+      {
+        auto multiTagResult = result.MultiTagResult();
+        if (multiTagResult.has_value()) {
+          frc::Transform3d fieldToCamera = multiTagResult->estimatedPose.best;
         }
+      }
 
-    .. code-block:: Python
 
-        # Coming Soon!
+    .. code-block:: python
 
+      results = camera.getAllUnreadResults()
+      for result in results:
+          multitagResult = result.multitagResult
+          if multitagResult is not None:
+            fieldToCamera = multitagResult.estimatedPose.best
 ```
 
 :::{note}
@@ -51,7 +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 field layout JSON](https://github.com/wpilibsuite/allwpilib/blob/main/apriltag/src/main/native/resources/edu/wpi/first/apriltag/2025-reefscape.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/benchmarks/index.md

@@ -0,0 +1,8 @@
+# Performance Benchmarks
+
+```{toctree}
+:maxdepth: 0
+:titlesonly: true
+
+rknn-model-benchmarks
+```

docs/source/docs/benchmarks/rknn-model-benchmarks.md

@@ -0,0 +1,125 @@
+# RKNN Benchmarks
+
+## Description
+This benchmark compares the performance of four object detection models: YOLOv5, YOLOv5u, YOLOv8, and YOLOv11 on the [COCO 2017 Validation Set](http://images.cocodataset.org/zips/val2017.zip). The main purpose is to assess and compare the inference speed and detection accuracy of these models when deployed on the Orange Pi devices using the RKNN framework and int8 quantization.
+
+## Methodology
+- **Dataset**: [COCO 2017 Validation Set](http://images.cocodataset.org/zips/val2017.zip) (5,000 images)
+
+- **Platform**: Orange Pi 5 with RK3588
+
+- **Quantization**: int8 using 20 randomly selected images from the validation set
+
+- **Framework**: RKNN Toolkit 2
+
+## Operator-Level Benchmark Results
+
+The following tables break down the average CPU time, NPU time, and total execution time (in microseconds) for each operator used by the models. Each value represents the mean ± standard deviation across 5,000 inferences.
+
+### YOLOv5
+
+| OpType          | CPU Time (μs)       | NPU Time (μs)         | Total Time (μs)        | Time Ratio (%)      | Number of Times Called |
+|-----------------|---------------------|----------------------|-----------------------|---------------------|-----------------------|
+| ConvExSwish     | 0.00 ± 0.00         | 10968.81 ± 1126.00   | 10968.81 ± 1126.00    | 73.06 ± 0.94        | 57                    |
+| ConvSigmoid     | 0.00 ± 0.00         | 1243.49 ± 67.66      | 1243.49 ± 67.66       | 8.33 ± 0.57         | 3                     |
+| Concat          | 0.00 ± 0.00         | 1080.68 ± 259.40     | 1080.68 ± 259.40      | 7.09 ± 0.87         | 13                    |
+| Conv            | 0.00 ± 0.00         | 732.15 ± 29.42       | 732.15 ± 29.42        | 4.92 ± 0.42         | 1                     |
+| Add             | 0.00 ± 0.00         | 473.71 ± 131.48      | 473.71 ± 131.48       | 3.10 ± 0.50         | 7                     |
+| MaxPool         | 0.00 ± 0.00         | 272.40 ± 110.52      | 272.40 ± 110.52       | 1.76 ± 0.51         | 6                     |
+| Resize          | 0.00 ± 0.00         | 147.61 ± 38.89       | 147.61 ± 38.89        | 0.97 ± 0.15         | 2                     |
+| OutputOperator  | 106.60 ± 15.00      | 0.00 ± 0.00          | 106.60 ± 15.00        | 0.72 ± 0.13         | 3                     |
+| InputOperator   | 8.64 ± 1.79         | 0.00 ± 0.00          | 8.64 ± 1.79           | 0.06 ± 0.02         | 1                     |
+| **Total**       | **115.24 ± 16.16**  | **14918.85 ± 1735.45**| **15034.09 ± 1734.28**|                     | **93**                |
+
+### YOLOv5u
+
+| OpType          | CPU Time (μs)       | NPU Time (μs)         | Total Time (μs)        | Time Ratio (%)      | Number of Times Called |
+|-----------------|---------------------|----------------------|-----------------------|---------------------|-----------------------|
+| ConvExSwish     | 0.00 ± 0.00         | 16828.24 ± 1332.73   | 16828.24 ± 1332.73    | 83.04 ± 1.61        | 69                    |
+| Concat          | 0.00 ± 0.00         | 1265.94 ± 250.24     | 1265.94 ± 250.24      | 6.17 ± 0.69         | 13                    |
+| ConvSigmoid     | 0.00 ± 0.00         | 613.88 ± 62.97       | 613.88 ± 62.97        | 3.03 ± 0.15         | 3                     |
+| Add             | 0.00 ± 0.00         | 553.75 ± 131.17      | 553.75 ± 131.17       | 2.69 ± 0.44         | 7                     |
+| Conv            | 0.00 ± 0.00         | 298.61 ± 72.72       | 298.61 ± 72.72        | 1.45 ± 0.25         | 3                     |
+| ConvClip        | 0.00 ± 0.00         | 256.02 ± 64.48       | 256.02 ± 64.48        | 1.24 ± 0.23         | 3                     |
+| MaxPool         | 0.00 ± 0.00         | 178.68 ± 58.72       | 178.68 ± 58.72        | 0.86 ± 0.23         | 3                     |
+| Resize          | 0.00 ± 0.00         | 170.87 ± 40.14       | 170.87 ± 40.14        | 0.83 ± 0.13         | 2                     |
+| OutputOperator  | 126.89 ± 16.53      | 0.00 ± 0.00          | 126.89 ± 16.53        | 0.63 ± 0.10         | 9                     |
+| InputOperator   | 8.69 ± 1.45         | 0.00 ± 0.00          | 8.69 ± 1.45           | 0.04 ± 0.01         | 1                     |
+| **Total**       | **135.57 ± 17.51**  | **20165.99 ± 1963.70**| **20301.56 ± 1965.88**|                     | **113**               |
+
+### YOLOv8
+
+| OpType          | CPU Time (μs)       | NPU Time (μs)         | Total Time (μs)        | Time Ratio (%)      | Number of Times Called |
+|-----------------|---------------------|----------------------|-----------------------|---------------------|-----------------------|
+| ConvExSwish     | 0.00 ± 0.00         | 13017.04 ± 1165.76   | 13017.04 ± 1165.76    | 75.66 ± 1.96        | 57                    |
+| Concat          | 0.00 ± 0.00         | 1489.94 ± 257.22     | 1489.94 ± 257.22      | 8.58 ± 0.53         | 13                    |
+| Split           | 0.00 ± 0.00         | 681.47 ± 166.62      | 681.47 ± 166.62       | 3.89 ± 0.53         | 8                     |
+| ConvSigmoid     | 0.00 ± 0.00         | 596.08 ± 75.01       | 596.08 ± 75.01        | 3.45 ± 0.18         | 3                     |
+| Add             | 0.00 ± 0.00         | 443.60 ± 118.05      | 443.60 ± 118.05       | 2.53 ± 0.41         | 6                     |
+| Conv            | 0.00 ± 0.00         | 269.61 ± 78.65       | 269.61 ± 78.65        | 1.54 ± 0.30         | 3                     |
+| Resize          | 0.00 ± 0.00         | 236.79 ± 37.74       | 236.79 ± 37.74        | 1.37 ± 0.08         | 2                     |
+| ConvClip        | 0.00 ± 0.00         | 231.82 ± 68.44       | 231.82 ± 68.44        | 1.32 ± 0.27         | 3                     |
+| MaxPool         | 0.00 ± 0.00         | 156.85 ± 56.94       | 156.85 ± 56.94        | 0.89 ± 0.23         | 3                     |
+| OutputOperator  | 124.86 ± 20.74      | 0.00 ± 0.00          | 124.86 ± 20.74        | 0.73 ± 0.15         | 9                     |
+| InputOperator   | 8.47 ± 1.66         | 0.00 ± 0.00          | 8.47 ± 1.66           | 0.05 ± 0.01         | 1                     |
+| **Total**       | **133.33 ± 21.95**  | **17123.19 ± 1985.72**| **17256.52 ± 1986.77**  |                     | **108**               |
+
+---
+
+### YOLOv11
+
+| OpType          | CPU Time (μs)       | NPU Time (μs)         | Total Time (μs)        | Time Ratio (%)      | Number of Times Called |
+|-----------------|---------------------|----------------------|-----------------------|---------------------|-----------------------|
+| ConvExSwish     | 0.00 ± 0.00         | 16034.00 ± 1331.95   | 16034.00 ± 1331.95    | 69.90 ± 1.55        | 77                    |
+| Concat          | 0.00 ± 0.00         | 1888.89 ± 293.99     | 1888.89 ± 293.99      | 8.17 ± 0.51         | 17                    |
+| exSDPAttention  | 0.00 ± 0.00         | 1210.88 ± 17.73      | 1210.88 ± 17.73       | 5.32 ± 0.52         | 1                     |
+| Split           | 0.00 ± 0.00         | 908.30 ± 183.92      | 908.30 ± 183.92       | 3.91 ± 0.45         | 10                    |
+| Add             | 0.00 ± 0.00         | 871.64 ± 212.79      | 871.64 ± 212.79       | 3.73 ± 0.60         | 12                    |
+| ConvSigmoid     | 0.00 ± 0.00         | 617.61 ± 59.61       | 617.61 ± 59.61        | 2.69 ± 0.16         | 3                     |
+| Conv            | 0.00 ± 0.00         | 419.72 ± 89.88       | 419.72 ± 89.88        | 1.80 ± 0.24         | 5                     |
+| Resize          | 0.00 ± 0.00         | 272.09 ± 49.91       | 272.09 ± 49.91        | 1.18 ± 0.12         | 2                     |
+| ConvClip        | 0.00 ± 0.00         | 260.08 ± 59.12       | 260.08 ± 59.12        | 1.12 ± 0.18         | 3                     |
+| MaxPool         | 0.00 ± 0.00         | 181.93 ± 53.32       | 181.93 ± 53.32        | 0.78 ± 0.18         | 3                     |
+| OutputOperator  | 131.48 ± 22.93      | 0.00 ± 0.00          | 131.48 ± 22.93        | 0.58 ± 0.12         | 9                     |
+| ConvAdd         | 0.00 ± 0.00         | 126.79 ± 35.28       | 126.79 ± 35.28        | 0.54 ± 0.11         | 2                     |
+| Reshape         | 0.00 ± 0.00         | 56.61 ± 18.03        | 56.61 ± 18.03         | 0.24 ± 0.06         | 3                     |
+| InputOperator   | 8.66 ± 1.59         | 0.00 ± 0.00          | 8.66 ± 1.59           | 0.04 ± 0.01         | 1                     |
+| **Total**       | **140.14 ± 24.26**  | **22848.54 ± 2351.95**| **22988.68 ± 2355.97**|                     | **148**               |
+
+
+## Model Summary and Accuracy Metrics
+
+The table below summarizes the mean average precision (mAP) and total inference time for each model. These metrics provide a high-level view of how each model performs in terms of both detection accuracy and runtime efficiency.
+
+### Mean Average Precision (mAP) by Model
+
+| Metric | YOLOv5     | YOLOv5u    | YOLOv8     | YOLOv11    |
+|--------|------------|------------|------------|------------|
+| **mAP**    | 0.2243     | 0.2745     | 0.3051     | 0.3251     |
+| **mAP50**  | 0.3538     | 0.3834     | 0.4145     | 0.4406     |
+| **mAP75**  | 0.2432     | 0.2997     | 0.3349     | 0.3568     |
+| **mAP85**  | 0.3054     | 0.3472     | 0.3867     | 0.4068     |
+| **mAP95**  | 0.3708     | 0.4822     | 0.5483     | 0.5858     |
+
+### Model Execution Time and Call Frequency
+
+| Model   | Total Time (μs)         | Number of Processing Calls |
+|---------|------------------------|----------------------------|
+| **YOLOv5**  | 15034.09 ± 1734.28 | 93                         |
+| **YOLOv5u** | 20301.56 ± 1965.88 | 113                        |
+| **YOLOv8**  | 17256.52 ± 1986.77 | 108                        |
+| **YOLOv11** | 22988.68 ± 2355.97 | 148                        |
+
+## Conclusion
+
+The benchmark reveals a clear performance trade-off between inference time and detection accuracy:
+
+- **YOLOv5** is the fastest model with the lowest total inference time, making it well-suited for situations where speed is more important than high detection precision.
+
+- **YOLOv11** achieves the highest accuracy (mAP) across all IoU thresholds but comes with the longest inference time, which may limit its use in real-time applications.
+
+- **YOLOv8** offers a strong balance between speed and accuracy, making it a practical choice when both factors matter.
+
+- **YOLOv5u** improves accuracy compared to YOLOv5 but falls behind YOLOv8 in both speed and detection quality.
+
+When choosing a model for edge devices like the Orange Pi 5, it’s important to weigh how much latency your system can tolerate versus how much accuracy you need. A faster model may give quicker results, while a more accurate one may offer better detection reliability, but at the cost of speed.

docs/source/docs/calibration/calibration.md

@@ -4,7 +4,7 @@
 In order to detect AprilTags and use 3D mode, your camera must be calibrated at the desired resolution! Inaccurate calibration will lead to poor performance.
 :::
 
-To calibrate a camera, images of a Charuco board (or chessboard) are taken. By comparing where the grid corners should be in object space (for example, a corner once every inch in an 8x6 grid) with where they appear in the camera image, we can find a least-squares estimate for intrinsic camera properties like focal lengths, center point, and distortion coefficients. For more on camera calibration, please review the [OpenCV documentation](https://docs.opencv.org/4.x/dc/dbb/tutorial_py_calibration.html).
+To calibrate a camera, images of a ChArUco board (or chessboard) are taken. By comparing where the grid corners should be in object space (for example, a corner once every inch in an 8x6 grid) with where they appear in the camera image, we can find a least-squares estimate for intrinsic camera properties like focal lengths, center point, and distortion coefficients. For more on camera calibration, please review the [OpenCV documentation](https://docs.opencv.org/4.x/dc/dbb/tutorial_py_calibration.html).
 
 :::{warning}
 While any resolution can be calibrated, higher resolutions may be too performance-intensive for some coprocessors to handle. Therefore, we recommend experimenting to see what works best for your coprocessor.
@@ -16,9 +16,13 @@ The calibration data collected during calibration is specific to each physical c
 
 ## Calibration Tips
 
+:::{warning}
+The usage of chessboards can result in bad calibration results if multiple similar images are taken. We strongly recommend that teams use ChArUco boards instead!
+:::
+
 Accurate camera calibration is required in order to get accurate pose measurements when using AprilTags and 3D mode. The tips below should help ensure success:
 
-01. Ensure your the images you take have the target in different positions and angles, with as big of a difference between angles as possible. It is important to make sure the target overlay still lines up with the board while doing this. Tilt no more than 45 degrees.
+01. Ensure the images you take have the target in different positions and angles, with as big of a difference between angles as possible. It is important to make sure the target overlay still lines up with the board while doing this. Tilt no more than 45 degrees.
 02. Use as big of a calibration target as your printer can print.
 03. Ensure that your printed pattern has enough white border around it.
 04. Ensure your camera stays in one position during the duration of the calibration.
@@ -34,11 +38,11 @@ Following the ideas above should help in getting an accurate calibration.
 
 ### 1. Navigate to the calibration section in the UI.
 
-The Cameras tab of the UI houses PhotonVision's camera calibration tooling. It assists users with calibrating their cameras, as well as allows them to view previously calibrated resolutions. We support both charuco and chessboard calibrations.
+The Cameras tab of the UI houses PhotonVision's camera calibration tooling. It assists users with calibrating their cameras, as well as allows them to view previously calibrated resolutions. We support both ChArUco and chessboard calibrations.
 
 ### 2. Print out the calibration target.
 
-In the Camera Calibration tab, we'll print out the calibration target using the "Download" button. This should be printed on 8.5x11 printer paper. This page shows using an 8x8 charuco board (or chessboard depending on the selected calibration type).
+In the Camera Calibration tab, we'll print out the calibration target using the "Download" button. This should be printed on 8.5x11 printer paper. This page shows using an 8x8 ChArUco board (or chessboard depending on the selected calibration type).
 
 :::{warning}
 Ensure that there is no scaling applied during printing (it should be at 100%) and that the PDF is printed as is on regular printer paper. Check the square size with calipers or an accurate measuring device after printing to ensure squares are sized properly, and enter the true size of the square in the UI text box. For optimal results, various resources are available online to calibrate your specific printer if needed.
@@ -46,11 +50,15 @@ Ensure that there is no scaling applied during printing (it should be at 100%) a
 
 ### 3. Select calibration resolution and fill in appropriate target data.
 
-We'll next select a resolution to calibrate and populate our pattern spacing, marker size, and board size. The provided chessboard and charuco board are an 8x8 grid of 1 inch square. The provided charuco board uses the 4x4 dictionary with a marker size of 0.75 inches (this board does not need the old OpenCV pattern selector selected). Printers are not perfect, and you need to measure your calibration target and enter the correct marker size (size of the aruco marker) and pattern spacing (aka size of the black square) using calipers or similar. Finally, once our entered data is correct, we'll click "start calibration."
+We'll next select a resolution to calibrate and populate our pattern spacing, marker size, and board size. The provided chessboard and ChArUco board are an 8x8 grid of 1 inch square. The provided ChArUco board uses the 4x4 dictionary with a marker size of 0.75 inches (this board does not need the old OpenCV pattern selector selected). Printers are not perfect, and you need to measure your calibration target and enter the correct marker size (size of the ArUco marker) and pattern spacing (aka size of the black square) using calipers or similar. Finally, once our entered data is correct, we'll click "start calibration."
 
 :::{warning} Old OpenCV Pattern selector. This should be used in the case that the calibration image is generated from a version of OpenCV before version 4.6.0. This would include targets created by calib.io. If this selector is not set correctly the calibration will be completely invalid. For more info view [this GitHub issue](https://github.com/opencv/opencv_contrib/issues/3291).
 :::
 
+:::{note}
+If you have a [calib.io](https://calib.io/) ChArUco Target you will have to enter the paramaters of your target. For example if your target says "9x12 | Checker Size: 30 mm | Marker Size: 22 mm | Dictionary: ArUco DICT 5x5", you would have to set the board type to Dict_5x5_1000, the pattern spacing to 1.1811 in (30 mm converted to inches), the marker size 0.866142 in (22 mm converted to inches), the board width to 12 and the board height to 9. If you chose the wrong tag family the board wont be detected during calibration. If you swap the width and height your calibration will have a very high error.
+:::
+
 ### 4. Take at calibration images from various angles.
 
 Now, we'll capture images of our board from various angles. It's important to check that the board overlay matches the board in your image. The further the overdrawn points are from the true position of the chessboard corners, the less accurate the final calibration will be. We'll want to capture enough images to cover the whole camera's FOV (with a minimum of 12). Once we've got our images, we'll click "Finish calibration" and wait for the calibration process to complete. If all goes well, the mean error and FOVs will be shown in the table on the right. The FOV should be close to the camera's specified FOV (usually found in a datasheet) usually within + or - 10 degrees. The mean error should also be low, usually less than 1 pixel.
@@ -75,7 +83,7 @@ Details about a particular calibration can be viewed by clicking on that resolut
 More info on what these parameters mean can be found in [OpenCV's docs](https://docs.opencv.org/4.8.0/d4/d94/tutorial_camera_calibration.html)
 :::
 
-- Fx/Fy: Estimated camera focal length, in mm
+- Fx/Fy: Estimated camera focal length, in pixels
 - Fx/Cy: Estimated camera optical center, in pixels. This should be at about the center of the image
 - Distortion: OpenCV camera model distortion coefficients
 - FOV: calculated using estimated focal length and image size. Useful for gut-checking calibration results

docs/source/docs/camera-specific-configuration/arducam-cameras.md

@@ -1,5 +1,9 @@
 # Arducam Cameras
 
+:::{warning}
+Arducam Pivariety cameras are **incompatible** with PhotonVision as they require a custom camera library not compatible with PhotonVision.
+:::
+
 Arducam cameras are supported for setups with multiple devices. This is possible because Arducam provides software that allows you to assign truly different device names to each camera. This feature is particularly useful in complex setups where multiple cameras are used simultaneously.
 
 ## Setting Up Arducam Cameras

docs/source/docs/camera-specific-configuration/index.md

@@ -0,0 +1,8 @@
+# Camera-Specific Configuration
+
+```{toctree}
+:maxdepth: 2
+
+arducam-cameras
+picamconfig
+```

docs/source/docs/camera-specific-configuration/picamconfig.md

@@ -23,6 +23,7 @@ Windows may report "There is a problem with this drive". This should be ignored.
 Locate `config.txt` in the folder, and open it with your favorite text editor.
 
 ```{image} images/bootConfigTxt.png
+
 ```
 
 Within the file, find this block of text:

docs/source/docs/contributing/building-photon.md

@@ -8,21 +8,19 @@ 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:**
 
- The UI is written in Node JS. To compile the UI, Node 18.20.4 to Node 20.0.0 is required. To install Node JS follow the instructions for your platform [on the official Node JS website](https://nodejs.org/en/download/).  However, modify this line
+ The UI is written in Node JS. To compile the UI, Node 22 or later is required. To install Node JS, follow the instructions for your platform [on the official Node JS website](https://nodejs.org/en/download/).
 
-```bash
-nvm install 20
-```
+**pnpm:**
 
-so that it instead reads
+ [pnpm](https://pnpm.io/) is the package manager used to download dependencies for the UI. To install pnpm, follow [the instructions on the official pnpm website](https://pnpm.io/installation).
 
-```javascript
-nvm install 18.20.4
-```
+**Cross-Compilation Toolchains (Optional):**
+
+ If you plan to deploy PhotonVision to a coprocessor like a Raspberry Pi, you will need to install the appropriate cross-compilation toolchain for your platform. For `linuxarm64` devices, this can be accomplished by running `./gradlew installArm64Toolchain` in the root folder of the project.
 
 ## Compiling Instructions
 
@@ -46,29 +44,19 @@ or alternatively download the source code from GitHub and extract the zip:
 In the photon-client directory:
 
 ```bash
-npm install
+pnpm install
 ```
 
-### Build and Copy UI to Java Source
+### Using hot reload on the UI
 
-In the root directory:
+In the photon-client directory:
 
-```{eval-rst}
-.. tab-set::
-
-   .. tab-item:: Linux
-
-      ``./gradlew buildAndCopyUI``
-
-   .. tab-item:: macOS
-
-      ``./gradlew buildAndCopyUI``
-
-   .. tab-item:: Windows (cmd)
-
-      ``gradlew buildAndCopyUI``
+```bash
+pnpm run dev
 ```
 
+This allows you to make UI changes quickly without having to spend time rebuilding the jar. Hot reload is enabled, so changes that you make and save are reflected in the UI immediately. Running this command will give you the URL for accessing the UI, which is on a different port than normal. You must use the printed URL to use hot reload.
+
 ### Build and Run PhotonVision
 
 To compile and run the project, issue the following command in the root directory:
@@ -77,14 +65,17 @@ To compile and run the project, issue the following command in the root director
 .. tab-set::
 
    .. tab-item:: Linux
+      :sync: linux
 
       ``./gradlew run``
 
    .. tab-item:: macOS
+      :sync: macos
 
       ``./gradlew run``
 
    .. tab-item:: Windows (cmd)
+      :sync: windows
 
       ``gradlew run``
 ```
@@ -95,21 +86,24 @@ Running the following command under the root directory will build the jar under
 .. tab-set::
 
    .. tab-item:: Linux
+      :sync: linux
 
       ``./gradlew shadowJar``
 
    .. tab-item:: macOS
+      :sync: macos
 
       ``./gradlew shadowJar``
 
    .. tab-item:: Windows (cmd)
+      :sync: windows
 
       ``gradlew shadowJar``
 ```
 
 ### Build and Run PhotonVision on a Raspberry Pi Coprocessor
 
-As a convenience, the build has a built-in `deploy` command which builds, deploys, and starts the current source code on a coprocessor.
+As a convenience, the build has a built-in `deploy` command which builds, deploys, and starts the current source code on a coprocessor. It uses [deploy-utils](https://github.com/wpilibsuite/deploy-utils/blob/main/README.md), so it works very similarly to deploys on robot projects.
 
 An architecture override is required to specify the deploy target's architecture.
 
@@ -117,18 +111,21 @@ An architecture override is required to specify the deploy target's architecture
 .. tab-set::
 
    .. tab-item:: Linux
+      :sync: linux
 
       ``./gradlew clean``
 
       ``./gradlew deploy -PArchOverride=linuxarm64``
 
    .. tab-item:: macOS
+      :sync: macos
 
       ``./gradlew clean``
 
       ``./gradlew deploy -PArchOverride=linuxarm64``
 
    .. tab-item:: Windows (cmd)
+      :sync: windows
 
       ``gradlew clean``
 
@@ -147,14 +144,17 @@ The photonlib source can be published to your local maven repository after build
 .. tab-set::
 
    .. tab-item:: Linux
+      :sync: linux
 
       ``./gradlew publishToMavenLocal``
 
    .. tab-item:: macOS
+      :sync: macos
 
       ``./gradlew publishToMavenLocal``
 
    .. tab-item:: Windows (cmd)
+      :sync: windows
 
       ``gradlew publishToMavenLocal``
 ```
@@ -177,6 +177,29 @@ With the VSCode [Extension Pack for Java](https://marketplace.visualstudio.com/i
 
 To correctly run PhotonVision tests this way, you must [delegate the tests to Gradle](https://code.visualstudio.com/docs/java/java-build#_delegate-tests-to-gradle). Debugging tests like this will [**not** currently](https://github.com/microsoft/build-server-for-gradle/issues/119) collect outputs.
 
+### Running Tests With UI
+
+By default, tests are run with UI disabled so they are not obtrusive during a build. All tests should be useful when the UI is disabled. However, if a particular test would benefit from having UI access (i.e. for debugging info), the UI can be enabled by passing the `enableTestUi` project property to Gradle. This will run all tests by default, but the Gradle `--tests` option can be used to [filter for specific tests](https://docs.gradle.org/current/userguide/java_testing.html#test_filtering).
+
+```{eval-rst}
+.. tab-set::
+
+   .. tab-item:: Linux
+      :sync: linux
+
+      ``./gradlew test -PenableTestUi``
+
+   .. tab-item:: macOS
+      :sync: macos
+
+      ``./gradlew test -PenableTestUi``
+
+   .. tab-item:: Windows (cmd)
+      :sync: windows
+
+      ``gradlew test -PenableTestUi``
+```
+
 ### Debugging PhotonVision Running Locally
 
 Unit tests can instead be debugged through the ``test`` Gradle task for a specific subproject in VSCode, found in the Gradle tab:
@@ -197,7 +220,7 @@ Similarly, a local instance of PhotonVision can be debugged in the same way usin
 
 Set up a VSCode configuration in {code}`launch.json`
 
-```
+```json
 {
    // Use IntelliSense to learn about possible attributes.
    // Hover to view descriptions of existing attributes.
@@ -273,3 +296,15 @@ Using the [GitHub CLI](https://cli.github.com/), we can download artifacts from
 ```
 ~/photonvision$ gh run download 11759699679 -n jar-Linux
 ```
+
+#### MacOS Builds
+
+MacOS builds are not published to releases as MacOS is not an officially
+supported platform. However, MacOS builds are still available from the MacOS
+build action, which can be found [here](https://github.com/PhotonVision/photonvision/actions/workflows/build.yml).
+
+#### Forcing Object Detection in the UI
+
+In order to force the Object Detection interface to be visible, it's necessary to hardcode the platform that `Platform.java` returns. This can be done by changing the function that detects the RK3588S/QCS6490 platform to always return true, and changing the `getCurrentPlatform()` function to always return the RK3588S/QCS6490 architecture.
+Alternatively, it's possible to modify the frontend code by changing all instances of `useSettingsStore().general.supportedBackends.length > 0` to `true`, which will force the card to render.
+Make sure to revert these changes before submitting a Pull Request.

docs/source/docs/contributing/design-descriptions/camera-matching.md

@@ -4,7 +4,7 @@ Diagrams generated by the [PlantUML UML editor](https://www.plantuml.com/plantum
 
 ## Initial Setup
 
-When PhotonVision first starts, settings are loaded from disk and [VisionSources](https://javadocs.photonvision.org/org/photonvision/vision/processes/VisionSource.html) are created for every serialized & active [Camera Configuration](https://javadocs.photonvision.org/org/photonvision/common/configuration/CameraConfiguration.html)
+When PhotonVision first starts, settings are loaded from disk and [VisionSources](https://javadocs.photonvision.org/release/org/photonvision/vision/processes/VisionSource.html) are created for every serialized & active [Camera Configuration](https://javadocs.photonvision.org/release/org/photonvision/common/configuration/CameraConfiguration.html)
 
 ![](https://www.plantuml.com/plantuml/png/VP5FQnin4CNl-XI3JotK-DAJAI6fIw6GfOMbFkKoramSqTKVfF6MVFkETfKsei6trVpUldbwkYs2MIv-CeI29omCcn5d9XXPn8LpsG0MAErWaggTTGc3m6P05nRizQD7HrTS3336IxOC0mOySrwqS_5lIeT8bubxgVTNN9jRhpYCXvXNP8lLpokxsWvZNcwtlQaNsSDzH8B773sGAxzC7MvlDFSUxeXWKie4DeP7futelC8z73AZCDnPSJD35xKOh5F5DR31IU3d-1aiUive06PTlSRTm_V4eH4uFJ-4Aamn2xmxFMyJojDx0x2AjtNn-WSJ73_UltRyzC_o2mjRQH1IZecpE4t5WPOmX_5R7sPof_NyVvwghNbK-LVL1sbErTneFLqxNxF27pdEZZXNs8gjbJFrhHdYLxMredrx1Obm70QZvnUBtKxdJE2NnosxNVj3qIYO1GB_Rb3DEZAlQxKPowMuS7u8oIMUNE0F84-PaOgvvK0NF_q1)
 

docs/source/docs/contributing/design-descriptions/time-sync.md

@@ -109,3 +109,13 @@ Clients may publish statistics to NetworkTables. If they do, they shall publish
 | rtt2_us | Integer | The time in us from last complete (ping transmission to pong reception) |
 
 PhotonVision has chosen to publish to the sub-table `/photonvision/.timesync/{DEVICE_HOSTNAME}`. Future implementations of this protocol may decide to implement this as a structured data type.
+
+## Wireshark Dissector
+
+![](images/wireshark.jpg)
+
+A [WireShark dissector](https://raw.githubusercontent.com/PhotonVision/photonvision/refs/heads/main/devTools/photon.lua) created for Wireshark ~=4.6 can be used to inspect Time Syncronization messages. Copy the dissector to your Wireshark plugin directory (for me, that's `C:\Users\Me\AppData\Roaming\Wireshark\plugins`), and open the capture. Because TSP uses UDP Unicast, data must be collected on the coprocessor or robot processor using a command similar to:
+
+```
+sudo tcpdump -i any port 5810 -w tsp_capture.pcap
+```

docs/source/docs/contributing/index.md

@@ -3,6 +3,7 @@
 ```{toctree}
 building-photon
 building-docs
+linting
 developer-docs/index
 design-descriptions/index
 ```

docs/source/docs/contributing/linting.md

@@ -0,0 +1,43 @@
+# Linting the PhotonVision Codebase
+
+## Versions
+
+:::{note}
+If you work on other projects that use different versions of the same linters as PhotonVision, you may find it beneficial to use a [venv](https://docs.python.org/3/library/venv.html) instead of installing the linters globally. This will allow you to have different versions of the same linter installed for different projects.
+:::
+
+The correct versions for each linter can be found under the linting workflow located [here](https://github.com/PhotonVision/photonvision/tree/main/.github/workflows). For *doc8*, the version can be found in `docs/requirements.txt`. If you've linted, and are still unable to pass CI, please check the versions of your linters.
+
+## Frontend
+
+### Linting the frontend
+
+In order to lint the frontend, run `pnpm -C photon-client lint && pnpm -C photon-client format`. This should be done from the base level of the repo.
+
+## Backend
+
+### wpiformat installation
+
+To lint the backend, PhotonVision uses *wpiformat* and *spotless*. Spotless is included with gradle, which means installation is not needed. To install wpiformat, run `pipx install wpiformat`. To install a specific version, run `pipx install wpiformat==<version>`.
+
+### Linting the backend
+
+To lint, run `./gradlew spotlessApply` and `wpiformat`.
+
+## Documentation
+
+### doc8 installation
+
+To install *doc8*, the python tool we use to lint our documentation, run `pipx install doc8`. To install a specific version, run `pipx install doc8==<version>`.
+
+### Linting the documentation
+
+To lint the documentation, run `doc8 docs` from the root level of the docs.
+
+## Alias
+
+The following [alias](https://www.computerworld.com/article/1373210/how-to-use-aliases-in-linux-shell-commands.html) can be added to your shell config, which will allow you to lint the entirety of the PhotonVision project by running `pvLint`. The alias will work on Linux, macOS, Git Bash on Windows, and WSL.
+
+```sh
+alias pvLint='wpiformat -v && ./gradlew spotlessApply && pnpm -C photon-client lint && pnpm -C photon-client format && doc8 docs'
+```

docs/source/docs/description.md

@@ -11,7 +11,7 @@ PhotonVision has a myriad of advantages over similar solutions, including:
 
 ### Affordable
 
-Compared to alternatives, PhotonVision is much cheaper to use (at the cost of your coprocessor and camera) compared to alternatives that cost \$400. This allows your team to save money while still being competitive.
+PhotonVision offers a more affordable solution to vision, with costs being from your coprocessor(s) and camera(s). Teams may choose to run multiple cameras from one coprocessor. This makes it a great solution for teams with limited budgets.
 
 ### Easy to Use User Interface
 

docs/source/docs/driver-mode/index.md

@@ -0,0 +1,27 @@
+# Driver Mode
+
+Driver Mode is a type of pipeline that doesn't run any vision processing, intended for viewing from a human.
+
+## Enabling Driver Mode
+
+To enable Driver Mode, toggle the switch at the top of the Dashboard page for a selected camera.
+
+```{image} images/driver-mode-dashboard.png
+:align: center
+:alt: Driver Mode Toggle in the Dashboard Page
+```
+
+Alternatively, visit the camera settings page and toggle the "Driver Mode" switch for a selected camera.
+
+```{image} images/driver-mode-camera-settings.png
+:align: center
+:alt: Driver Mode Toggle in the Camera Settings Page
+```
+
+## Hiding the Crosshair
+When Driver Mode is enabled, a green crosshair will be shown at the center of the camera stream. If you do not want to show the green crosshair at the center of the camera stream, toggle the "Crosshair" switch under the Input tab, as shown in the image below.
+
+```{image} images/crosshair-switch.png
+:align: center
+:alt: Crosshair Switch
+```

docs/source/docs/examples/aimandrange.md

@@ -1,6 +1,6 @@
 # Combining Aiming and Getting in Range
 
-The following example is from the PhotonLib example repository ([Java](https://github.com/PhotonVision/photonvision/tree/main/photonlib-java-examples/aimandrange)/[C++](https://github.com/PhotonVision/photonvision/tree/main/photonlib-cpp-examples/aimandrange)).
+The following example is from the PhotonLib example repository ([Java](https://github.com/PhotonVision/photonvision/tree/main/photonlib-java-examples/aimandrange)/[C++](https://github.com/PhotonVision/photonvision/tree/main/photonlib-cpp-examples/aimandrange)/[Python](https://github.com/PhotonVision/photonvision/tree/main/photonlib-python-examples/aimandrange))
 
 ## Knowledge and Equipment Needed
 
@@ -10,12 +10,14 @@ The following example is from the PhotonLib example repository ([Java](https://g
 
 Now that you know how to aim toward the AprilTag, let's also drive the correct distance from the AprilTag.
 
-To do this, we'll use the *pitch* of the target in the camera image and trigonometry to figure out how far away the robot is from the AprilTag. Then, like before, we'll use the P term of a PID controller to drive the robot to the correct distance.
+To do this, we'll use the _pitch_ of the target in the camera image and trigonometry to figure out how far away the robot is from the AprilTag. Then, like before, we'll use the P term of a PID controller to drive the robot to the correct distance.
 
 ```{eval-rst}
 .. tab-set::
+    :sync-group: code
 
     .. tab-item:: Java
+       :sync: java
 
        .. rli:: https://raw.githubusercontent.com/PhotonVision/photonvision/abe95dfaa055bbe3609f72cfcaaba0f96ee7978c/photonlib-java-examples/aimandrange/src/main/java/frc/robot/Robot.java
          :language: java
@@ -24,6 +26,7 @@ To do this, we'll use the *pitch* of the target in the camera image and trigonom
          :lineno-start: 84
 
     .. tab-item:: C++ (Header)
+       :sync: c++
 
        .. rli:: https://raw.githubusercontent.com/PhotonVision/photonvision/abe95dfaa055bbe3609f72cfcaaba0f96ee7978c/photonlib-cpp-examples/aimandrange/src/main/include/Robot.h
          :language: c++
@@ -32,6 +35,7 @@ To do this, we'll use the *pitch* of the target in the camera image and trigonom
          :lineno-start: 25
 
     .. tab-item:: C++ (Source)
+       :sync: c++
 
        .. rli:: https://raw.githubusercontent.com/PhotonVision/photonvision/abe95dfaa055bbe3609f72cfcaaba0f96ee7978c/photonlib-cpp-examples/aimandrange/src/main/cpp/Robot.cpp
          :language: c++
@@ -40,11 +44,12 @@ To do this, we'll use the *pitch* of the target in the camera image and trigonom
          :lineno-start: 58
 
     .. tab-item:: Python
+       :sync: python
 
        .. rli:: https://raw.githubusercontent.com/PhotonVision/photonvision/abe95dfaa055bbe3609f72cfcaaba0f96ee7978c/photonlib-python-examples/aimandrange/robot.py
          :language: python
-         :lines: 44-95
+         :lines: 52-91
          :linenos:
-         :lineno-start: 44
+         :lineno-start: 52
 
 ```

docs/source/docs/examples/aimingatatarget.md

@@ -6,21 +6,23 @@ 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 coprocessor running PhotonVision with an AprilTag or ArUco 2D Pipeline.
+- [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
 
 Now that you have properly set up your vision system and have tuned a pipeline, you can now aim your robot at an AprilTag using the data from PhotonVision. The _yaw_ of the target is the critical piece of data that will be needed first.
 
-Yaw is reported to the roboRIO over Network Tables. PhotonLib, our vender dependency, is the easiest way to access this data. The documentation for the Network Tables API can be found {ref}`here <docs/additional-resources/nt-api:Getting Target Information>` and the documentation for PhotonLib {ref}`here <docs/programming/photonlib/adding-vendordep:What is PhotonLib?>`.
+Yaw is reported to the roboRIO over Network Tables. PhotonLib, our vendor dependency, is the easiest way to access this data. The documentation for the Network Tables API can be found {ref}`here <docs/additional-resources/nt-api:Getting Target Information>` and the documentation for PhotonLib {ref}`here <docs/programming/photonlib/adding-vendordep:What is PhotonLib?>`.
 
 In this example, while the operator holds a button down, the robot will turn towards the AprilTag using the P term of a PID loop. To learn more about how PID loops work, how WPILib implements them, and more, visit [Advanced Controls (PID)](https://docs.wpilib.org/en/stable/docs/software/advanced-control/introduction/index.html) and [PID Control in WPILib](https://docs.wpilib.org/en/stable/docs/software/advanced-controls/controllers/pidcontroller.html#pid-control-in-wpilib).
 
 ```{eval-rst}
 .. tab-set::
+    :sync-group: code
 
     .. tab-item:: Java
+       :sync: java
 
        .. rli:: https://raw.githubusercontent.com/PhotonVision/photonvision/abe95dfaa055bbe3609f72cfcaaba0f96ee7978c/photonlib-java-examples/aimattarget/src/main/java/frc/robot/Robot.java
          :language: java
@@ -29,6 +31,7 @@ In this example, while the operator holds a button down, the robot will turn tow
          :lineno-start: 77
 
     .. tab-item:: C++ (Header)
+       :sync: c++
 
        .. rli:: https://raw.githubusercontent.com/PhotonVision/photonvision/abe95dfaa055bbe3609f72cfcaaba0f96ee7978c/photonlib-cpp-examples/aimattarget/src/main/include/Robot.h
          :language: c++
@@ -37,6 +40,7 @@ In this example, while the operator holds a button down, the robot will turn tow
          :lineno-start: 25
 
     .. tab-item:: C++ (Source)
+       :sync: c++
 
        .. rli:: https://raw.githubusercontent.com/PhotonVision/photonvision/abe95dfaa055bbe3609f72cfcaaba0f96ee7978c/photonlib-cpp-examples/aimattarget/src/main/cpp/Robot.cpp
          :language: c++
@@ -45,6 +49,7 @@ In this example, while the operator holds a button down, the robot will turn tow
          :lineno-start: 56
 
     .. tab-item:: Python
+       :sync: python
 
        .. rli:: https://raw.githubusercontent.com/PhotonVision/photonvision/abe95dfaa055bbe3609f72cfcaaba0f96ee7978c/photonlib-python-examples/aimattarget/robot.py
          :language: python

docs/source/docs/examples/poseest.md

@@ -18,35 +18,27 @@ The {code}`Drivetrain` class includes functionality to fuse multiple sensor read
 
 Please reference the [WPILib documentation](https://docs.wpilib.org/en/stable/docs/software/advanced-controls/state-space/state-space-pose_state-estimators.html) on using the {code}`SwerveDrivePoseEstimator` class.
 
-We use the 2024 game's AprilTag Locations:
+We use the current game's AprilTag Locations:
 
 ```{eval-rst}
-.. tab-set::
+.. tab-set-code::
+   .. rli:: https://raw.githubusercontent.com/PhotonVision/photonvision/abe95dfaa055bbe3609f72cfcaaba0f96ee7978c/photonlib-java-examples/poseest/src/main/java/frc/robot/Vision.java
+      :language: java
+      :lines: 68-68
+      :linenos:
+      :lineno-start: 68
 
-    .. tab-item:: Java
-       :sync: java
+   .. rli:: https://raw.githubusercontent.com/PhotonVision/photonvision/abe95dfaa055bbe3609f72cfcaaba0f96ee7978c/photonlib-cpp-examples/poseest/src/main/include/Constants.h
+      :language: c++
+      :lines: 42-43
+      :linenos:
+      :lineno-start: 42
 
-       .. rli:: https://raw.githubusercontent.com/PhotonVision/photonvision/abe95dfaa055bbe3609f72cfcaaba0f96ee7978c/photonlib-java-examples/poseest/src/main/java/frc/robot/Vision.java
-         :language: java
-         :lines: 68-68
-         :linenos:
-         :lineno-start: 68
-
-    .. tab-item:: C++
-
-       .. rli:: https://raw.githubusercontent.com/PhotonVision/photonvision/abe95dfaa055bbe3609f72cfcaaba0f96ee7978c/photonlib-cpp-examples/poseest/src/main/include/Constants.h
-         :language: c++
-         :lines: 42-43
-         :linenos:
-         :lineno-start: 42
-
-    .. tab-item:: Python
-
-       .. rli:: https://raw.githubusercontent.com/PhotonVision/photonvision/abe95dfaa055bbe3609f72cfcaaba0f96ee7978c/photonlib-python-examples/poseest/robot.py
-         :language: python
-         :lines: 46-46
-         :linenos:
-         :lineno-start: 46
+   .. rli:: https://raw.githubusercontent.com/PhotonVision/photonvision/abe95dfaa055bbe3609f72cfcaaba0f96ee7978c/photonlib-python-examples/poseest/robot.py
+      :language: python
+      :lines: 46-46
+      :linenos:
+      :lineno-start: 46
 
 ```
 
@@ -56,63 +48,47 @@ To incorporate PhotonVision, we need to create a {code}`PhotonCamera`:
 
 
 ```{eval-rst}
-.. tab-set::
+.. tab-set-code::
+   .. rli:: https://raw.githubusercontent.com/PhotonVision/photonvision/abe95dfaa055bbe3609f72cfcaaba0f96ee7978c/photonlib-java-examples/poseest/src/main/java/frc/robot/Vision.java
+      :language: java
+      :lines: 57-57
+      :linenos:
+      :lineno-start: 57
 
-    .. tab-item:: Java
-       :sync: java
+   .. rli:: https://raw.githubusercontent.com/PhotonVision/photonvision/abe95dfaa055bbe3609f72cfcaaba0f96ee7978c/photonlib-cpp-examples/poseest/src/main/include/Vision.h
+      :language: c++
+      :lines: 145-145
+      :linenos:
+      :lineno-start: 145
 
-       .. rli:: https://raw.githubusercontent.com/PhotonVision/photonvision/abe95dfaa055bbe3609f72cfcaaba0f96ee7978c/photonlib-java-examples/poseest/src/main/java/frc/robot/Vision.java
-         :language: java
-         :lines: 57-57
-         :linenos:
-         :lineno-start: 57
-
-    .. tab-item:: C++
-
-       .. rli:: https://raw.githubusercontent.com/PhotonVision/photonvision/abe95dfaa055bbe3609f72cfcaaba0f96ee7978c/photonlib-cpp-examples/poseest/src/main/include/Vision.h
-         :language: c++
-         :lines: 145-145
-         :linenos:
-         :lineno-start: 145
-
-    .. tab-item:: Python
-
-       .. rli:: https://raw.githubusercontent.com/PhotonVision/photonvision/abe95dfaa055bbe3609f72cfcaaba0f96ee7978c/photonlib-python-examples/poseest/robot.py
-         :language: python
-         :lines: 44-44
-         :linenos:
-         :lineno-start: 44
+   .. rli:: https://raw.githubusercontent.com/PhotonVision/photonvision/abe95dfaa055bbe3609f72cfcaaba0f96ee7978c/photonlib-python-examples/poseest/robot.py
+      :language: python
+      :lines: 44-44
+      :linenos:
+      :lineno-start: 44
 ```
 
 During periodic execution, we read back camera results. If we see AprilTags in the image, we calculate the camera-measured pose of the robot and pass it to the {code}`Drivetrain`.
 
 ```{eval-rst}
-.. tab-set::
+.. tab-set-code::
+   .. rli:: https://raw.githubusercontent.com/PhotonVision/photonvision/abe95dfaa055bbe3609f72cfcaaba0f96ee7978c/photonlib-java-examples/poseest/src/main/java/frc/robot/Robot.java
+      :language: java
+      :lines: 64-74
+      :linenos:
+      :lineno-start: 64
 
-    .. tab-item:: Java
-       :sync: java
+   .. rli:: https://raw.githubusercontent.com/PhotonVision/photonvision/abe95dfaa055bbe3609f72cfcaaba0f96ee7978c/photonlib-cpp-examples/poseest/src/main/cpp/Robot.cpp
+      :language: c++
+      :lines: 38-46
+      :linenos:
+      :lineno-start: 38
 
-       .. rli:: https://raw.githubusercontent.com/PhotonVision/photonvision/abe95dfaa055bbe3609f72cfcaaba0f96ee7978c/photonlib-java-examples/poseest/src/main/java/frc/robot/Robot.java
-         :language: java
-         :lines: 64-74
-         :linenos:
-         :lineno-start: 64
-
-    .. tab-item:: C++
-
-       .. rli:: https://raw.githubusercontent.com/PhotonVision/photonvision/abe95dfaa055bbe3609f72cfcaaba0f96ee7978c/photonlib-cpp-examples/poseest/src/main/cpp/Robot.cpp
-         :language: c++
-         :lines: 38-46
-         :linenos:
-         :lineno-start: 38
-
-    .. tab-item:: Python
-
-       .. rli:: https://raw.githubusercontent.com/PhotonVision/photonvision/abe95dfaa055bbe3609f72cfcaaba0f96ee7978c/photonlib-python-examples/poseest/robot.py
-         :language: python
-         :lines: 54-56
-         :linenos:
-         :lineno-start: 54
+   .. rli:: https://raw.githubusercontent.com/PhotonVision/photonvision/abe95dfaa055bbe3609f72cfcaaba0f96ee7978c/photonlib-python-examples/poseest/robot.py
+      :language: python
+      :lines: 54-56
+      :linenos:
+      :lineno-start: 54
 
 ```
 
@@ -121,56 +97,45 @@ During periodic execution, we read back camera results. If we see AprilTags in t
 First, we create a new {code}`VisionSystemSim` to represent our camera and coprocessor running PhotonVision, and moving around our simulated field.
 
 ```{eval-rst}
-.. tab-set::
+.. tab-set-code::
+   .. rli:: https://raw.githubusercontent.com/PhotonVision/photonvision/abe95dfaa055bbe3609f72cfcaaba0f96ee7978c/photonlib-java-examples/poseest/src/main/java/frc/robot/Vision.java
+      :language: java
+      :lines: 65-69
+      :linenos:
+      :lineno-start: 65
 
-    .. tab-item:: Java
-       :sync: java
+   .. rli:: https://raw.githubusercontent.com/PhotonVision/photonvision/abe95dfaa055bbe3609f72cfcaaba0f96ee7978c/photonlib-cpp-examples/poseest/src/main/include/Vision.h
+      :language: c++
+      :lines: 49-52
+      :linenos:
+      :lineno-start: 49
 
-       .. rli:: https://raw.githubusercontent.com/PhotonVision/photonvision/abe95dfaa055bbe3609f72cfcaaba0f96ee7978c/photonlib-java-examples/poseest/src/main/java/frc/robot/Vision.java
-         :language: java
-         :lines: 65-69
-         :linenos:
-         :lineno-start: 65
+   .. code-block:: python
 
-    .. tab-item:: C++
-
-       .. rli:: https://raw.githubusercontent.com/PhotonVision/photonvision/abe95dfaa055bbe3609f72cfcaaba0f96ee7978c/photonlib-cpp-examples/poseest/src/main/include/Vision.h
-         :language: c++
-         :lines: 49-52
-         :linenos:
-         :lineno-start: 49
-
-    .. tab-item:: Python
-
-       # Coming Soon!
+      # Coming Soon!
 
 ```
 
 Then, we add configure the simulated vision system to match the camera system being simulated.
 
 ```{eval-rst}
-.. tab-set::
+.. tab-set-code::
 
-    .. tab-item:: Java
-       :sync: java
+   .. rli:: https://raw.githubusercontent.com/PhotonVision/photonvision/abe95dfaa055bbe3609f72cfcaaba0f96ee7978c/photonlib-java-examples/poseest/src/main/java/frc/robot/Vision.java
+      :language: java
+      :lines: 69-82
+      :linenos:
+      :lineno-start: 69
 
-       .. rli:: https://raw.githubusercontent.com/PhotonVision/photonvision/abe95dfaa055bbe3609f72cfcaaba0f96ee7978c/photonlib-java-examples/poseest/src/main/java/frc/robot/Vision.java
-         :language: java
-         :lines: 69-82
-         :linenos:
-         :lineno-start: 69
+   .. rli:: https://raw.githubusercontent.com/PhotonVision/photonvision/abe95dfaa055bbe3609f72cfcaaba0f96ee7978c/photonlib-cpp-examples/poseest/src/main/include/Vision.h
+      :language: c++
+      :lines: 53-65
+      :linenos:
+      :lineno-start: 53
 
-    .. tab-item:: C++
+   .. code-block:: python
 
-       .. rli:: https://raw.githubusercontent.com/PhotonVision/photonvision/abe95dfaa055bbe3609f72cfcaaba0f96ee7978c/photonlib-cpp-examples/poseest/src/main/include/Vision.h
-         :language: c++
-         :lines: 53-65
-         :linenos:
-         :lineno-start: 53
-
-    .. tab-item:: Python
-
-       # Coming Soon!
+      # Coming Soon!
 ```
 
 
@@ -179,28 +144,23 @@ Then, we add configure the simulated vision system to match the camera system be
 During simulation, we periodically update the simulated vision system.
 
 ```{eval-rst}
-.. tab-set::
+.. tab-set-code::
 
-    .. tab-item:: Java
-       :sync: java
+   .. rli:: https://raw.githubusercontent.com/PhotonVision/photonvision/abe95dfaa055bbe3609f72cfcaaba0f96ee7978c/photonlib-java-examples/poseest/src/main/java/frc/robot/Robot.java
+      :language: java
+      :lines: 114-132
+      :linenos:
+      :lineno-start: 114
 
-       .. rli:: https://raw.githubusercontent.com/PhotonVision/photonvision/abe95dfaa055bbe3609f72cfcaaba0f96ee7978c/photonlib-java-examples/poseest/src/main/java/frc/robot/Robot.java
-         :language: java
-         :lines: 114-132
-         :linenos:
-         :lineno-start: 114
+   .. rli:: https://raw.githubusercontent.com/PhotonVision/photonvision/abe95dfaa055bbe3609f72cfcaaba0f96ee7978c/photonlib-cpp-examples/poseest/src/main/cpp/Robot.cpp
+      :language: c++
+      :lines: 95-109
+      :linenos:
+      :lineno-start: 95
 
-    .. tab-item:: C++
+   .. code-block:: python
 
-       .. rli:: https://raw.githubusercontent.com/PhotonVision/photonvision/abe95dfaa055bbe3609f72cfcaaba0f96ee7978c/photonlib-cpp-examples/poseest/src/main/cpp/Robot.cpp
-         :language: c++
-         :lines: 95-109
-         :linenos:
-         :lineno-start: 95
-
-    .. tab-item:: Python
-
-       # Coming Soon!
+      # Coming Soon!
 ```
 
 The rest is done behind the scenes.

docs/source/docs/hardware/customhardware.md

@@ -8,7 +8,7 @@ By default, PhotonVision attempts to make minimal assumptions of the hardware it
 
 ## LED Support
 
-For Raspberry-Pi based hardware, PhotonVision can use [PiGPIO](https://abyz.me.uk/rpi/pigpio/) to control IO pins. The mapping of which pins control which LED's is part of the hardware config. The pins are active-high: set high when LED's are commanded on, and set low when commanded off.
+When running on Linux, PhotonVision can use [diozero](https://www.diozero.com) to control IO pins. The mapping of which pins control which LED's is part of the hardware config. The illumination LED pins are active-high: set high when LED's are commanded on, and set low when commanded off.
 
 ```{eval-rst}
 .. tab-set-code::
@@ -16,14 +16,11 @@ For Raspberry-Pi based hardware, PhotonVision can use [PiGPIO](https://abyz.me.u
 
       {
         "ledPins" : [ 13 ],
-        "ledSetCommand" : "",
         "ledsCanDim" : true,
-        "ledPWMRange" : [ 0, 100 ],
-        "ledPWMSetRange" : "",
+        "ledBrightnessRange" : [ 0, 100 ],
         "ledPWMFrequency" : 0,
-        "ledDimCommand" : "",
-        "ledBlinkCommand" : "",
         "statusRGBPins" : [ ],
+        "statusRGBActiveHigh" : false,
       }
 ```
 
@@ -31,29 +28,66 @@ For Raspberry-Pi based hardware, PhotonVision can use [PiGPIO](https://abyz.me.u
 No hardware boards with status RGB LED pins or non-dimming LED's have been tested yet. Please reach out to the development team if these features are desired, they can assist with configuration and testing.
 :::
 
+### GPIO Pinout
+
+::::{tab-set}
+
+:::{tab-item} Raspberry Pi
+
+The following diagram shows the GPIO pin numbering of the 40-pin header on Raspberry Pi hardware, courtesy of [pinout.xyz](https://pinout.xyz). Compute modules use the pin numbering from their respective datasheet.
+
+```{image} https://raw.githubusercontent.com/pinout-xyz/Pinout.xyz/master/resources/raspberry-pi-pinout.png
+:alt: Raspberry Pi GPIO Pinout
+```
+
+:::
+::::
+
+### Custom GPIO
+
+If your hardware does not support diozero's default provider, custom commands can be provided to interact with the GPIO lines. The examples below show what parameters are provided to each command, which can be used in any order or multiple times as needed.
+
+```{eval-rst}
+.. tab-set-code::
+   .. code-block:: json
+
+      {
+        "getGPIOCommand" : "getGPIO {p}",
+        "setGPIOCommand" : "setGPIO {p} {s}",
+        "setPWMCommand" : "setPWM {p} {v}",
+        "setPWMFrequencyCommand" : "setPWMFrequency {p} {f}",
+        "releaseGPIOCommand" : "releseGPIO {p}",
+      }
+```
+
+The following template strings are used to input parameters to the commands:
+
+| Template | Parameter  | Values     |
+| -------- | ---------- | ---------- |
+| `{p}`    | pin number | integers   |
+| `{s}`    | state      | true/false |
+| `{v}`    | value      | 0.0-1.0    |
+| `{f}`    | frequency  | integers   |
+
+If you were using custom LED commands from 2025 or earlier and still need custom GPIO commands, they can likely be copied over. `ledSetCommand` can be reused as `setGPIOCommand`. `ledDimCommand` can be reused with edits as `setPWMCommand`, replacing any occurrences of `{v}` with `$(awk 'BEGIN{ print int({v}*100) }')` if your command requires integer percentages.
+
 ## Hardware Interaction Commands
 
-For Non-Raspberry-Pi hardware, users must provide valid hardware-specific commands for some parts of the UI interaction (including performance metrics, and executing system restarts).
+For non-Linux hardware, users must provide the hardware-specific command for executing system restarts.
 
-Leaving a command blank will disable the associated functionality.
+Leaving this command blank will disable the restart functionality.
 
 ```{eval-rst}
 .. tab-set-code::
    .. code-block::  json
 
       {
-        "cpuTempCommand" : "",
-        "cpuMemoryCommand" : "",
-        "cpuUtilCommand" : "",
-        "gpuMemoryCommand" : "",
-        "gpuTempCommand" : "",
-        "ramUtilCommand" : "",
         "restartHardwareCommand" : "",
       }
 ```
 
 :::{note}
-These settings have no effect if PhotonVision detects it is running on a Raspberry Pi. See [the MetricsBase class](https://github.com/PhotonVision/photonvision/blob/dbd631da61b7c86b70fa6574c2565ad57d80a91a/photon-core/src/main/java/org/photonvision/common/hardware/metrics/MetricsBase.java) for the commands utilized.
+This setting has no effect if PhotonVision detects it is running on Linux. On Linux, the restart is accomplished by executing `reboot now` in a shell.
 :::
 
 ## Known Camera FOV
@@ -101,20 +135,16 @@ Here is a complete example `hardwareConfig.json`:
         "deviceLogoPath" : "",
         "supportURL" : "https://www.youtube.com/watch?v=b-CvLWbfZhU",
         "ledPins" : [2, 13],
-        "ledSetCommand" : "",
         "ledsCanDim" : true,
-        "ledPWMRange" : [ 0, 100 ],
-        "ledPWMSetRange" : "",
+        "ledBrightnessRange" : [ 0, 100 ],
         "ledPWMFrequency" : 0,
-        "ledDimCommand" : "",
-        "ledBlinkCommand" : "",
         "statusRGBPins" : [ ],
-        "cpuTempCommand" : "",
-        "cpuMemoryCommand" : "",
-        "cpuUtilCommand" : "",
-        "gpuMemoryCommand" : "",
-        "gpuTempCommand" : "",
-        "ramUtilCommand" : "",
+        "statusRGBActiveHigh" : false,
+        "getGPIOCommand" : "getGPIO {p}",
+        "setGPIOCommand" : "setGPIO {p} {s}",
+        "setPWMCommand" : "setPWM {p} {v}",
+        "setPWMFrequencyCommand" : "setPWMFrequency {p} {f}",
+        "releaseGPIOCommand" : "releaseGPIO {p}",
         "restartHardwareCommand" : "",
         "vendorFOV" : 72.5
       }

docs/source/docs/hardware/index.md

@@ -4,6 +4,5 @@
 :maxdepth: 2
 
 selecting-hardware
-picamconfig
 customhardware
 ```

docs/source/docs/hardware/selecting-hardware.md

@@ -88,7 +88,7 @@ Cameras capable of capturing a good image with very short exposures will also he
 
 ### Using Multiple Cameras
 
-Keeping the target(s) in view of the robot often requires more than one camera. PhotonVision has no hardcoded limit on the number of cameras supported. The limit is usually dependant on CPU (can all frames be processed fast enough?) and USB bandwidth (Can all cameras send their images without overwhelming the bus?).
+Keeping the target(s) in view of the robot often requires more than one camera. PhotonVision has no hardcoded limit on the number of cameras supported. The limit is usually dependent on CPU (can all frames be processed fast enough?) and USB bandwidth (Can all cameras send their images without overwhelming the bus?).
 
 Note that cameras are not synchronized together. Frames are captured and processed asynchronously. Robot Code must fuse estimates together. For more information, see {ref}`the programming reference. <docs/programming/index:programming reference>`.