Rename FRC to WPILib (#8637)

2026-06-19 00:41:43 +00:00 · 2026-03-13 23:05:55 -07:00
parent 6830c65a15
commit b2b111dc11
73 changed files with 134 additions and 141 deletions
--- a/DevelopmentBuilds.md
+++ b/DevelopmentBuilds.md
@@ -65,7 +65,7 @@ plugins {
 }

 wpi.maven.useLocal = false
-wpi.maven.useFrcMavenLocalDevelopment = true
+wpi.maven.useWpilibMavenLocalDevelopment = true
 wpi.versions.wpilibVersion = 'YEAR.424242.+'
 ```

@@ -78,7 +78,7 @@ plugins {
 }

 wpi.maven.useLocal = false
-wpi.maven.useFrcMavenLocalDevelopment = true
+wpi.maven.useWpilibMavenLocalDevelopment = true
 wpi.versions.wpilibVersion = 'YEAR.424242.+'
 ```

--- a/MODULE.bazel.lock
+++ b/MODULE.bazel.lock
@@ -263,7 +263,7 @@
            "repoRuleId": "@@rules_bzlmodrio_toolchains+//toolchains:configure_cross_compiler.bzl%configure_cross_compiler",
            "attributes": {
              "extra_defines": [
-                "-D__FRC_SYSTEMCORE__=1"
+                "-D__FIRST_SYSTEMCORE__=1"
              ],
              "bin_subfolder": "bookworm/bin",
              "bin_prefix": "aarch64-bookworm-linux-gnu-",
--- a/README.md
+++ b/README.md
@@ -129,10 +129,10 @@ Please read the documentation available [here](DevelopmentBuilds.md)

 ### Custom toolchain location

-If you have installed the FRC Toolchain to a directory other than the default, or if the Toolchain location is not on your System PATH, you can pass the `toolChainPath` property to specify where it is located. Example:
+If you have installed the WPILib Toolchain to a directory other than the default, or if the Toolchain location is not on your System PATH, you can pass the `toolChainPath` property to specify where it is located. Example:

 ```bash
-./gradlew build -PtoolChainPath=some/path/to/frc/toolchain/bin
+./gradlew build -PtoolChainPath=some/path/to/wpilib/toolchain/bin
 ```

 ### Formatting/linting
--- a/apriltag/README.md
+++ b/apriltag/README.md
@@ -20,7 +20,7 @@

 ### C++ updates

-1. Update `src/main/native/include/frc/apriltag/AprilTagFields.h`
+1. Update `src/main/native/include/wpi/apriltag/AprilTagFields.hpp`
    1. Add enum value for new field to `AprilTagFields`
    2. Update `AprilTagFields::kDefaultField` if necessary
 2. Update `src/main/native/cpp/AprilTagFields.cpp`
--- a/benchmark/build.gradle
+++ b/benchmark/build.gradle
@@ -93,35 +93,35 @@ deploy {
                all {
                    postdeploy << { ctx ->
                        ctx.execute("sync")
-                        ctx.execute("sudo ldconfig /home/systemcore/frc/third-party/lib")
+                        ctx.execute("sudo ldconfig /home/systemcore/wpilib/third-party/lib")
                    }
                }

                benchmarkCpp(NativeExecutableArtifact) {
-                    libraryDirectory = '/usr/local/frc/third-party/lib'
+                    libraryDirectory = '/home/systemcore/wpilib/third-party/lib'
                    def excludes = getLibraryFilter().getExcludes()
                    excludes.add('**/*.so.debug')
                    excludes.add('**/*.so.*.debug')
                    postdeploy << { ctx ->
-                        ctx.execute("echo '/home/lvuser/benchmarkCpp' > /home/lvuser/robotCommand")
-                        ctx.execute("chmod +x /home/lvuser/robotCommand; chown lvuser /home/lvuser/robotCommand")
-                        ctx.execute("setcap cap_sys_nice+eip \"/home/lvuser/benchmarkCpp\"")
+                        ctx.execute("echo '/home/systemcore/benchmarkCpp' > /home/systemcore/robotCommand")
+                        ctx.execute("chmod +x /home/systemcore/robotCommand; chown systemcore /home/systemcore/robotCommand")
+                        ctx.execute("setcap cap_sys_nice+eip \"/home/systemcore/benchmarkCpp\"")
                        ctx.execute('chmod +x benchmarkCpp')
                    }
                }

                benchmarkCppStatic(NativeExecutableArtifact) {
-                    libraryDirectory = '/usr/local/frc/third-party/lib'
+                    libraryDirectory = '/home/systemcore/wpilib/third-party/lib'
                    postdeploy << { ctx ->
-                        ctx.execute("echo '/home/lvuser/benchmarkCppStatic' > /home/lvuser/robotCommand")
-                        ctx.execute("chmod +x /home/lvuser/robotCommand; chown lvuser /home/lvuser/robotCommand")
-                        ctx.execute("setcap cap_sys_nice+eip \"/home/lvuser/benchmarkCppStatic\"")
+                        ctx.execute("echo '/home/systemcore/benchmarkCppStatic' > /home/systemcore/robotCommand")
+                        ctx.execute("chmod +x /home/systemcore/robotCommand; chown systemcore /home/systemcore/robotCommand")
+                        ctx.execute("setcap cap_sys_nice+eip \"/home/systemcore/benchmarkCppStatic\"")
                        ctx.execute('chmod +x benchmarkCppStatic')
                    }
                }

                benchmarkCppJava(NativeExecutableArtifact) {
-                    libraryDirectory = '/usr/local/frc/third-party/lib'
+                    libraryDirectory = '/home/systemcore/wpilib/third-party/lib'
                    def excludes = getLibraryFilter().getExcludes()
                    excludes.add('**/*.so.debug')
                    excludes.add('**/*.so.*.debug')
@@ -130,8 +130,8 @@ deploy {
                benchmarkJava(JavaArtifact) {
                    jarTask = shadowJar
                    postdeploy << { ctx ->
-                        ctx.execute("echo '/usr/local/frc/JRE/bin/java -XX:+UseSerialGC -Djava.library.path=/usr/local/frc/third-party/lib -Djava.lang.invoke.stringConcat=BC_SB -jar /home/lvuser/benchmark-all.jar' > /home/lvuser/robotCommand")
-                        ctx.execute("chmod +x /home/lvuser/robotCommand; chown lvuser /home/lvuser/robotCommand")
+                        ctx.execute("echo 'java -XX:+UseSerialGC -Djava.library.path=/home/systemcore/wpilib/third-party/lib -Djava.lang.invoke.stringConcat=BC_SB -jar /home/systemcore/benchmark-all.jar' > /home/systemcore/robotCommand")
+                        ctx.execute("chmod +x /home/systemcore/robotCommand; chown systemcore /home/systemcore/robotCommand")
                    }
                }
            }
--- a/cameraserver/multiCameraServer/src/main/java/org/wpilib/Main.java
+++ b/cameraserver/multiCameraServer/src/main/java/org/wpilib/Main.java
@@ -47,7 +47,7 @@ import org.wpilib.vision.stream.CameraServer;
 */

 public final class Main {
-  private static String configFile = "/boot/frc.json";
+  private static String configFile = "/boot/CameraServerConfig.json";

  @SuppressWarnings("MemberName")
  public static class CameraConfig {
--- a/cameraserver/multiCameraServer/src/main/native/cpp/main.cpp
+++ b/cameraserver/multiCameraServer/src/main/native/cpp/main.cpp
@@ -46,9 +46,9 @@
 */

 #ifdef __RASPBIAN__
-static const char* configFile = "/boot/frc.json";
+static const char* configFile = "/boot/CameraServerConfig.json";
 #else
-static const char* configFile = "frc.json";
+static const char* configFile = "CameraServerConfig.json";
 #endif

 namespace {
--- a/cameraserver/src/main/native/cpp/cameraserver/CameraServer.cpp
+++ b/cameraserver/src/main/native/cpp/cameraserver/CameraServer.cpp
@@ -186,7 +186,7 @@ std::vector<std::string> Instance::GetSourceStreamValues(CS_Source source) {
    value = "mjpg:" + value;
  }

-#ifdef __FRC_SYSTEMCORE__
+#ifdef __FIRST_SYSTEMCORE__
  // Look to see if we have a passthrough server for this source
  // Only do this on the systemcore
  for (const auto& i : m_sinks) {
--- a/commandsv2/CommandsV2.json
+++ b/commandsv2/CommandsV2.json
@@ -3,7 +3,7 @@
  "name": "Commands V2",
  "version": "1.0.0",
  "uuid": "111e20f7-815e-48f8-9dd6-e675ce75b266",
-  "frcYear": "2027_alpha1",
+  "wpilibYear": "2027_alpha4",
  "mavenUrls": [],
  "jsonUrl": "",
  "conflictsWith": [
--- a/commandsv3/CommandsV3.json
+++ b/commandsv3/CommandsV3.json
@@ -3,7 +3,7 @@
  "name": "Commands v3",
  "version": "1.0.0",
  "uuid": "4decdc05-a056-46cf-9561-39449bbb0130",
-  "frcYear": "2027_alpha1",
+  "wpilibYear": "2027_alpha4",
  "mavenUrls": [],
  "jsonUrl": "",
  "conflictsWith": [
--- a/datalog/doc/datalog.adoc
+++ b/datalog/doc/datalog.adoc
@@ -10,11 +10,11 @@ A simple binary logging format designed for high speed logging of timestamped da
 [[motivation]]
 == Motivation

-FRC robots generate a lot of real-time data of various data types (most typically numeric values, but also strings and more complex data such as camera images). While there is good support in the WPILib software ecosystem for real-time display of this data on dashboards (via NetworkTables), there is no current standard for logging of timestamped data values for offline analysis. In the absence of a standard, teams have developed various ad-hoc solutions, including CSV files.
+FIRST robots generate a lot of real-time data of various data types (most typically numeric values, but also strings and more complex data such as camera images). While there is good support in the WPILib software ecosystem for real-time display of this data on dashboards (via NetworkTables), there is no current standard for logging of timestamped data values for offline analysis. In the absence of a standard, teams have developed various ad-hoc solutions, including CSV files.

 Similar to how the NetworkTables standard protocol enabled ecosystem development of multiple dashboards, it is expected that a standard format for data logging, in combination with built-in library support for easy on-robot logging of robot data, will facilitate ecosystem development of offline data analysis tools.

-Standard logging facilities currently available (e.g. in Java) are generally designed for string messages, not for binary data. As a binary format, this will be faster with less overhead for the typical data (e.g. numbers) coming from a robot in real time (at least dozens, if not hundreds, of data points every ~20 ms). String formatting is significantly more expensive than just copying the binary number, and is more difficult to read back into analysis tools. Latency of the actual logging to the main program is also critical in the FRC application. WPILib also needs a common logging format and implementation across both C++ and Java.
+Standard logging facilities currently available (e.g. in Java) are generally designed for string messages, not for binary data. As a binary format, this will be faster with less overhead for the typical data (e.g. numbers) coming from a robot in real time (at least dozens, if not hundreds, of data points every ~20 ms). String formatting is significantly more expensive than just copying the binary number, and is more difficult to read back into analysis tools. Latency of the actual logging to the main program is also critical in the FIRST application. WPILib also needs a common logging format and implementation across both C++ and Java.

 [[references]]
 == References
@@ -35,7 +35,7 @@ Entry ID:: An unsigned 4-byte ID by which records in the log refer to an Entry,
 Record:: Storage of a single timestamped data item in the log. A record consists of the entry ID, the data length, a 64-bit integer timestamp, and the data contents.

 [[def-timestamp]]
-Timestamp:: 64-bit integer microseconds. The zero time is not specified by the data format, but on an FRC robot is typically the time the robot program started.
+Timestamp:: 64-bit integer microseconds. The zero time is not specified by the data format, but on an FIRST robot is typically the time the robot program started.

 [[design]]
 == Design
--- a/datalog/robotpy_pybind_build_info.bzl
+++ b/datalog/robotpy_pybind_build_info.bzl
@@ -209,7 +209,7 @@ def define_pybind_library(name, pkgcfgs = []):
            "//wpiutil:robotpy-wpiutil",
        ],
        strip_path_prefixes = ["datalog/src/main/python", "datalog"],
-        summary = "Binary wrapper for FRC wpilog library",
+        summary = "Binary wrapper for WPILib logging library",
        project_urls = {"Source code": "https://github.com/robotpy/mostrobotpy"},
        author_email = "RobotPy Development Team <robotpy@googlegroups.com>",
        requires = ["robotpy-native-datalog==0.0.0", "robotpy-wpiutil==0.0.0"],
--- a/datalog/src/main/python/pyproject.toml
+++ b/datalog/src/main/python/pyproject.toml
@@ -11,7 +11,7 @@ requires = [
 [project]
 name = "robotpy-wpilog"
 version = "0.0.0"
-description = "Binary wrapper for FRC wpilog library"
+description = "Binary wrapper for WPILib logging library"
 authors = [
    {name = "RobotPy Development Team", email = "robotpy@googlegroups.com"},
 ]
--- a/developerRobot/build.gradle
+++ b/developerRobot/build.gradle
@@ -93,17 +93,17 @@ deploy {
                all {
                    postdeploy << { ctx ->
                        ctx.execute("sync")
-                        ctx.execute("sudo ldconfig /home/systemcore/frc/third-party/lib")
+                        ctx.execute("sudo ldconfig /home/systemcore/wpilib/third-party/lib")
                    }
                }

                developerRobotCpp(NativeExecutableArtifact) {
-                    libraryDirectory = '/home/systemcore/frc/third-party/lib'
+                    libraryDirectory = '/home/systemcore/wpilib/third-party/lib'
                    def excludes = getLibraryFilter().getExcludes()
                    excludes.add('**/*.so.debug')
                    excludes.add('**/*.so.*.debug')
                    postdeploy << { ctx ->
-                        ctx.execute("echo 'LD_LIBRARY_PATH=/home/systemcore/frc/third-party/lib /home/systemcore/developerRobotCpp' > /home/systemcore/robotCommand")
+                        ctx.execute("echo 'LD_LIBRARY_PATH=/home/systemcore/wpilib/third-party/lib /home/systemcore/developerRobotCpp' > /home/systemcore/robotCommand")
                        ctx.execute("chmod +x /home/systemcore/robotCommand; chown systemcore /home/systemcore/robotCommand")
                        ctx.execute("setcap cap_sys_nice+eip \"/home/systemcore/developerRobotCpp\"")
                        ctx.execute('chmod +x developerRobotCpp')
@@ -111,9 +111,9 @@ deploy {
                }

                developerRobotCppStatic(NativeExecutableArtifact) {
-                    libraryDirectory = '/home/systemcore/frc/third-party/lib'
+                    libraryDirectory = '/home/systemcore/wpilib/third-party/lib'
                    postdeploy << { ctx ->
-                        ctx.execute("echo ''LD_LIBRARY_PATH=/home/systemcore/frc/third-party/lib /home/systemcore/developerRobotCppStatic' > /home/systemcore/robotCommand")
+                        ctx.execute("echo ''LD_LIBRARY_PATH=/home/systemcore/wpilib/third-party/lib /home/systemcore/developerRobotCppStatic' > /home/systemcore/robotCommand")
                        ctx.execute("chmod +x /home/systemcore/robotCommand; chown systemcore /home/systemcore/robotCommand")
                        ctx.execute("sudo setcap cap_sys_nice+eip \"/home/systemcore/developerRobotCppStatic\"")
                        ctx.execute('chmod +x developerRobotCppStatic')
@@ -121,7 +121,7 @@ deploy {
                }

                developerRobotCppJava(NativeExecutableArtifact) {
-                    libraryDirectory = '/home/systemcore/frc/third-party/lib'
+                    libraryDirectory = '/home/systemcore/wpilib/third-party/lib'
                    def excludes = getLibraryFilter().getExcludes()
                    excludes.add('**/*.so.debug')
                    excludes.add('**/*.so.*.debug')
@@ -130,7 +130,7 @@ deploy {
                developerRobotJava(JavaArtifact) {
                    jarTask = shadowJar
                    postdeploy << { ctx ->
-                        ctx.execute("echo '/usr/bin/java -XX:+UseG1GC -Djava.library.path=/home/systemcore/frc/third-party/lib -jar /home/systemcore/developerRobot-all.jar' > /home/systemcore/robotCommand")
+                        ctx.execute("echo '/usr/bin/java -XX:+UseG1GC -Djava.library.path=/home/systemcore/wpilib/third-party/lib -jar /home/systemcore/developerRobot-all.jar' > /home/systemcore/robotCommand")
                        ctx.execute("chmod +x /home/systemcore/robotCommand; chown systemcore /home/systemcore/robotCommand")
                    }
                }
--- a/gradle/libs.versions.toml
+++ b/gradle/libs.versions.toml
@@ -28,7 +28,7 @@ mockito-core = { module = "org.mockito:mockito-core", version = "4.1.0" }
 # Note that these are also Gradle plugins and cannot be used with the plugin specification
 # due to their presence on the classpath without version information.
 wpilib-gradle-vscode = { module = "org.wpilib:gradle-cpp-vscode", version = "2027.0.0" }
-wpilib-native-utils = { module = "org.wpilib:native-utils", version = "2027.1.1" }
+wpilib-native-utils = { module = "org.wpilib:native-utils", version = "2027.4.1" }

 [bundles]
 ejml = ["ejml-simple"]
@@ -48,6 +48,6 @@ wpilib-gradle-jni = { id = "org.wpilib.GradleJni", version = "2027.0.0" }
 # Note: these plugins can't be used. Their JARs are on the classpath for buildSrc,
 # which doesn't retain version information.
 # wpilib-gradle-vscode = { id = "org.wpilib.GradleVsCode", version = "2027.0.0" }
-# wpilib-native-utils = { id = "org.wpilib.NativeUtils", version = "2027.1.1" }
+# wpilib-native-utils = { id = "org.wpilib.NativeUtils", version = "2027.4.1" }
 wpilib-repositories = { id = "org.wpilib.WPILibRepositoriesPlugin", version = "2027.0.0" }
 wpilib-versioning = { id = "org.wpilib.WPILibVersioningPlugin", version = "2027.0.1" }
--- a/hal/robotpy_pybind_build_info.bzl
+++ b/hal/robotpy_pybind_build_info.bzl
@@ -422,7 +422,7 @@ def define_pybind_library(name, pkgcfgs = []):
            "//wpiutil:robotpy-wpiutil",
        ],
        strip_path_prefixes = ["hal/src/main/python", "hal"],
-        summary = "Binary wrapper for FRC HAL",
+        summary = "Binary wrapper for WPILib HAL",
        project_urls = {"Source code": "https://github.com/robotpy/mostrobotpy"},
        author_email = "RobotPy Development Team <robotpy@googlegroups.com>",
        requires = ["pyntcore==0.0.0", "robotpy-native-wpihal==0.0.0", "robotpy-wpiutil==0.0.0"],
--- a/hal/src/main/java/org/wpilib/hardware/hal/CANAPITypes.java
+++ b/hal/src/main/java/org/wpilib/hardware/hal/CANAPITypes.java
@@ -13,7 +13,7 @@ package org.wpilib.hardware.hal;
@SuppressWarnings("PMD.MissingStaticMethodInNonInstantiatableClass")
 public final class CANAPITypes {
  /**
-   * FRC CAN device type.
+   * FIRST CAN device type.
   *
   * <p>This enum represents different types of CAN devices. Teams are encouraged to use the
   * kMiscellaneous for custom or miscellaneous devices.
@@ -64,7 +64,7 @@ public final class CANAPITypes {
  }

  /**
-   * FRC CAN manufacturer ID.
+   * FIRST CAN manufacturer ID.
   *
   * <p>This enum represents different manufacturer IDs for CAN devices. Teams are encouraged to use
   * the kTeamUse manufacturer ID for custom or team-specific devices.
--- a/hal/src/main/native/cpp/jni/HAL.cpp
+++ b/hal/src/main/native/cpp/jni/HAL.cpp
@@ -6,7 +6,7 @@

 #include <jni.h>

-#ifdef __FRC_SYSTEMCORE__
+#ifdef __FIRST_SYSTEMCORE__
 #include <signal.h>
 #endif

@@ -95,7 +95,7 @@ JNIEXPORT void JNICALL
 Java_org_wpilib_hardware_hal_HAL_terminate
  (JNIEnv*, jclass)
 {
-#ifdef __FRC_SYSTEMCORE__
+#ifdef __FIRST_SYSTEMCORE__
  ::raise(SIGKILL);
 #endif
 }
--- a/hal/src/main/native/include/wpi/hal/Errors.h
+++ b/hal/src/main/native/include/wpi/hal/Errors.h
@@ -40,11 +40,6 @@
 #define HAL_WARN_CANSessionMux_SocketBufferFull_MESSAGE \
  "CAN: Socket Buffer full. Generally caused by sending too many packets."

-#define ERR_FRCSystem_NetCommNotResponding_MESSAGE \
-  "FRCSystem: NetComm not responding"
-#define ERR_FRCSystem_NoDSConnection_MESSAGE \
-  "FRCSystem: No driver station connected"
-
 #define HAL_SUCCESS 0

 #define SAMPLE_RATE_TOO_HIGH 1001
--- a/hal/src/main/native/include/wpi/hal/handles/HandlesInternal.hpp
+++ b/hal/src/main/native/include/wpi/hal/handles/HandlesInternal.hpp
@@ -137,7 +137,7 @@ inline int16_t getHandleTypedIndex(HAL_Handle handle, HAL_HandleEnum enumType,
  if (!isHandleType(handle, enumType)) {
    return InvalidHandleIndex;
  }
-#if !defined(__FRC_SYSTEMCORE__)
+#if !defined(__FIRST_SYSTEMCORE__)
  if (!isHandleCorrectVersion(handle, version)) {
    return InvalidHandleIndex;
  }
--- a/hal/src/main/native/sim/DriverStation.cpp
+++ b/hal/src/main/native/sim/DriverStation.cpp
@@ -54,8 +54,8 @@ static_assert(std::is_standard_layout_v<JoystickDataCache>);

 static std::atomic_bool gShutdown{false};

-struct FRCDriverStation {
-  ~FRCDriverStation() { gShutdown = true; }
+struct FIRSTDriverStation {
+  ~FIRSTDriverStation() { gShutdown = true; }
  wpi::util::EventVector newDataEvents;
  wpi::util::mutex cacheMutex;
  wpi::util::mutex tcpCacheMutex;
@@ -114,11 +114,11 @@ void TcpCache::Update() {
  }
 }

-static ::FRCDriverStation* driverStation;
+static ::FIRSTDriverStation* driverStation;

 namespace wpi::hal::init {
 void InitializeDriverStation() {
-  static FRCDriverStation ds;
+  static FIRSTDriverStation ds;
  driverStation = &ds;
 }
 }  // namespace wpi::hal::init
--- a/hal/src/main/native/systemcore/FIRSTDriverStation.cpp
+++ b/hal/src/main/native/systemcore/FIRSTDriverStation.cpp
@@ -200,13 +200,13 @@ struct SystemServerDriverStation {
  ~SystemServerDriverStation() { ntInst.RemoveListener(controlDataListener); }
 };

-struct FRCDriverStation {
+struct FIRSTDriverStation {
  wpi::util::EventVector newDataEvents;
 };
 }  // namespace

 static ::SystemServerDriverStation* systemServerDs;
-static ::FRCDriverStation* driverStation;
+static ::FIRSTDriverStation* driverStation;

 void SystemServerDriverStation::HandleListener(const wpi::nt::Event& event) {
  auto valueEvent = event.GetValueEventData();
@@ -378,10 +378,10 @@ void TcpCache::Update() {
 }

 namespace wpi::hal::init {
-void InitializeFRCDriverStation() {
+void InitializeFIRSTDriverStation() {
  InitializeDashboardOpMode();
  newestControlWord.value = 0;
-  static FRCDriverStation ds;
+  static FIRSTDriverStation ds;
  driverStation = &ds;
 }
 }  // namespace wpi::hal::init
--- a/hal/src/main/native/systemcore/HAL.cpp
+++ b/hal/src/main/native/systemcore/HAL.cpp
@@ -47,7 +47,7 @@ void InitializeHAL() {
  InitializeDIO();
  InitializeDutyCycle();
  InitializeEncoder();
-  InitializeFRCDriverStation();
+  InitializeFIRSTDriverStation();
  InitializeI2C();
  InitializeIMU();
  InitializeMain();
--- a/hal/src/main/native/systemcore/HALInitializer.hpp
+++ b/hal/src/main/native/systemcore/HALInitializer.hpp
@@ -29,7 +29,7 @@ extern void InitializeDigitalInternal();
 extern void InitializeDIO();
 extern void InitializeDutyCycle();
 extern void InitializeEncoder();
-extern void InitializeFRCDriverStation();
+extern void InitializeFIRSTDriverStation();
 extern void InitializeHAL();
 extern void InitializeI2C();
 extern void InitializeIMU();
--- a/hal/src/main/python/hal/simulation/main.cpp
+++ b/hal/src/main/python/hal/simulation/main.cpp
@@ -22,7 +22,7 @@ SEMIWRAP_PYBIND11_MODULE(m) {
  m.def(
      "resetGlobalHandles",
      []() {
-#ifndef __FRC_SYSTEMCORE__
+#ifndef __FIRST_SYSTEMCORE__
        HALSIM_ResetGlobalHandles();
 #endif
      },
--- a/hal/src/main/python/hal/simulation/resethandles.cpp
+++ b/hal/src/main/python/hal/simulation/resethandles.cpp
@@ -1,6 +1,4 @@
-
-
-#ifndef __FRC_SYSTEMCORE__
+#ifndef __FIRST_SYSTEMCORE__
 #include "wpi/hal/Notifier.hpp"
 #include "wpi/hal/handles/HandlesInternal.hpp"
 #include "wpi/hal/simulation/NotifierData.h"
--- a/hal/src/main/python/hal/src/hal.cpp
+++ b/hal/src/main/python/hal/src/hal.cpp
@@ -60,7 +60,7 @@ SEMIWRAP_PYBIND11_MODULE(m) {

  initWrapper(m);

-#ifdef __FRC_SYSTEMCORE__
+#ifdef __FIRST_SYSTEMCORE__
  m.attr("__halplatform__") = "Systemcore";
  m.attr("__hal_simulation__") = false;
 #else
--- a/hal/src/main/python/pyproject.toml
+++ b/hal/src/main/python/pyproject.toml
@@ -12,7 +12,7 @@ requires = [
 [project]
 name = "robotpy-hal"
 version = "0.0.0"
-description = "Binary wrapper for FRC HAL"
+description = "Binary wrapper for WPILib HAL"
 authors = [
    {name = "RobotPy Development Team", email = "robotpy@googlegroups.com"},
 ]
--- a/hal/src/main/python/semiwrap/Extensions.yml
+++ b/hal/src/main/python/semiwrap/Extensions.yml
@@ -3,14 +3,14 @@ strip_prefixes:

 functions:
  HAL_LoadOneExtension:
-    ifndef: __FRC_SYSTEMCORE__
+    ifndef: __FIRST_SYSTEMCORE__
  HAL_LoadExtensions:
-    ifndef: __FRC_SYSTEMCORE__
+    ifndef: __FIRST_SYSTEMCORE__
  HAL_RegisterExtension:
    ignore: true
  HAL_RegisterExtensionListener:
    ignore: true
  HAL_SetShowExtensionsNotFoundMessages:
-    ifndef: __FRC_SYSTEMCORE__
+    ifndef: __FIRST_SYSTEMCORE__
  HAL_OnShutdown:
    ignore: true
--- a/hal/src/main/python/semiwrap/SimDevice.yml
+++ b/hal/src/main/python/semiwrap/SimDevice.yml
@@ -260,7 +260,7 @@ inline_code: |2
      return (bool)self;
    })
    .def_property_readonly("name", [](const wpi::hal::SimDevice &self) -> py::str {
-      #ifdef __FRC_SYSTEMCORE__
+      #ifdef __FIRST_SYSTEMCORE__
        return "<invalid>";
      #else
        if (!self) {
@@ -276,7 +276,7 @@ inline_code: |2
      #endif
    })
    .def("__repr__", [](const wpi::hal::SimDevice &self) -> py::str {
-      #ifdef __FRC_SYSTEMCORE__
+      #ifdef __FIRST_SYSTEMCORE__
        return "<SimDevice (invalid)>";
      #else
        if (!self) {
@@ -309,7 +309,7 @@ inline_code: |2
  cls_SimEnum
    .def_property("value", &SimEnum::Get, &SimEnum::Set)
    .def("__repr__", [](const SimEnum &self) -> py::str {
-      #ifdef __FRC_SYSTEMCORE__
+      #ifdef __FIRST_SYSTEMCORE__
        return "<SimEnum (invalid)>";
      #else
        if (self) {
--- a/ntcore/doc/networktables2.adoc
+++ b/ntcore/doc/networktables2.adoc
@@ -7,7 +7,7 @@ Protocol Revision 2.0 (0x0200), 1/8/2013

 This document defines a network protocol for a key-value store that may be read
 from and written to by multiple remote clients. A central server, most often
-running on a FIRST FRC robot controller, is responsible for providing
+running on a FIRST robot controller, is responsible for providing
 information consistency and for facilitating communication between clients.
 This document describes protocol revision 2.0 (0x0200).

--- a/ntcore/doc/networktables3.adoc
+++ b/ntcore/doc/networktables3.adoc
@@ -7,7 +7,7 @@ Protocol Revision 3.0 (0x0300), 6/12/2015

 This document defines a network protocol for a key-value store that may be read
 from and written to by multiple remote clients. A central server, most often
-running on a FIRST FRC robot controller, is responsible for providing
+running on a FIRST robot controller, is responsible for providing
 information consistency and for facilitating communication between clients.
 This document describes protocol revision 3.0 (0x0300).

--- a/ntcore/doc/networktables4.adoc
+++ b/ntcore/doc/networktables4.adoc
@@ -863,7 +863,7 @@ This was considered, but rejected for two reasons: encoding overhead and spec/im
 [[trade-timestamp]]
 === Timestamp format

-The spec uses integer microseconds.  This seems to be a reasonable enough resolution for FRC use and is common with the FPGA clock resolution.
+The spec uses integer microseconds.  This seems to be a reasonable enough resolution for FIRST use and is common with the unix clock resolution.

 [[unresolved-questions]]
 == Unresolved Questions
--- a/ntcore/robotpy_pybind_build_info.bzl
+++ b/ntcore/robotpy_pybind_build_info.bzl
@@ -486,7 +486,7 @@ def define_pybind_library(name, pkgcfgs = []):
            "//wpiutil:robotpy-wpiutil",
        ],
        strip_path_prefixes = ["ntcore/src/main/python", "ntcore"],
-        summary = "Binary wrappers for the FRC ntcore library",
+        summary = "Binary wrappers for the FIRST ntcore library",
        project_urls = {"Source code": "https://github.com/robotpy/mostrobotpy"},
        author_email = "RobotPy Development Team <robotpy@googlegroups.com>",
        requires = ["robotpy-native-ntcore==0.0.0", "robotpy-wpiutil==0.0.0", "robotpy-wpinet==0.0.0", "robotpy-wpilog==0.0.0"],
--- a/ntcore/src/main/python/pyproject.toml
+++ b/ntcore/src/main/python/pyproject.toml
@@ -15,7 +15,7 @@ requires = [
 [project]
 name = "pyntcore"
 version = "0.0.0"
-description = "Binary wrappers for the FRC ntcore library"
+description = "Binary wrappers for the FIRST ntcore library"
 authors = [
    {name = "RobotPy Development Team", email = "robotpy@googlegroups.com"},
 ]
--- a/ntcoreffi/src/main/native/cpp/DataLogManager.cpp
+++ b/ntcoreffi/src/main/native/cpp/DataLogManager.cpp
@@ -37,7 +37,7 @@ void ReportErrorV(int32_t status, const char* fileName, int lineNumber,
                  const char* funcName, fmt::string_view format,
                  fmt::format_args args) {
  // TODO when we get a low level interface
-  // #ifdef __FRC_SYSTEMCORE__
+  // #ifdef __FIRST_SYSTEMCORE__
  //   if (status == 0) {
  //     return;
  //   }
@@ -69,7 +69,7 @@ inline void ReportError(int32_t status, const char* fileName, int lineNumber,

 namespace RobotController {
 inline bool IsSystemTimeValid() {
-#ifdef __FRC_SYSTEMCORE__
+#ifdef __FIRST_SYSTEMCORE__
  // TODO when we get a proper low level library, and time setting
  return false;
  // uint8_t timeWasSet = 0;
@@ -83,7 +83,7 @@ inline bool IsSystemTimeValid() {

 namespace filesystem {
 inline std::string GetOperatingDirectory() {
-#ifdef __FRC_SYSTEMCORE__
+#ifdef __FIRST_SYSTEMCORE__
  return "/home/systemcore";
 #else
  return fs::current_path().string();
@@ -92,7 +92,7 @@ inline std::string GetOperatingDirectory() {
 }  // namespace filesystem

 namespace DriverStation {
-// #ifdef __FRC_SYSTEMCORE__
+// #ifdef __FIRST_SYSTEMCORE__
 // using MatchType = MatchType_t;
 // constexpr int kNone = kMatchType_none;
 // constexpr int kPractice = kMatchType_practice;
@@ -109,7 +109,7 @@ enum MatchType { kNone, kPractice, kQualification, kElimination };
 // #endif

 inline void UpdateMatchInfo() {
-  // #ifdef __FRC_SYSTEMCORE__
+  // #ifdef __FIRST_SYSTEMCORE__
  //   gGameSpecificMessageSize = sizeof(gGameSpecificMessage);
  //   WPILIB_NetworkCommunication_getMatchInfo(gEventName, &gMatchType,
  //   &gMatchNumber,
@@ -120,7 +120,7 @@ inline void UpdateMatchInfo() {
 }

 inline MatchType GetMatchType() {
-  // #ifdef __FRC_SYSTEMCORE__
+  // #ifdef __FIRST_SYSTEMCORE__
  //   return gMatchType;
  // #else
  return kNone;
@@ -128,7 +128,7 @@ inline MatchType GetMatchType() {
 }

 inline std::string_view GetEventName() {
-  // #ifdef __FRC_SYSTEMCORE__
+  // #ifdef __FIRST_SYSTEMCORE__
  //   return gEventName;
  // #else
  return "";
@@ -136,7 +136,7 @@ inline std::string_view GetEventName() {
 }

 inline uint16_t GetMatchNumber() {
-  // #ifdef __FRC_SYSTEMCORE__
+  // #ifdef __FIRST_SYSTEMCORE__
  //   return gMatchNumber;
  // #else
  return 0;
@@ -144,7 +144,7 @@ inline uint16_t GetMatchNumber() {
 }

 inline bool IsDSAttached() {
-  // #ifdef __FRC_SYSTEMCORE__
+  // #ifdef __FIRST_SYSTEMCORE__
  //   struct ControlWord_t cw;
  //   WPILIB_NetworkCommunication_getControlWord(&cw);
  //   return cw.dsAttached;
@@ -154,7 +154,7 @@ inline bool IsDSAttached() {
 }

 inline bool IsFMSAttached() {
-  // #ifdef __FRC_SYSTEMCORE__
+  // #ifdef __FIRST_SYSTEMCORE__
  //   struct ControlWord_t cw;
  //   WPILIB_NetworkCommunication_getControlWord(&cw);
  //   return cw.fmsAttached;
@@ -173,7 +173,7 @@ inline void RemoveRefreshedDataEventHandle(WPI_EventHandle event) {}

 }  // namespace DriverStation

-// #ifdef __FRC_SYSTEMCORE__
+// #ifdef __FIRST_SYSTEMCORE__
 // static constexpr int kRoboRIO = 0;
 // namespace RobotBase {
 // inline int GetRuntimeType() {
@@ -225,7 +225,7 @@ static std::string MakeLogDir(std::string_view dir) {
  if (!dir.empty()) {
    return std::string{dir};
  }
-#ifdef __FRC_SYSTEMCORE__
+#ifdef __FIRST_SYSTEMCORE__
  // prefer a mounted USB drive if one is accessible
  std::error_code ec;
  auto s = fs::status("/u", ec);
--- a/robotpyExamples/QuickVision/robot.py
+++ b/robotpyExamples/QuickVision/robot.py
@@ -12,7 +12,7 @@ from wpilib.cameraserver import CameraServer
 class MyRobot(wpilib.TimedRobot):
    """
    Uses the CameraServer class to automatically capture video from a USB webcam and send it to the
-    FRC dashboard without doing any vision processing. This is the easiest way to get camera images
+    dashboard without doing any vision processing. This is the easiest way to get camera images
    to the dashboard. Just add this to the robotInit() method in your program.
    """

--- a/robotpyExamples/StateSpaceFlywheelSysId/robot.py
+++ b/robotpyExamples/StateSpaceFlywheelSysId/robot.py
@@ -38,7 +38,7 @@ class MyRobot(wpilib.TimedRobot):
        # Inputs (what we can "put in"): [voltage], in volts.
        # Outputs (what we can measure): [velocity], in radians per second.
        #
-        # The Kv and Ka constants are found using the FRC Characterization toolsuite.
+        # The Kv and Ka constants are found using the SysID tool.
        self.flywheelPlant = wpimath.Models.flywheelFromSysId(kFlywheelKv, kFlywheelKa)

        # The observer fuses our encoder data and voltage inputs to reject noise.
--- a/romiVendordep/RomiVendordep.json
+++ b/romiVendordep/RomiVendordep.json
@@ -3,7 +3,7 @@
  "name": "Romi-Vendordep",
  "version": "1.0.0",
  "uuid": "1010372a-b446-46f4-b229-61e53a26a7dc",
-  "frcYear": "2027_alpha1",
+  "wpilibYear": "2027_alpha4",
  "mavenUrls": [],
  "jsonUrl": "",
  "javaDependencies": [
--- a/simulation/halsim_gui/src/main/native/cpp/DriverStationGui.cpp
+++ b/simulation/halsim_gui/src/main/native/cpp/DriverStationGui.cpp
@@ -505,7 +505,7 @@ void GlfwSystemJoystick::GetData(HALJoystickData* data, bool mapGamepad) const {
  }

  if (m_isGamepad && mapGamepad) {
-    // the FRC DriverStation maps gamepad (XInput) trigger values to 0-1 range
+    // the FIRST DriverStation maps gamepad (XInput) trigger values to 0-1 range
    // on axis 2 and 3.
    data->axes.axes[0] = sysAxes[0];
    data->axes.axes[1] = sysAxes[1];
--- a/wpilibc/robotpy_pybind_build_info.bzl
+++ b/wpilibc/robotpy_pybind_build_info.bzl
@@ -1643,7 +1643,7 @@ def define_pybind_library(name, pkgcfgs = []):
            requirement("robotpy-cli"),
        ],
        strip_path_prefixes = ["wpilibc/src/main/python", "wpilibc"],
-        summary = "Binary wrapper for FRC WPILib",
+        summary = "Binary wrapper for WPILib",
        project_urls = {"Source code": "https://github.com/robotpy/mostrobotpy"},
        author_email = "RobotPy Development Team <robotpy@googlegroups.com>",
        requires = ["robotpy-native-wpilib==0.0.0", "robotpy-wpiutil==0.0.0", "robotpy-wpimath==0.0.0", "robotpy-hal==0.0.0", "pyntcore==0.0.0", "robotpy-cli~=2027.0.0a1", "pytest>=3.9", "pytest-reraise"],
--- a/wpilibc/src/main/native/cpp/hardware/motor/MotorSafety.cpp
+++ b/wpilibc/src/main/native/cpp/hardware/motor/MotorSafety.cpp
@@ -68,7 +68,7 @@ static MotorSafetyManager& GetManager() {
  return manager;
 }

-#ifndef __FRC_SYSTEMCORE__
+#ifndef __FIRST_SYSTEMCORE__
 namespace wpi::impl {
 void ResetMotorSafety() {
  auto& manager = GetManager();
--- a/wpilibc/src/main/native/cpp/smartdashboard/SmartDashboard.cpp
+++ b/wpilibc/src/main/native/cpp/smartdashboard/SmartDashboard.cpp
@@ -40,7 +40,7 @@ static Instance& GetInstance() {
  return *GetInstanceHolder();
 }

-#ifndef __FRC_SYSTEMCORE__
+#ifndef __FIRST_SYSTEMCORE__
 namespace wpi::impl {
 void ResetSmartDashboardInstance() {
  std::make_unique<Instance>().swap(GetInstanceHolder());
--- a/wpilibc/src/main/native/cpp/system/DataLogManager.cpp
+++ b/wpilibc/src/main/native/cpp/system/DataLogManager.cpp
@@ -70,7 +70,7 @@ static std::string MakeLogDir(std::string_view dir) {
  if (!dir.empty()) {
    return std::string{dir};
  }
-#ifdef __FRC_SYSTEMCORE__
+#ifdef __FIRST_SYSTEMCORE__
  // prefer a mounted USB drive if one is accessible
  std::error_code ec;
  auto s = fs::status("/u", ec);
--- a/wpilibc/src/main/native/cpp/util/Preferences.cpp
+++ b/wpilibc/src/main/native/cpp/util/Preferences.cpp
@@ -45,7 +45,7 @@ static Instance& GetInstance() {
  return instance;
 }

-#ifndef __FRC_SYSTEMCORE__
+#ifndef __FIRST_SYSTEMCORE__
 namespace wpi::impl {
 void ResetPreferencesInstance() {
  GetInstance() = Instance();
--- a/wpilibc/src/main/native/cppcs/RobotBase.cpp
+++ b/wpilibc/src/main/native/cppcs/RobotBase.cpp
@@ -6,7 +6,7 @@

 #include <stdint.h>

-#ifdef __FRC_SYSTEMCORE__
+#ifdef __FIRST_SYSTEMCORE__
 #include <dlfcn.h>
 #endif

@@ -107,7 +107,7 @@ class WPILibMathShared : public wpi::math::MathShared {
 }  // namespace

 static void SetupCameraServerShared() {
-#ifdef __FRC_SYSTEMCORE__
+#ifdef __FIRST_SYSTEMCORE__
 #ifdef DYNAMIC_CAMERA_SERVER
 #ifdef DYNAMIC_CAMERA_SERVER_DEBUG
  auto cameraServerLib = dlopen("libcameraserverd.so", RTLD_NOW);
--- a/wpilibc/src/main/native/include/wpi/framework/RobotBase.hpp
+++ b/wpilibc/src/main/native/include/wpi/framework/RobotBase.hpp
@@ -24,7 +24,7 @@ namespace wpi {
 int RunHALInitialization();

 namespace impl {
-#ifndef __FRC_SYSTEMCORE__
+#ifndef __FIRST_SYSTEMCORE__
 void ResetMotorSafety();
 #endif

@@ -124,7 +124,7 @@ int StartRobot() {
    impl::RunRobot<Robot>(m, &robot);
  }

-#ifndef __FRC_SYSTEMCORE__
+#ifndef __FIRST_SYSTEMCORE__
  wpi::impl::ResetMotorSafety();
 #endif
  HAL_Shutdown();
@@ -254,7 +254,7 @@ class RobotBase {
   * @return If the robot is running in the real world.
   */
  static constexpr bool IsReal() {
-#ifdef __FRC_SYSTEMCORE__
+#ifdef __FIRST_SYSTEMCORE__
    return true;
 #else
    return false;
@@ -267,7 +267,7 @@ class RobotBase {
   * @return If the robot is running in simulation.
   */
  static constexpr bool IsSimulation() {
-#ifdef __FRC_SYSTEMCORE__
+#ifdef __FIRST_SYSTEMCORE__
    return false;
 #else
    return true;
--- a/wpilibc/src/main/python/README.rst
+++ b/wpilibc/src/main/python/README.rst
@@ -1,7 +1,7 @@
 RobotPy WPILib
 ==============

-Python version of WPILib - the standard library used for programming FRC
+Python version of WPILib - the standard library used for programming FIRST
 robots.

 Installation
--- a/wpilibc/src/main/python/pyproject.toml
+++ b/wpilibc/src/main/python/pyproject.toml
@@ -15,7 +15,7 @@ requires = [
 [project]
 name = "wpilib"
 version = "0.0.0"
-description = "Binary wrapper for FRC WPILib"
+description = "Binary wrapper for WPILib"
 authors = [
    {name = "RobotPy Development Team", email = "robotpy@googlegroups.com"},
 ]
--- a/wpilibc/src/main/python/wpilib/simulation/simulation.cpp
+++ b/wpilibc/src/main/python/wpilib/simulation/simulation.cpp
@@ -1,7 +1,7 @@

 #include "semiwrap_init.wpilib.simulation._simulation.hpp"

-#ifndef __FRC_SYSTEMCORE__
+#ifndef __FIRST_SYSTEMCORE__

 namespace wpi::impl {
 void ResetSmartDashboardInstance();
--- a/wpilibc/src/main/python/wpilib/src/rpy/Filesystem.inc
+++ b/wpilibc/src/main/python/wpilib/src/rpy/Filesystem.inc
@@ -30,7 +30,7 @@ static fs::path getMainPath() {
  if (locals.contains("main_path")) {
    return fs::path(py::cast<std::string>(locals["main_path"]));
  } else {
-#ifdef __FRC_SYSTEMCORE__
+#ifdef __FIRST_SYSTEMCORE__
    return fs::path("/home/systemcore/py");
 #else
    return fs::current_path();
--- a/wpilibc/src/test/native/cpp/main.cpp
+++ b/wpilibc/src/test/native/cpp/main.cpp
@@ -6,7 +6,7 @@

 #include "wpi/hal/HAL.h"

-#ifndef __FRC_SYSTEMCORE__
+#ifndef __FIRST_SYSTEMCORE__
 namespace wpi::impl {
 void ResetMotorSafety();
 }
@@ -16,7 +16,7 @@ int main(int argc, char** argv) {
  HAL_Initialize(500, 0);
  ::testing::InitGoogleTest(&argc, argv);
  int ret = RUN_ALL_TESTS();
-#ifndef __FRC_SYSTEMCORE__
+#ifndef __FIRST_SYSTEMCORE__
  wpi::impl::ResetMotorSafety();
 #endif
  return ret;
--- a/wpilibcExamples/src/main/cpp/examples/QuickVision/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/QuickVision/cpp/Robot.cpp
@@ -9,9 +9,9 @@

 /**
 * Uses the CameraServer class to automatically capture video from a USB webcam
- * and send it to the FRC dashboard without doing any vision processing. This is
- * the easiest way to get camera images to the dashboard. Just add this to the
- * robot class constructor.
+ * and send it to the dashboard without doing any vision processing. This is
+ * the easiest way to get camera images to the dashboard. Just add this to
+ * the robot class constructor.
 */
 class Robot : public wpi::TimedRobot {
 public:
--- a/wpilibcExamples/src/main/cpp/examples/Xrptimed/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/Xrptimed/cpp/Robot.cpp
@@ -49,7 +49,7 @@ void Robot::TeleopPeriodic() {
  m_drive.ArcadeDrive(-m_controller.GetRawAxis(2), -m_controller.GetRawAxis(1));
 }

-#ifndef RUNNING_FRC_TESTS
+#ifndef RUNNING_WPILIB_TESTS
 int main() {
  return wpi::StartRobot<Robot>();
 }
--- a/wpilibj/src/main/java/org/wpilib/package.html
+++ b/wpilibj/src/main/java/org/wpilib/package.html
@@ -8,7 +8,7 @@
  </head>
  <body>
    The WPI Robotics library (WPILibJ) is a set of Java classes that interfaces
-    to the hardware in the FRC control system and your robot. There are classes
+    to the hardware in the FIRST control system and your robot. There are classes
    to handle sensors, motors, the driver station, and a number of other
    utility functions like timing and field management. The library is designed
    to:
--- a/wpilibjExamples/src/main/java/org/wpilib/examples/quickvision/Robot.java
+++ b/wpilibjExamples/src/main/java/org/wpilib/examples/quickvision/Robot.java
@@ -9,8 +9,8 @@ import org.wpilib.vision.stream.CameraServer;

 /**
 * Uses the CameraServer class to automatically capture video from a USB webcam and send it to the
- * FRC dashboard without doing any vision processing. This is the easiest way to get camera images
- * to the dashboard. Just add this to the robot class constructor.
+ * dashboard without doing any vision processing. This is the easiest way to get camera images to
+ * the dashboard. Just add this to the robot class constructor.
 */
 public class Robot extends TimedRobot {
  public Robot() {
--- a/wpimath/robotpy_pybind_build_info.bzl
+++ b/wpimath/robotpy_pybind_build_info.bzl
@@ -1297,7 +1297,7 @@ def define_pybind_library(name, pkgcfgs = []):
            "//wpiutil:robotpy-wpiutil",
        ],
        strip_path_prefixes = ["wpimath/src/main/python", "wpimath"],
-        summary = "Binary wrapper for FRC WPIMath library",
+        summary = "Binary wrapper for WPILib Math library",
        project_urls = {"Source code": "https://github.com/robotpy/mostrobotpy"},
        author_email = "RobotPy Development Team <robotpy@googlegroups.com>",
        requires = ["robotpy-native-wpimath==0.0.0", "robotpy-wpiutil==0.0.0"],
--- a/wpimath/src/main/java/org/wpilib/math/util/Units.java
+++ b/wpimath/src/main/java/org/wpilib/math/util/Units.java
@@ -4,7 +4,7 @@

 package org.wpilib.math.util;

-/** Utility class that converts between commonly used units in FRC. */
+/** Utility class that converts between commonly used units in FIRST. */
 public final class Units {
  private static final double kInchesPerFoot = 12.0;
  private static final double kMetersPerInch = 0.0254;
--- a/wpimath/src/main/python/pyproject.toml
+++ b/wpimath/src/main/python/pyproject.toml
@@ -13,7 +13,7 @@ requires = [
 [project]
 name = "robotpy-wpimath"
 version = "0.0.0"
-description = "Binary wrapper for FRC WPIMath library"
+description = "Binary wrapper for WPILib Math library"
 authors = [
    {name = "RobotPy Development Team", email = "robotpy@googlegroups.com"},
 ]
@@ -1438,7 +1438,7 @@ types = [
 default_arg_cast = false

 [[tool.semiwrap.export_type_casters.wpimath-casters.headers]]
-header = "frc_eigen.h"
+header = "wpi_eigen.h"
 types = [
    "wpi::math::Vectord",
    "wpi::math::Matrixd",
--- a/wpimath/src/main/python/semiwrap/NumericalIntegration.yml
+++ b/wpimath/src/main/python/semiwrap/NumericalIntegration.yml
@@ -1,5 +1,5 @@
 extra_includes:
- frc_eigen.h
+- wpi_eigen.h
 - wpi/math/linalg/EigenCore.hpp
 - pybind11/functional.h

--- a/wpimath/src/main/python/semiwrap/NumericalJacobian.yml
+++ b/wpimath/src/main/python/semiwrap/NumericalJacobian.yml
@@ -1,5 +1,5 @@
 extra_includes:
- frc_eigen.h
+- wpi_eigen.h
 - wpi/math/linalg/EigenCore.hpp
 - pybind11/functional.h
 - pybind11/typing.h
--- a/wpimath/src/main/python/wpimath/_impl/src/type_casters/frc_eigen.h
+++ b/wpimath/src/main/python/wpimath/_impl/src/type_casters/frc_eigen.h
@@ -1,4 +0,0 @@
-#pragma once
-
-// the FRC types are just aliases for Eigen types, so use that
-#include <pybind11/eigen.h>
--- a/wpimath/src/main/python/wpimath/_impl/src/type_casters/wpi_eigen.h
+++ b/wpimath/src/main/python/wpimath/_impl/src/type_casters/wpi_eigen.h
@@ -0,0 +1,4 @@
+#pragma once
+
+// the WPILib types are just aliases for Eigen types, so use that
+#include <pybind11/eigen.h>
--- a/wpinet/robotpy_pybind_build_info.bzl
+++ b/wpinet/robotpy_pybind_build_info.bzl
@@ -157,7 +157,7 @@ def define_pybind_library(name, pkgcfgs = []):
            "//wpiutil:robotpy-wpiutil",
        ],
        strip_path_prefixes = ["wpinet/src/main/python", "wpinet"],
-        summary = "Binary wrapper for FRC wpinet library",
+        summary = "Binary wrapper for WPILib networking library",
        project_urls = {"Source code": "https://github.com/robotpy/mostrobotpy"},
        author_email = "RobotPy Development Team <robotpy@googlegroups.com>",
        requires = ["robotpy-native-wpinet==0.0.0", "robotpy-wpiutil==0.0.0"],
--- a/wpinet/src/main/python/pyproject.toml
+++ b/wpinet/src/main/python/pyproject.toml
@@ -13,7 +13,7 @@ requires = [
 [project]
 name = "robotpy-wpinet"
 version = "0.0.0"
-description = "Binary wrapper for FRC wpinet library"
+description = "Binary wrapper for WPILib networking library"
 authors = [
    {name = "RobotPy Development Team", email = "robotpy@googlegroups.com"},
 ]
--- a/wpiutil/robotpy_pybind_build_info.bzl
+++ b/wpiutil/robotpy_pybind_build_info.bzl
@@ -253,7 +253,7 @@ def define_pybind_library(name, pkgcfgs = []):
            "//wpiutil:robotpy-native-wpiutil",
        ],
        strip_path_prefixes = ["wpiutil/src/main/python", "wpiutil"],
-        summary = "Binary wrapper for FRC WPIUtil library",
+        summary = "Binary wrapper for WPILib utilities library",
        project_urls = {"Source code": "https://github.com/robotpy/mostrobotpy"},
        author_email = "RobotPy Development Team <robotpy@googlegroups.com>",
        requires = ["robotpy-native-wpiutil==0.0.0"],
--- a/wpiutil/src/main/native/cpp/jni/WPIUtilJNI.cpp
+++ b/wpiutil/src/main/native/cpp/jni/WPIUtilJNI.cpp
@@ -130,7 +130,7 @@ JNIEXPORT void JNICALL
 Java_org_wpilib_util_WPIUtilJNI_enableMockTime
  (JNIEnv*, jclass)
 {
-#ifdef __FRC_SYSTEMCORE__
+#ifdef __FIRST_SYSTEMCORE__
  wpi::util::print(stderr,
                   "WPIUtil: Mocking time is not available on systemcore\n");
 #else
--- a/wpiutil/src/main/native/cpp/sendable/SendableRegistry.cpp
+++ b/wpiutil/src/main/native/cpp/sendable/SendableRegistry.cpp
@@ -71,7 +71,7 @@ static SendableRegistryInst& GetInstance() {
  return *GetInstanceHolder();
 }

-#ifndef __FRC_SYSTEMCORE__
+#ifndef __FIRST_SYSTEMCORE__
 namespace wpi::util::impl {
 void ResetSendableRegistry() {
  std::make_unique<SendableRegistryInst>().swap(GetInstanceHolder());
--- a/wpiutil/src/main/native/cpp/timestamp.cpp
+++ b/wpiutil/src/main/native/cpp/timestamp.cpp
@@ -83,7 +83,7 @@ uint64_t wpi::util::NowDefault() {
  // delta by 1,000,000
  uint64_t delta_in_us = delta * 1000000ull / frequency_val;
  return delta_in_us + zerotime_val;
-#elif defined(__FRC_SYSTEMCORE__)
+#elif defined(__FIRST_SYSTEMCORE__)
  // We want clock synchronized across the system, so just use steady_clock.
  return timestamp();
 #else
--- a/wpiutil/src/main/native/include/wpi/util/priority_mutex.hpp
+++ b/wpiutil/src/main/native/include/wpi/util/priority_mutex.hpp
@@ -13,7 +13,7 @@

 namespace wpi::util {

-#if defined(__FRC_SYSTEMCORE__) && !defined(WPI_USE_PRIORITY_MUTEX)
+#if defined(__FIRST_SYSTEMCORE__) && !defined(WPI_USE_PRIORITY_MUTEX)
 #define WPI_USE_PRIORITY_MUTEX
 #endif

--- a/wpiutil/src/main/python/pyproject.toml
+++ b/wpiutil/src/main/python/pyproject.toml
@@ -11,7 +11,7 @@ requires = [
 [project]
 name = "robotpy-wpiutil"
 version = "0.0.0"
-description = "Binary wrapper for FRC WPIUtil library"
+description = "Binary wrapper for WPILib utilities library"
 authors = [
    {name = "RobotPy Development Team", email = "robotpy@googlegroups.com"},
 ]
--- a/wpiutil/src/main/python/wpiutil/src/main.cpp
+++ b/wpiutil/src/main/python/wpiutil/src/main.cpp
@@ -7,7 +7,7 @@ void cleanup_stack_trace_hook();
 void setup_safethread_gil();
 void cleanup_safethread_gil();

-#ifndef __FRC_SYSTEMCORE__
+#ifndef __FIRST_SYSTEMCORE__

 namespace wpi::util::impl {
 void ResetSendableRegistry();
--- a/xrpVendordep/XRPVendordep.json
+++ b/xrpVendordep/XRPVendordep.json
@@ -3,7 +3,7 @@
  "name": "XRP-Vendordep",
  "version": "1.0.0",
  "uuid": "1571a1a5-ed3f-4f07-b7eb-b2beb17394e0",
-  "frcYear": "2027_alpha1",
+  "wpilibYear": "2027_alpha4",
  "mavenUrls": [],
  "jsonUrl": "",
  "javaDependencies": [