[wpimath] Fix units typo (#7789)

Signed-off-by: Jade Turner <spacey-sooty@proton.me>

.bazelrc

@@ -16,9 +16,15 @@ import shared/bazel/compiler_flags/base_linux_flags.rc
 import shared/bazel/compiler_flags/linux_flags.rc
 import shared/bazel/compiler_flags/osx_flags.rc
 import shared/bazel/compiler_flags/roborio_flags.rc
+import shared/bazel/compiler_flags/systemcore_flags.rc
 import shared/bazel/compiler_flags/windows_flags.rc
 import shared/bazel/compiler_flags/coverage_flags.rc
 
+# Alias toolchain names to what wpilibsuite uses for CI/Artifact naming
+build:athena --config=roborio
+build:linuxarm32 --config=raspibookworm32
+build:linuxarm64 --config=bookworm64
+
 build:build_java --test_tag_filters=allwpilib-build-java --build_tag_filters=allwpilib-build-java
 build:build_cpp --test_tag_filters=+allwpilib-build-cpp --build_tag_filters=+allwpilib-build-cpp
 build:no_example --test_tag_filters=-wpi-example --build_tag_filters=-wpi-example

.github/labeler.yml

@@ -54,3 +54,12 @@
 'component: wpiutil':
 - changed-files:
   - any-glob-to-any-file: wpiutil/**
+'component: wpical':
+- changed-files:
+  - any-glob-to-any-file: wpical/**
+'component: usage reporting':
+- changed-files:
+  - any-glob-to-any-file: hal/src/generate/**
+'attn: NI':
+- changed-files:
+  - any-glob-to-any-file: hal/src/generate/**

.github/workflows/aql/wpilib-mvn-development_unused.aql

@@ -3,7 +3,7 @@
     {
       "aql": {
         "items.find": {
-          "repo": "wpilib-mvn-development",
+          "repo": "wpilib-mvn-development-local",
           "path": { "$nmatch":"*edu/wpi/first/thirdparty*" },
           "$or":[
             {

.github/workflows/artifactory-nightly-cleanup.yml

@@ -2,6 +2,8 @@ name: Artifactory Nightly Cleanup
 
 on:
   workflow_dispatch:
+  schedule:
+    - cron: '15 2 * * *'
 
 jobs:
   wpilib-mvn-development_unused_cleanup:

.github/workflows/labeler.yml

@@ -1,6 +1,6 @@
 name: "Pull Request Labeler"
 on:
-- pull_request_target
+  - pull_request_target
 
 jobs:
   labeler:
@@ -9,4 +9,6 @@ jobs:
       pull-requests: write
     runs-on: ubuntu-latest
     steps:
-    - uses: actions/labeler@v5
+      - uses: actions/labeler@v5
+        with:
+          sync-labels: true

.github/workflows/upstream-utils.yml

@@ -120,12 +120,6 @@ jobs:
           ./mpack.py clone
           ./mpack.py copy-src
           ./mpack.py format-patch
-      - name: Run stack_walker.py
-        run: |
-          cd upstream_utils
-          ./stack_walker.py clone
-          ./stack_walker.py copy-src
-          ./stack_walker.py format-patch
       - name: Run memory.py
         run: |
           cd upstream_utils

.gitignore

@@ -255,3 +255,6 @@ bazel_auth.rc
 
 # ctest
 /Testing/
+
+# Meson
+.meson-subproject*

ThirdPartyNotices.txt

@@ -33,7 +33,6 @@ jQuery                wpinet/src/main/native/resources/jquery-*
 popper.js             wpinet/src/main/native/resources/popper-*
 units                 wpimath/src/main/native/include/units/
 Eigen                 wpimath/src/main/native/thirdparty/eigen/include/
-StackWalker           wpiutil/src/main/native/windows/StackWalker.*
 Team 254 Library      wpimath/src/main/java/edu/wpi/first/math/spline/SplineParameterizer.java
                       wpimath/src/main/java/edu/wpi/first/math/trajectory/TrajectoryParameterizer.java
                       wpimath/src/main/native/include/frc/spline/SplineParameterizer.h
@@ -54,6 +53,7 @@ nanopb                wpiutil/src/main/native/thirdparty/nanopb
 protobuf              wpiutil/src/main/native/thirdparty/protobuf
 mrcal                 wpical/src/main/native/thirdparty/mrcal
 libdogleg             wpical/src/main/native/thirdparty/libdogleg
+Simd                  hal/src/main/native/athena/simd
 
 Additionally, glfw, memory, and nanopb were all modified for use in WPILib.
 
@@ -1025,35 +1025,6 @@ Exhibit B - "Incompatible With Secondary Licenses" Notice
   defined by the Mozilla Public License, v. 2.0.
 
 
-===================
-StackWalker License
-===================
-Copyright (c) 2005-2013, Jochen Kalmbach
-All rights reserved.
-
-Redistribution and use in source and binary forms, with or without modification,
-are permitted provided that the following conditions are met:
-
-Redistributions of source code must retain the above copyright notice,
-this list of conditions and the following disclaimer.
-Redistributions in binary form must reproduce the above copyright notice,
-this list of conditions and the following disclaimer in the documentation
-and/or other materials provided with the distribution.
-Neither the name of Jochen Kalmbach nor the names of its contributors may be
-used to endorse or promote products derived from this software without
-specific prior written permission.
-THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
-THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE
-FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
-DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
-SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
-OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
-OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-
-
 ================
 Team 254 Library
 ================
@@ -1702,3 +1673,29 @@ This program is free software: you can redistribute it and/or modify it under th
 This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more details.
 
 The full text of the license is available at http://www.gnu.org/licenses
+
+============
+Simd License
+============
+
+MIT License
+
+Copyright (c) 2011-2017 Ihar Yermalayeu
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.

WORKSPACE

@@ -35,8 +35,8 @@ maven_install(
 # Download toolchains
 http_archive(
     name = "rules_bzlmodrio_toolchains",
-    sha256 = "fe267e2af53c1def1e962700a9aeda9e8fdfa9fb46b72167c615ec0e25447dd6",
-    url = "https://github.com/wpilibsuite/rules_bzlmodRio_toolchains/releases/download/2025-1/rules_bzlmodRio_toolchains-2025-1.tar.gz",
+    sha256 = "ff25b5f9445cbd43759be4c6582b987d1065cf817c593eedc7ada1a699298c84",
+    url = "https://github.com/wpilibsuite/rules_bzlmodRio_toolchains/releases/download/2025-1.bcr2/rules_bzlmodRio_toolchains-2025-1.bcr2.tar.gz",
 )
 
 load("@rules_bzlmodrio_toolchains//:maven_deps.bzl", "setup_legacy_setup_toolchains_dependencies")
@@ -50,8 +50,8 @@ load_toolchains()
 #
 http_archive(
     name = "rules_bzlmodrio_jdk",
-    sha256 = "a00d5fa971fbcad8a17b1968cdc5350688397035e90b0cb94e040d375ecd97b4",
-    url = "https://github.com/wpilibsuite/rules_bzlmodRio_jdk/releases/download/17.0.8.1-1/rules_bzlmodRio_jdk-17.0.8.1-1.tar.gz",
+    sha256 = "81869fe9860e39b17e4a9bc1d33c1ca2faede7e31d9538ed0712406f753a2163",
+    url = "https://github.com/wpilibsuite/rules_bzlmodRio_jdk/releases/download/17.0.12-7/rules_bzlmodRio_jdk-17.0.12-7.tar.gz",
 )
 
 load("@rules_bzlmodrio_jdk//:maven_deps.bzl", "setup_legacy_setup_jdk_dependencies")
@@ -62,9 +62,15 @@ register_toolchains(
     "@local_roborio//:macos",
     "@local_roborio//:linux",
     "@local_roborio//:windows",
-    "@local_raspi_32//:macos",
-    "@local_raspi_32//:linux",
-    "@local_raspi_32//:windows",
+    "@local_systemcore//:macos",
+    "@local_systemcore//:linux",
+    "@local_systemcore//:windows",
+    "@local_raspi_bullseye_32//:macos",
+    "@local_raspi_bullseye_32//:linux",
+    "@local_raspi_bullseye_32//:windows",
+    "@local_raspi_bookworm_32//:macos",
+    "@local_raspi_bookworm_32//:linux",
+    "@local_raspi_bookworm_32//:windows",
     "@local_bullseye_32//:macos",
     "@local_bullseye_32//:linux",
     "@local_bullseye_32//:windows",
@@ -83,8 +89,8 @@ setup_legacy_setup_jdk_dependencies()
 
 http_archive(
     name = "bzlmodrio-ni",
-    sha256 = "197fceac88bf44fb8427d5e000b0083118d3346172dd2ad31eccf83a5e61b3ce",
-    url = "https://github.com/wpilibsuite/bzlmodRio-ni/releases/download/2025.0.0/bzlmodRio-ni-2025.0.0.tar.gz",
+    sha256 = "fff62c3cb3e83f9a0d0a01f1739477c9ca5e9a6fac05be1ad59dafcd385801f7",
+    url = "https://github.com/wpilibsuite/bzlmodRio-ni/releases/download/2025.2.0/bzlmodRio-ni-2025.2.0.tar.gz",
 )
 
 load("@bzlmodrio-ni//:maven_cpp_deps.bzl", "setup_legacy_bzlmodrio_ni_cpp_dependencies")
@@ -93,8 +99,8 @@ setup_legacy_bzlmodrio_ni_cpp_dependencies()
 
 http_archive(
     name = "bzlmodrio-opencv",
-    sha256 = "4f4a607956ca8555618736c3058dd96e09d02df19e95088c1e352d2319fd70c7",
-    url = "https://github.com/wpilibsuite/bzlmodRio-opencv/releases/download/2025.4.10.0-2/bzlmodRio-opencv-2025.4.10.0-2.tar.gz",
+    sha256 = "ba3f4910ce9cc0e08abff732aeb5835b1bcfd864ca5296edeadcf2935f7e81b9",
+    url = "https://github.com/wpilibsuite/bzlmodRio-opencv/releases/download/2025.4.10.0-3.bcr1/bzlmodRio-opencv-2025.4.10.0-3.bcr1.tar.gz",
 )
 
 load("@bzlmodrio-opencv//:maven_cpp_deps.bzl", "setup_legacy_bzlmodrio_opencv_cpp_dependencies")

apriltag/src/main/java/edu/wpi/first/apriltag/AprilTagFields.java

@@ -14,14 +14,16 @@ public enum AprilTagFields {
   k2023ChargedUp("2023-chargedup.json"),
   /** 2024 Crescendo. */
   k2024Crescendo("2024-crescendo.json"),
-  /** 2025 Reefscape. */
-  k2025Reefscape("2025-reefscape.json");
+  /** 2025 Reefscape Welded (see TU 12). */
+  k2025ReefscapeWelded("2025-reefscape-welded.json"),
+  /** 2025 Reefscape AndyMark (see TU 12). */
+  k2025ReefscapeAndyMark("2025-reefscape-andymark.json");
 
   /** Base resource directory. */
   public static final String kBaseResourceDir = "/edu/wpi/first/apriltag/";
 
   /** Alias to the current game. */
-  public static final AprilTagFields kDefaultField = k2025Reefscape;
+  public static final AprilTagFields kDefaultField = k2025ReefscapeWelded;
 
   /** Resource filename. */
   public final String m_resourceFile;

apriltag/src/main/native/cpp/AprilTagFieldLayout.cpp

@@ -133,7 +133,8 @@ namespace frc {
 std::string_view GetResource_2022_rapidreact_json();
 std::string_view GetResource_2023_chargedup_json();
 std::string_view GetResource_2024_crescendo_json();
-std::string_view GetResource_2025_reefscape_json();
+std::string_view GetResource_2025_reefscape_welded_json();
+std::string_view GetResource_2025_reefscape_andymark_json();
 
 }  // namespace frc
 
@@ -149,8 +150,11 @@ AprilTagFieldLayout AprilTagFieldLayout::LoadField(AprilTagField field) {
     case AprilTagField::k2024Crescendo:
       fieldString = GetResource_2024_crescendo_json();
       break;
-    case AprilTagField::k2025Reefscape:
-      fieldString = GetResource_2025_reefscape_json();
+    case AprilTagField::k2025ReefscapeWelded:
+      fieldString = GetResource_2025_reefscape_welded_json();
+      break;
+    case AprilTagField::k2025ReefscapeAndyMark:
+      fieldString = GetResource_2025_reefscape_andymark_json();
       break;
     case AprilTagField::kNumFields:
       throw std::invalid_argument("Invalid Field");

apriltag/src/main/native/include/frc/apriltag/AprilTagFields.h

@@ -20,10 +20,12 @@ enum class AprilTagField {
   k2023ChargedUp,
   /// 2024 Crescendo.
   k2024Crescendo,
-  /// 2025 Reefscape.
-  k2025Reefscape,
+  /// 2025 Reefscape AndyMark (see TU12).
+  k2025ReefscapeAndyMark,
+  /// 2025 Reefscape Welded (see TU12).
+  k2025ReefscapeWelded,
   /// Alias to the current game.
-  kDefaultField = k2025Reefscape,
+  kDefaultField = k2025ReefscapeWelded,
 
   // This is a placeholder for denoting the last supported field. This should
   // always be the last entry in the enum and should not be used by users

apriltag/src/main/native/resources/edu/wpi/first/apriltag/2025-reefscape-andymark.csv

@@ -0,0 +1,23 @@
+ID,X,Y,Z,Z-Rotation,X-Rotation
+1,656.98,24.73,58.5,126,0
+2,656.98,291.9,58.5,234,0
+3,452.4,316.21,51.25,270,0
+4,365.2,241.44,73.54,0,30
+5,365.2,75.19,73.54,0,30
+6,530.49,129.97,12.13,300,0
+7,546.87,158.3,12.13,0,0
+8,530.49,186.63,12.13,60,0
+9,497.77,186.63,12.13,120,0
+10,481.39,158.3,12.13,180,0
+11,497.77,129.97,12.13,240,0
+12,33.91,24.73,58.5,54,0
+13,33.91,291.9,58.5,306,0
+14,325.68,241.44,73.54,180,30
+15,325.68,75.19,73.54,180,30
+16,238.49,0.42,51.25,90,0
+17,160.39,129.97,12.13,240,0
+18,144,158.3,12.13,180,0
+19,160.39,186.63,12.13,120,0
+20,193.1,186.63,12.13,60,0
+21,209.49,158.3,12.13,0,0
+22,193.1,129.97,12.13,300,0

apriltag/src/main/native/resources/edu/wpi/first/apriltag/2025-reefscape-andymark.json

@@ -0,0 +1,404 @@
+{
+  "tags": [
+    {
+      "ID": 1,
+      "pose": {
+        "translation": {
+          "x": 16.687292,
+          "y": 0.628142,
+          "z": 1.4859
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 0.4539904997395468,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 0.8910065241883678
+          }
+        }
+      }
+    },
+    {
+      "ID": 2,
+      "pose": {
+        "translation": {
+          "x": 16.687292,
+          "y": 7.414259999999999,
+          "z": 1.4859
+        },
+        "rotation": {
+          "quaternion": {
+            "W": -0.45399049973954675,
+            "X": -0.0,
+            "Y": 0.0,
+            "Z": 0.8910065241883679
+          }
+        }
+      }
+    },
+    {
+      "ID": 3,
+      "pose": {
+        "translation": {
+          "x": 11.49096,
+          "y": 8.031733999999998,
+          "z": 1.30175
+        },
+        "rotation": {
+          "quaternion": {
+            "W": -0.7071067811865475,
+            "X": -0.0,
+            "Y": 0.0,
+            "Z": 0.7071067811865476
+          }
+        }
+      }
+    },
+    {
+      "ID": 4,
+      "pose": {
+        "translation": {
+          "x": 9.276079999999999,
+          "y": 6.132575999999999,
+          "z": 1.8679160000000001
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 0.9659258262890683,
+            "X": 0.0,
+            "Y": 0.25881904510252074,
+            "Z": 0.0
+          }
+        }
+      }
+    },
+    {
+      "ID": 5,
+      "pose": {
+        "translation": {
+          "x": 9.276079999999999,
+          "y": 1.9098259999999998,
+          "z": 1.8679160000000001
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 0.9659258262890683,
+            "X": 0.0,
+            "Y": 0.25881904510252074,
+            "Z": 0.0
+          }
+        }
+      }
+    },
+    {
+      "ID": 6,
+      "pose": {
+        "translation": {
+          "x": 13.474446,
+          "y": 3.3012379999999997,
+          "z": 0.308102
+        },
+        "rotation": {
+          "quaternion": {
+            "W": -0.8660254037844387,
+            "X": -0.0,
+            "Y": 0.0,
+            "Z": 0.49999999999999994
+          }
+        }
+      }
+    },
+    {
+      "ID": 7,
+      "pose": {
+        "translation": {
+          "x": 13.890498,
+          "y": 4.0208200000000005,
+          "z": 0.308102
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 1.0,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 0.0
+          }
+        }
+      }
+    },
+    {
+      "ID": 8,
+      "pose": {
+        "translation": {
+          "x": 13.474446,
+          "y": 4.740402,
+          "z": 0.308102
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 0.8660254037844387,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 0.49999999999999994
+          }
+        }
+      }
+    },
+    {
+      "ID": 9,
+      "pose": {
+        "translation": {
+          "x": 12.643358,
+          "y": 4.740402,
+          "z": 0.308102
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 0.5000000000000001,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 0.8660254037844386
+          }
+        }
+      }
+    },
+    {
+      "ID": 10,
+      "pose": {
+        "translation": {
+          "x": 12.227305999999999,
+          "y": 4.0208200000000005,
+          "z": 0.308102
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 6.123233995736766e-17,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 1.0
+          }
+        }
+      }
+    },
+    {
+      "ID": 11,
+      "pose": {
+        "translation": {
+          "x": 12.643358,
+          "y": 3.3012379999999997,
+          "z": 0.308102
+        },
+        "rotation": {
+          "quaternion": {
+            "W": -0.4999999999999998,
+            "X": -0.0,
+            "Y": 0.0,
+            "Z": 0.8660254037844387
+          }
+        }
+      }
+    },
+    {
+      "ID": 12,
+      "pose": {
+        "translation": {
+          "x": 0.8613139999999999,
+          "y": 0.628142,
+          "z": 1.4859
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 0.8910065241883679,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 0.45399049973954675
+          }
+        }
+      }
+    },
+    {
+      "ID": 13,
+      "pose": {
+        "translation": {
+          "x": 0.8613139999999999,
+          "y": 7.414259999999999,
+          "z": 1.4859
+        },
+        "rotation": {
+          "quaternion": {
+            "W": -0.8910065241883678,
+            "X": -0.0,
+            "Y": 0.0,
+            "Z": 0.45399049973954686
+          }
+        }
+      }
+    },
+    {
+      "ID": 14,
+      "pose": {
+        "translation": {
+          "x": 8.272272,
+          "y": 6.132575999999999,
+          "z": 1.8679160000000001
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 5.914589856893349e-17,
+            "X": -0.25881904510252074,
+            "Y": 1.5848095757158825e-17,
+            "Z": 0.9659258262890683
+          }
+        }
+      }
+    },
+    {
+      "ID": 15,
+      "pose": {
+        "translation": {
+          "x": 8.272272,
+          "y": 1.9098259999999998,
+          "z": 1.8679160000000001
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 5.914589856893349e-17,
+            "X": -0.25881904510252074,
+            "Y": 1.5848095757158825e-17,
+            "Z": 0.9659258262890683
+          }
+        }
+      }
+    },
+    {
+      "ID": 16,
+      "pose": {
+        "translation": {
+          "x": 6.057646,
+          "y": 0.010667999999999999,
+          "z": 1.30175
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 0.7071067811865476,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 0.7071067811865476
+          }
+        }
+      }
+    },
+    {
+      "ID": 17,
+      "pose": {
+        "translation": {
+          "x": 4.073905999999999,
+          "y": 3.3012379999999997,
+          "z": 0.308102
+        },
+        "rotation": {
+          "quaternion": {
+            "W": -0.4999999999999998,
+            "X": -0.0,
+            "Y": 0.0,
+            "Z": 0.8660254037844387
+          }
+        }
+      }
+    },
+    {
+      "ID": 18,
+      "pose": {
+        "translation": {
+          "x": 3.6576,
+          "y": 4.0208200000000005,
+          "z": 0.308102
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 6.123233995736766e-17,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 1.0
+          }
+        }
+      }
+    },
+    {
+      "ID": 19,
+      "pose": {
+        "translation": {
+          "x": 4.073905999999999,
+          "y": 4.740402,
+          "z": 0.308102
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 0.5000000000000001,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 0.8660254037844386
+          }
+        }
+      }
+    },
+    {
+      "ID": 20,
+      "pose": {
+        "translation": {
+          "x": 4.904739999999999,
+          "y": 4.740402,
+          "z": 0.308102
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 0.8660254037844387,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 0.49999999999999994
+          }
+        }
+      }
+    },
+    {
+      "ID": 21,
+      "pose": {
+        "translation": {
+          "x": 5.321046,
+          "y": 4.0208200000000005,
+          "z": 0.308102
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 1.0,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 0.0
+          }
+        }
+      }
+    },
+    {
+      "ID": 22,
+      "pose": {
+        "translation": {
+          "x": 4.904739999999999,
+          "y": 3.3012379999999997,
+          "z": 0.308102
+        },
+        "rotation": {
+          "quaternion": {
+            "W": -0.8660254037844387,
+            "X": -0.0,
+            "Y": 0.0,
+            "Z": 0.49999999999999994
+          }
+        }
+      }
+    }
+  ],
+  "field": {
+    "length": 17.548,
+    "width": 8.042
+  }
+}

buildSrc/build.gradle

@@ -9,5 +9,5 @@ repositories {
     }
 }
 dependencies {
-    implementation "edu.wpi.first:native-utils:2025.9.0"
+    implementation "edu.wpi.first:native-utils:2025.9.1"
 }

buildSrc/src/main/groovy/WPIJREArtifact.groovy

@@ -28,7 +28,7 @@ public class WPIJREArtifact extends MavenArtifact {
 
     private boolean checkJreVersion = true;
 
-    private final String artifactLocation = "edu.wpi.first.jdk:roborio-2024:17.0.9u7-1"
+    private final String artifactLocation = "edu.wpi.first.jdk:roborio-2024:17.0.9u7-3"
 
     @Inject
     public WPIJREArtifact(String name, RemoteTarget target) {

cmake/modules/CompileWarnings.cmake

@@ -46,7 +46,7 @@ macro(wpilib_target_warnings target)
 
     # Suppress warning "enumeration types with a fixed underlying type are a
     # Clang extension"
-    if(APPLE)
+    if(CMAKE_CXX_COMPILER_ID MATCHES "Clang")
         target_compile_options(${target} PRIVATE $<$<COMPILE_LANGUAGE:C>:-Wno-fixed-enum-extension>)
     endif()
 

epilogue-processor/src/main/java/edu/wpi/first/epilogue/processor/AnnotationProcessor.java

@@ -68,7 +68,9 @@ public class AnnotationProcessor extends AbstractProcessor {
               customLoggers.putAll(processCustomLoggers(roundEnv, customLogger));
             });
 
+    // Get all root types (classes and interfaces), excluding packages and modules
     roundEnv.getRootElements().stream()
+        .filter(e -> e instanceof TypeElement)
         .filter(
             e ->
                 processingEnv

epilogue-processor/src/test/java/edu/wpi/first/epilogue/processor/AnnotationProcessorTest.java

@@ -1974,6 +1974,37 @@ class AnnotationProcessorTest {
     assertLoggerGenerates(source, expectedRootLogger);
   }
 
+  @Test
+  void doesNotBreakWithPackageInfo() {
+    String source =
+        """
+        package example;
+
+        import edu.wpi.first.epilogue.*;
+
+        @Logged
+        class Example {}
+        """;
+
+    String packageInfo = """
+        package example;
+        """;
+
+    Compilation compilation =
+        javac()
+            .withOptions(kJavaVersionOptions)
+            .withProcessors(new AnnotationProcessor())
+            .compile(
+                JavaFileObjects.forSourceString("example.Example", source),
+                JavaFileObjects.forSourceString("example.package-info", packageInfo));
+
+    assertThat(compilation).succeeded();
+    compilation.generatedSourceFiles().stream()
+        .filter(jfo -> jfo.getName().contains("Example"))
+        .findFirst()
+        .orElseThrow(() -> new IllegalStateException("Logger file was not generated!"));
+  }
+
   private void assertCompilationError(
       String message, long lineNumber, long col, Diagnostic<? extends JavaFileObject> diagnostic) {
     assertAll(

epilogue-runtime/src/main/java/edu/wpi/first/epilogue/logging/LazyBackend.java

@@ -117,7 +117,7 @@ public class LazyBackend implements EpilogueBackend {
       return;
     }
 
-    m_previousValues.put(identifier, value);
+    m_previousValues.put(identifier, value.clone());
     m_backend.log(identifier, value);
   }
 
@@ -130,7 +130,7 @@ public class LazyBackend implements EpilogueBackend {
       return;
     }
 
-    m_previousValues.put(identifier, value);
+    m_previousValues.put(identifier, value.clone());
     m_backend.log(identifier, value);
   }
 
@@ -143,7 +143,7 @@ public class LazyBackend implements EpilogueBackend {
       return;
     }
 
-    m_previousValues.put(identifier, value);
+    m_previousValues.put(identifier, value.clone());
     m_backend.log(identifier, value);
   }
 
@@ -156,7 +156,7 @@ public class LazyBackend implements EpilogueBackend {
       return;
     }
 
-    m_previousValues.put(identifier, value);
+    m_previousValues.put(identifier, value.clone());
     m_backend.log(identifier, value);
   }
 
@@ -169,7 +169,7 @@ public class LazyBackend implements EpilogueBackend {
       return;
     }
 
-    m_previousValues.put(identifier, value);
+    m_previousValues.put(identifier, value.clone());
     m_backend.log(identifier, value);
   }
 
@@ -182,7 +182,7 @@ public class LazyBackend implements EpilogueBackend {
       return;
     }
 
-    m_previousValues.put(identifier, value);
+    m_previousValues.put(identifier, value.clone());
     m_backend.log(identifier, value);
   }
 
@@ -208,7 +208,7 @@ public class LazyBackend implements EpilogueBackend {
       return;
     }
 
-    m_previousValues.put(identifier, value);
+    m_previousValues.put(identifier, value.clone());
     m_backend.log(identifier, value);
   }
 
@@ -234,7 +234,7 @@ public class LazyBackend implements EpilogueBackend {
       return;
     }
 
-    m_previousValues.put(identifier, value);
+    m_previousValues.put(identifier, value.clone());
     m_backend.log(identifier, value, struct);
   }
 }

epilogue-runtime/src/test/java/edu/wpi/first/epilogue/logging/CustomStruct.java

@@ -0,0 +1,45 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package edu.wpi.first.epilogue.logging;
+
+import edu.wpi.first.util.struct.Struct;
+import edu.wpi.first.util.struct.StructSerializable;
+import java.nio.ByteBuffer;
+
+public record CustomStruct(int x) implements StructSerializable {
+  public static final Serializer struct = new Serializer();
+
+  public static final class Serializer implements Struct<CustomStruct> {
+    @Override
+    public Class<CustomStruct> getTypeClass() {
+      return CustomStruct.class;
+    }
+
+    @Override
+    public String getTypeName() {
+      return "CustomStruct";
+    }
+
+    @Override
+    public int getSize() {
+      return kSizeInt32;
+    }
+
+    @Override
+    public String getSchema() {
+      return "int32 x;";
+    }
+
+    @Override
+    public CustomStruct unpack(ByteBuffer bb) {
+      return new CustomStruct(bb.getInt());
+    }
+
+    @Override
+    public void pack(ByteBuffer bb, CustomStruct value) {
+      bb.putInt(value.x);
+    }
+  }
+}

epilogue-runtime/src/test/java/edu/wpi/first/epilogue/logging/LazyBackendTest.java

@@ -4,6 +4,7 @@
 
 package edu.wpi.first.epilogue.logging;
 
+import static org.junit.jupiter.api.Assertions.assertArrayEquals;
 import static org.junit.jupiter.api.Assertions.assertEquals;
 import static org.junit.jupiter.api.Assertions.assertSame;
 
@@ -53,4 +54,135 @@ class LazyBackendTest {
           backend.getEntries());
     }
   }
+
+  @Test
+  void inPlaceByteArray() {
+    var backend = new TestBackend();
+    var lazy = new LazyBackend(backend);
+
+    byte[] arr = new byte[] {0};
+    lazy.log("arr", arr);
+
+    arr[0] = 1;
+    lazy.log("arr", arr);
+
+    assertEquals(2, backend.getEntries().size());
+    assertArrayEquals(new byte[] {0}, (byte[]) backend.getEntries().get(0).value());
+    assertArrayEquals(new byte[] {1}, (byte[]) backend.getEntries().get(1).value());
+  }
+
+  @Test
+  void inPlaceIntArray() {
+    var backend = new TestBackend();
+    var lazy = new LazyBackend(backend);
+
+    int[] arr = new int[] {0};
+    lazy.log("arr", arr);
+
+    arr[0] = 1;
+    lazy.log("arr", arr);
+
+    assertEquals(2, backend.getEntries().size());
+    assertArrayEquals(new int[] {0}, (int[]) backend.getEntries().get(0).value());
+    assertArrayEquals(new int[] {1}, (int[]) backend.getEntries().get(1).value());
+  }
+
+  @Test
+  void inPlaceLongArray() {
+    var backend = new TestBackend();
+    var lazy = new LazyBackend(backend);
+
+    long[] arr = new long[] {0};
+    lazy.log("arr", arr);
+
+    arr[0] = 1;
+    lazy.log("arr", arr);
+
+    assertEquals(2, backend.getEntries().size());
+    assertArrayEquals(new long[] {0}, (long[]) backend.getEntries().get(0).value());
+    assertArrayEquals(new long[] {1}, (long[]) backend.getEntries().get(1).value());
+  }
+
+  @Test
+  void inPlaceFloatArray() {
+    var backend = new TestBackend();
+    var lazy = new LazyBackend(backend);
+
+    float[] arr = new float[] {0};
+    lazy.log("arr", arr);
+
+    arr[0] = 1;
+    lazy.log("arr", arr);
+
+    assertEquals(2, backend.getEntries().size());
+    assertArrayEquals(new float[] {0}, (float[]) backend.getEntries().get(0).value());
+    assertArrayEquals(new float[] {1}, (float[]) backend.getEntries().get(1).value());
+  }
+
+  @Test
+  void inPlaceDoubleArray() {
+    var backend = new TestBackend();
+    var lazy = new LazyBackend(backend);
+
+    double[] arr = new double[] {0};
+    lazy.log("arr", arr);
+
+    arr[0] = 1;
+    lazy.log("arr", arr);
+
+    assertEquals(2, backend.getEntries().size());
+    assertArrayEquals(new double[] {0}, (double[]) backend.getEntries().get(0).value());
+    assertArrayEquals(new double[] {1}, (double[]) backend.getEntries().get(1).value());
+  }
+
+  @Test
+  void inPlaceBooleanArray() {
+    var backend = new TestBackend();
+    var lazy = new LazyBackend(backend);
+
+    boolean[] arr = new boolean[] {false};
+    lazy.log("arr", arr);
+
+    arr[0] = true;
+    lazy.log("arr", arr);
+
+    assertEquals(2, backend.getEntries().size());
+    assertArrayEquals(new boolean[] {false}, (boolean[]) backend.getEntries().get(0).value());
+    assertArrayEquals(new boolean[] {true}, (boolean[]) backend.getEntries().get(1).value());
+  }
+
+  @Test
+  void inPlaceStringArray() {
+    var backend = new TestBackend();
+    var lazy = new LazyBackend(backend);
+
+    String[] arr = new String[] {"0"};
+    lazy.log("arr", arr);
+
+    arr[0] = "1";
+    lazy.log("arr", arr);
+
+    assertEquals(2, backend.getEntries().size());
+    assertArrayEquals(new String[] {"0"}, (String[]) backend.getEntries().get(0).value());
+    assertArrayEquals(new String[] {"1"}, (String[]) backend.getEntries().get(1).value());
+  }
+
+  @Test
+  void inPlaceStructArray() {
+    var backend = new TestBackend();
+    var lazy = new LazyBackend(backend);
+
+    CustomStruct[] arr = new CustomStruct[] {new CustomStruct(0)};
+
+    lazy.log("arr", arr, CustomStruct.struct);
+
+    arr[0] = new CustomStruct(1);
+    lazy.log("arr", arr, CustomStruct.struct);
+
+    assertEquals(2, backend.getEntries().size());
+    assertArrayEquals(
+        new byte[] {0x00, 0x00, 0x00, 0x00}, (byte[]) backend.getEntries().get(0).value());
+    assertArrayEquals(
+        new byte[] {0x01, 0x00, 0x00, 0x00}, (byte[]) backend.getEntries().get(1).value());
+  }
 }

epilogue-runtime/src/test/java/edu/wpi/first/epilogue/logging/TestBackend.java

@@ -55,32 +55,32 @@ public class TestBackend implements EpilogueBackend {
 
   @Override
   public void log(String identifier, byte[] value) {
-    m_entries.add(new LogEntry<>(identifier, value));
+    m_entries.add(new LogEntry<>(identifier, value.clone()));
   }
 
   @Override
   public void log(String identifier, int[] value) {
-    m_entries.add(new LogEntry<>(identifier, value));
+    m_entries.add(new LogEntry<>(identifier, value.clone()));
   }
 
   @Override
   public void log(String identifier, long[] value) {
-    m_entries.add(new LogEntry<>(identifier, value));
+    m_entries.add(new LogEntry<>(identifier, value.clone()));
   }
 
   @Override
   public void log(String identifier, float[] value) {
-    m_entries.add(new LogEntry<>(identifier, value));
+    m_entries.add(new LogEntry<>(identifier, value.clone()));
   }
 
   @Override
   public void log(String identifier, double[] value) {
-    m_entries.add(new LogEntry<>(identifier, value));
+    m_entries.add(new LogEntry<>(identifier, value.clone()));
   }
 
   @Override
   public void log(String identifier, boolean[] value) {
-    m_entries.add(new LogEntry<>(identifier, value));
+    m_entries.add(new LogEntry<>(identifier, value.clone()));
   }
 
   @Override
@@ -90,19 +90,27 @@ public class TestBackend implements EpilogueBackend {
 
   @Override
   public void log(String identifier, String[] value) {
-    m_entries.add(new LogEntry<>(identifier, value));
+    m_entries.add(new LogEntry<>(identifier, value.clone()));
   }
 
   @Override
   public <S> void log(String identifier, S value, Struct<S> struct) {
-    var serialized = StructBuffer.create(struct).write(value).array();
+    var buffer = StructBuffer.create(struct).write(value).position(0);
+    var serialized = new byte[buffer.capacity()];
+    for (int i = 0; i < buffer.capacity(); i++) {
+      serialized[i] = buffer.get();
+    }
 
     m_entries.add(new LogEntry<>(identifier, serialized));
   }
 
   @Override
   public <S> void log(String identifier, S[] value, Struct<S> struct) {
-    var serialized = StructBuffer.create(struct).writeArray(value).array();
+    var buffer = StructBuffer.create(struct).writeArray(value).position(0);
+    var serialized = new byte[buffer.capacity()];
+    for (int i = 0; i < buffer.capacity(); i++) {
+      serialized[i] = buffer.get();
+    }
 
     m_entries.add(new LogEntry<>(identifier, serialized));
   }

fieldImages/CMakeLists.txt

@@ -36,13 +36,13 @@ endif()
 
 generate_resources(
     src/main/native/resources/edu/wpi/first/fields
-    generated/main/cpp
+    ${CMAKE_CURRENT_BINARY_DIR}/generated/main/cpp
     FIELDS
     fields
     field_images_resources_src
 )
 
-add_library(fieldImages src/main/native/cpp/fields.cpp ${field_images_resources_src})
+add_library(fieldImages ${field_images_resources_src} src/main/native/cpp/fields.cpp)
 set_target_properties(fieldImages PROPERTIES DEBUG_POSTFIX "d")
 
 set_property(TARGET fieldImages PROPERTY FOLDER "libraries")

hal/src/generate/Instances.txt

@@ -15,6 +15,8 @@ kFramework_ROS = 5
 kFramework_RobotBuilder = 6
 kFramework_AdvantageKit = 7
 kFramework_MagicBot = 8
+kFramework_KitBotTraditional = 9
+kFramework_KitBotInline = 10
 kRobotDrive_ArcadeStandard = 1
 kRobotDrive_ArcadeButtonSpin = 2
 kRobotDrive_ArcadeRatioCurve = 3

hal/src/generated/main/java/edu/wpi/first/hal/FRCNetComm.java

@@ -317,6 +317,10 @@ public final class FRCNetComm {
     public static final int kFramework_AdvantageKit = 7;
     /** kFramework_MagicBot = 8. */
     public static final int kFramework_MagicBot = 8;
+    /** kFramework_KitBotTraditional = 9. */
+    public static final int kFramework_KitBotTraditional = 9;
+    /** kFramework_KitBotInline = 10. */
+    public static final int kFramework_KitBotInline = 10;
     /** kRobotDrive_ArcadeStandard = 1. */
     public static final int kRobotDrive_ArcadeStandard = 1;
     /** kRobotDrive_ArcadeButtonSpin = 2. */

hal/src/generated/main/native/include/hal/FRCUsageReporting.h

@@ -197,6 +197,8 @@ namespace HALUsageReporting {
     kFramework_RobotBuilder = 6,
     kFramework_AdvantageKit = 7,
     kFramework_MagicBot = 8,
+    kFramework_KitBotTraditional = 9,
+    kFramework_KitBotInline = 10,
     kRobotDrive_ArcadeStandard = 1,
     kRobotDrive_ArcadeButtonSpin = 2,
     kRobotDrive_ArcadeRatioCurve = 3,

hal/src/generated/main/native/include/hal/UsageReporting.h

@@ -170,6 +170,8 @@ typedef enum
     kFramework_RobotBuilder = 6,
     kFramework_AdvantageKit = 7,
     kFramework_MagicBot = 8,
+    kFramework_KitBotTraditional = 9,
+    kFramework_KitBotInline = 10,
     kRobotDrive_ArcadeStandard = 1,
     kRobotDrive_ArcadeButtonSpin = 2,
     kRobotDrive_ArcadeRatioCurve = 3,

hal/src/main/java/edu/wpi/first/hal/AddressableLEDJNI.java

@@ -10,6 +10,13 @@ package edu.wpi.first.hal;
  * @see "hal/AddressableLED.h"
  */
 public class AddressableLEDJNI extends JNIWrapper {
+  public static final int COLOR_ORDER_RGB = 0;
+  public static final int COLOR_ORDER_RBG = 1;
+  public static final int COLOR_ORDER_BGR = 2;
+  public static final int COLOR_ORDER_BRG = 3;
+  public static final int COLOR_ORDER_GBR = 4;
+  public static final int COLOR_ORDER_GRB = 5;
+
   /**
    * Initialize Addressable LED using a PWM Digital handle.
    *
@@ -27,6 +34,16 @@ public class AddressableLEDJNI extends JNIWrapper {
    */
   public static native void free(int handle);
 
+  /**
+   * Sets the color order for the addressable LED output. The default order is GRB.
+   *
+   * <p>This will take effect on the next call to {@link #setData(int, byte[])}.
+   *
+   * @param handle the Addressable LED handle
+   * @param colorOrder the color order
+   */
+  public static native void setColorOrder(int handle, int colorOrder);
+
   /**
    * Sets the length of the LED strip.
    *
@@ -53,7 +70,8 @@ public class AddressableLEDJNI extends JNIWrapper {
   /**
    * Sets the bit timing.
    *
-   * <p>By default, the driver is set up to drive WS2812Bs, so nothing needs to be set for those.
+   * <p>By default, the driver is set up to drive WS2812B and WS2815, so nothing needs to be set for
+   * those.
    *
    * @param handle the Addressable LED handle
    * @param highTime0NanoSeconds high time for 0 bit (default 400ns)
@@ -72,7 +90,7 @@ public class AddressableLEDJNI extends JNIWrapper {
   /**
    * Sets the sync time.
    *
-   * <p>The sync time is the time to hold output so LEDs enable. Default set for WS2812B.
+   * <p>The sync time is the time to hold output so LEDs enable. Default set for WS2812B and WS2815.
    *
    * @param handle the Addressable LED handle
    * @param syncTimeMicroSeconds the sync time (default 280us)

hal/src/main/java/edu/wpi/first/hal/SPIJNI.java

@@ -61,12 +61,12 @@ public class SPIJNI extends JNIWrapper {
    * @param port The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for MXP
    * @param dataToSend Buffer of data to send as part of the transaction.
    * @param dataReceived Buffer to read data into.
-   * @param size Number of bytes to transfer. [0..7]
+   * @param size Number of bytes to transfer.
    * @return Number of bytes transferred, -1 for error
    * @see "HAL_TransactionSPI"
    */
   public static native int spiTransaction(
-      int port, ByteBuffer dataToSend, ByteBuffer dataReceived, byte size);
+      int port, ByteBuffer dataToSend, ByteBuffer dataReceived, int size);
 
   /**
    * Performs an SPI send/receive transaction.
@@ -77,12 +77,12 @@ public class SPIJNI extends JNIWrapper {
    * @param port The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for MXP
    * @param dataToSend Buffer of data to send as part of the transaction.
    * @param dataReceived Buffer to read data into.
-   * @param size Number of bytes to transfer. [0..7]
+   * @param size Number of bytes to transfer.
    * @return Number of bytes transferred, -1 for error
    * @see "HAL_TransactionSPI"
    */
   public static native int spiTransactionB(
-      int port, byte[] dataToSend, byte[] dataReceived, byte size);
+      int port, byte[] dataToSend, byte[] dataReceived, int size);
 
   /**
    * Executes a write transaction with the device.
@@ -95,7 +95,7 @@ public class SPIJNI extends JNIWrapper {
    * @return The number of bytes written. -1 for an error
    * @see "HAL_WriteSPI"
    */
-  public static native int spiWrite(int port, ByteBuffer dataToSend, byte sendSize);
+  public static native int spiWrite(int port, ByteBuffer dataToSend, int sendSize);
 
   /**
    * Executes a write transaction with the device.
@@ -108,7 +108,7 @@ public class SPIJNI extends JNIWrapper {
    * @return The number of bytes written. -1 for an error
    * @see "HAL_WriteSPI"
    */
-  public static native int spiWriteB(int port, byte[] dataToSend, byte sendSize);
+  public static native int spiWriteB(int port, byte[] dataToSend, int sendSize);
 
   /**
    * Executes a read from the device.
@@ -121,11 +121,11 @@ public class SPIJNI extends JNIWrapper {
    * @param port The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for MXP
    * @param initiate initiates a transaction when true. Just reads when false.
    * @param dataReceived A pointer to the array of bytes to store the data read from the device.
-   * @param size The number of bytes to read in the transaction. [1..7]
+   * @param size The number of bytes to read in the transaction.
    * @return Number of bytes read. -1 for error.
    * @see "HAL_ReadSPI"
    */
-  public static native int spiRead(int port, boolean initiate, ByteBuffer dataReceived, byte size);
+  public static native int spiRead(int port, boolean initiate, ByteBuffer dataReceived, int size);
 
   /**
    * Executes a read from the device.
@@ -138,11 +138,11 @@ public class SPIJNI extends JNIWrapper {
    * @param port The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for MXP
    * @param initiate initiates a transaction when true. Just reads when false.
    * @param dataReceived A pointer to the array of bytes to store the data read from the device.
-   * @param size The number of bytes to read in the transaction. [1..7]
+   * @param size The number of bytes to read in the transaction.
    * @return Number of bytes read. -1 for error.
    * @see "HAL_ReadSPI"
    */
-  public static native int spiReadB(int port, boolean initiate, byte[] dataReceived, byte size);
+  public static native int spiReadB(int port, boolean initiate, byte[] dataReceived, int size);
 
   /**
    * Closes the SPI port.

hal/src/main/native/athena/AddressableLED.cpp

@@ -9,6 +9,7 @@
 
 #include <fmt/format.h>
 
+#include "AddressableLEDSimd.h"
 #include "ConstantsInternal.h"
 #include "DigitalInternal.h"
 #include "FPGACalls.h"
@@ -21,6 +22,7 @@
 #include "hal/handles/LimitedHandleResource.h"
 
 using namespace hal;
+using namespace hal::detail;
 
 namespace {
 struct AddressableLED {
@@ -28,6 +30,7 @@ struct AddressableLED {
   void* ledBuffer;
   size_t ledBufferSize;
   int32_t stringLength = 1;
+  HAL_AddressableLEDColorOrder colorOrder = HAL_ALED_GRB;
 };
 }  // namespace
 
@@ -47,6 +50,37 @@ void InitializeAddressableLED() {
 
 static constexpr const char* HmbName = "HMB_0_LED";
 
+static void ConvertAndCopyLEDData(void* dst,
+                                  const struct HAL_AddressableLEDData* src,
+                                  int32_t len,
+                                  HAL_AddressableLEDColorOrder order) {
+  switch (order) {
+    case HAL_ALED_GRB:
+      std::memcpy(dst, src, len * sizeof(HAL_AddressableLEDData));
+      break;
+    case HAL_ALED_RGB:
+      ConvertPixels<HAL_ALED_RGB>(reinterpret_cast<const uint8_t*>(src),
+                                  reinterpret_cast<uint8_t*>(dst), len);
+      break;
+    case HAL_ALED_RBG:
+      ConvertPixels<HAL_ALED_RBG>(reinterpret_cast<const uint8_t*>(src),
+                                  reinterpret_cast<uint8_t*>(dst), len);
+      break;
+    case HAL_ALED_BGR:
+      ConvertPixels<HAL_ALED_BGR>(reinterpret_cast<const uint8_t*>(src),
+                                  reinterpret_cast<uint8_t*>(dst), len);
+      break;
+    case HAL_ALED_BRG:
+      ConvertPixels<HAL_ALED_BRG>(reinterpret_cast<const uint8_t*>(src),
+                                  reinterpret_cast<uint8_t*>(dst), len);
+      break;
+    case HAL_ALED_GBR:
+      ConvertPixels<HAL_ALED_GBR>(reinterpret_cast<const uint8_t*>(src),
+                                  reinterpret_cast<uint8_t*>(dst), len);
+      break;
+  }
+}
+
 extern "C" {
 
 HAL_AddressableLEDHandle HAL_InitializeAddressableLED(
@@ -125,6 +159,19 @@ void HAL_FreeAddressableLED(HAL_AddressableLEDHandle handle) {
   addressableLEDHandles->Free(handle);
 }
 
+void HAL_SetAddressableLEDColorOrder(HAL_AddressableLEDHandle handle,
+                                     HAL_AddressableLEDColorOrder colorOrder,
+                                     int32_t* status) {
+  auto led = addressableLEDHandles->Get(handle);
+
+  if (!led) {
+    *status = HAL_HANDLE_ERROR;
+    return;
+  }
+
+  led->colorOrder = colorOrder;
+}
+
 void HAL_SetAddressableLEDOutputPort(HAL_AddressableLEDHandle handle,
                                      HAL_DigitalHandle outputPort,
                                      int32_t* status) {
@@ -203,7 +250,7 @@ void HAL_WriteAddressableLEDData(HAL_AddressableLEDHandle handle,
     return;
   }
 
-  std::memcpy(led->ledBuffer, data, length * sizeof(HAL_AddressableLEDData));
+  ConvertAndCopyLEDData(led->ledBuffer, data, length, led->colorOrder);
 
   asm("dmb");
 

hal/src/main/native/athena/AddressableLEDSimd.h

@@ -0,0 +1,273 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#pragma once
+#include <utility>
+
+#include "hal/AddressableLEDTypes.h"
+#include "simd/simd.h"
+
+// Timing info
+// https://developer.arm.com/documentation/ddi0409/i/instruction-timing/instruction-specific-scheduling/advanced-simd-load-store-instructions?lang=en
+
+namespace hal::detail {
+
+using namespace Simd::Neon;
+
+template <typename T>
+using ConvertFunc = void (*)(T);
+
+/*
+ * Conversion funtions perform in-place conversion by swapping elements.
+ * The names of the functions indicate the wire output (default GRB),
+ * but the FPGA takes sequences of BGR_.
+ */
+
+template <typename T>
+void ToRGB(T val) {
+  std::swap(val[1], val[2]);  // swap G and R
+}
+
+template <typename T>
+void ToRBG(T val) {
+  std::swap(val[1], val[2]);  // swap G and R
+  std::swap(val[0], val[2]);  // swap B and G
+}
+
+template <typename T>
+void ToBGR(T val) {
+  std::swap(val[0], val[1]);  // swap B and G
+  std::swap(val[0], val[2]);  // swap G and R
+}
+
+template <typename T>
+void ToBRG(T val) {
+  std::swap(val[0], val[1]);  // swap B and G
+}
+
+template <typename T>
+void ToGBR(T val) {
+  std::swap(val[0], val[2]);  // swap B and R
+}
+
+/**
+ * Copies 16 pixels from src to dst using NEON instructions, converting using
+ * the provided conversion function. Optimizes based on alignment of input and
+ * output arrays specified by srcAlign and dstAlign
+ * @tparam srcAlign whether src is aligned to the size of a NEON register (16
+ * bytes)
+ * @tparam dstAlign whether dst is aligned to the size of a NEON register (16
+ * bytes)
+ * @tparam the conversion function
+ * @param[in] src The source array
+ * @param[out] dst the destination array
+ * @pre src and dst must contain at least 64 bytes (16 pixels)
+ * @pre if srcAlign is true, src must be 16 byte aligned
+ * @pre if dstAlign is true, src muts be 16 byte aligned
+ */
+template <bool srcAlign, bool dstAlign, ConvertFunc<uint8x16_t*> Convert>
+void ConvertNEON_16(const uint8_t* src, uint8_t* dst) {
+  uint8x16x4_t pixels = Load4<srcAlign>(src);
+  Convert(pixels.val);
+  Store4<dstAlign>(dst, pixels);
+}
+
+/**
+ * Copies 8 pixels from src to dst using NEON instructions, converting using
+ * the provided conversion function. Optimizes based on alignment of input and
+ * output arrays specified by srcAlign and dstAlign
+ * @tparam srcAlign whether src is aligned to the size of a NEON register (16
+ * bytes)
+ * @tparam dstAlign whether dst is aligned to the size of a NEON register (16
+ * bytes)
+ * @tparam the conversion function
+ * @param[in] src The source array
+ * @param[out] dst the destination array
+ * @pre src and dst must contain at least 32 bytes (8 pixels)
+ * @pre if srcAlign is true, src must be 16 byte aligned
+ * @pre if dstAlign is true, src muts be 16 byte aligned
+ */
+template <bool srcAlign, bool dstAlign, ConvertFunc<uint8x8_t*> Convert>
+void ConvertNEON_8(const uint8_t* src, uint8_t* dst) {
+  uint8x8x4_t pixels = LoadHalf4<srcAlign>(src);
+  Convert(pixels.val);
+  Store4<dstAlign>(dst, pixels);
+}
+
+/**
+ * Copies 16 pixels from src to dst, converting from GRB (wire order) to order.
+ * Optimizes based on alignment of input and output arrays specified by srcAlign
+ * and dstAlign
+ * @tparam order the color order to convert to
+ * @tparam srcAlign whether src is aligned to the size of a NEON register (16
+ * bytes)
+ * @tparam dstAlign whether dst is aligned to the size of a NEON register (16
+ * bytes)
+ * @param[in] src The source array
+ * @param[out] dst the destination array
+ * @pre src and dst must contain at least 64 bytes (16 pixels)
+ * @pre if srcAlign is true, src must be 16 byte aligned
+ * @pre if dstAlign is true, src muts be 16 byte aligned
+ */
+template <HAL_AddressableLEDColorOrder order, bool srcAlign, bool dstAlign>
+void Convert16Pixels(const uint8_t* src, uint8_t* dst) {
+  switch (order) {
+    case HAL_ALED_RGB:
+      ConvertNEON_16<srcAlign, dstAlign, ToRGB>(src, dst);
+      break;
+    case HAL_ALED_RBG:
+      ConvertNEON_16<srcAlign, dstAlign, ToRBG>(src, dst);
+      break;
+    case HAL_ALED_BGR:
+      ConvertNEON_16<srcAlign, dstAlign, ToBGR>(src, dst);
+      break;
+    case HAL_ALED_BRG:
+      ConvertNEON_16<srcAlign, dstAlign, ToBRG>(src, dst);
+      break;
+    case HAL_ALED_GBR:
+      ConvertNEON_16<srcAlign, dstAlign, ToGBR>(src, dst);
+      break;
+  }
+}
+
+/**
+ * Copies 8 pixels from src to dst, converting from GRB (wire order) to order.
+ * Optimizes based on alignment of input and output arrays specified by srcAlign
+ * and dstAlign
+ * @tparam order the color order to convert to
+ * @tparam srcAlign whether src is aligned to the size of a NEON register (16
+ * bytes)
+ * @tparam dstAlign whether dst is aligned to the size of a NEON register (16
+ * bytes)
+ * @param[in] src The source array
+ * @param[out] dst the destination array
+ * @pre src and dst must contain at least 32 bytes (8 pixels)
+ * @pre if srcAlign is true, src must be 16 byte aligned
+ * @pre if dstAlign is true, src muts be 16 byte aligned
+ */
+template <HAL_AddressableLEDColorOrder order, bool srcAlign, bool dstAlign>
+void Convert8Pixels(const uint8_t* src, uint8_t* dst) {
+  switch (order) {
+    case HAL_ALED_RGB:
+      ConvertNEON_8<srcAlign, dstAlign, ToRGB>(src, dst);
+      break;
+    case HAL_ALED_RBG:
+      ConvertNEON_8<srcAlign, dstAlign, ToRBG>(src, dst);
+      break;
+    case HAL_ALED_BGR:
+      ConvertNEON_8<srcAlign, dstAlign, ToBGR>(src, dst);
+      break;
+    case HAL_ALED_BRG:
+      ConvertNEON_8<srcAlign, dstAlign, ToBRG>(src, dst);
+      break;
+    case HAL_ALED_GBR:
+      ConvertNEON_8<srcAlign, dstAlign, ToGBR>(src, dst);
+      break;
+  }
+}
+
+/**
+ * Copies 1 pixel from src to dst, converting from RGB to the specified order.
+ * @param[in] order the color order to convert to
+ * @param[in] in the source array
+ * @param[out] the destination array
+ * @pre in and out must contain at least 1 pixel (4 bytes).
+ */
+void Convert1Pixel(HAL_AddressableLEDColorOrder order, const uint8_t* src,
+                   uint8_t* dst) {
+  uint8_t tmp[4];
+  std::memcpy(tmp, src, 4);  // Load 4 bytes
+  // convert based on order
+  switch (order) {
+    case HAL_ALED_RGB:
+      ToRGB(tmp);
+      break;
+    case HAL_ALED_RBG:
+      ToRBG(tmp);
+      break;
+    case HAL_ALED_BGR:
+      ToBGR(tmp);
+      break;
+    case HAL_ALED_BRG:
+      ToBRG(tmp);
+      break;
+    case HAL_ALED_GBR:
+      ToGBR(tmp);
+      break;
+    case HAL_ALED_GRB:
+      break;  // this shouldn't ever get hit but compiler
+              // wants this to be exhaustive
+  }
+  std::memcpy(dst, tmp, 4);  // Store 4 bytes
+}
+/**
+ * Copies len pixels from src to dst, converting from GRB (wire order) to order.
+ * Optimizes based on alignment of input and output arrays specified by srcAlign
+ * and dstAlign
+ * @tparam order the color order to convert to
+ * @tparam srcAlign whether src is aligned to the size of a NEON register (16
+ * bytes)
+ * @tparam dstAlign whether dst is aligned to the size of a NEON register (16
+ * bytes)
+ * @param[in] src The source array
+ * @param[out] dst the destination array
+ * @param[in] len the size (in pixels, len = (size in bytes) / 4)
+ * @pre src and dst must have at least len*4 capacity in bytes
+ * @pre if srcAlign is true, src must be 16 byte aligned
+ * @pre if dstAlign is true, src muts be 16 byte aligned
+ */
+template <HAL_AddressableLEDColorOrder order, bool srcAlign, bool dstAlign>
+void ConvertPixels(const uint8_t* src, uint8_t* dst, size_t len) {
+  if (len >= 16) {
+    constexpr size_t A4 =
+        A * 4;  // Stride of 1 16-pixel conversion operation. (4 NEON registers)
+    size_t size = len * 4;
+    size_t aligned = Simd::AlignLo(
+        size, A4);  // number of bytes we can copy with whole 16-pixel strides
+    for (size_t i = 0; i < aligned; i += A4) {
+      Convert16Pixels<order, srcAlign, dstAlign>(src + i, dst + i);
+    }
+    if (aligned < size) {
+      Convert16Pixels<order, false, false>(
+          src + size - A4,
+          dst + size - A4);  // copy last 16 pixels, possibly recopying.
+    }
+  } else if (len >= 8) {
+    // If len between 8 and 16, we can do 1 or 2 8-pixel copies
+    Convert8Pixels<order, srcAlign, dstAlign>(src, dst);
+    if (len > 8) {
+      size_t recopyOffset = (len * 4) - (HA * 4);
+      Convert8Pixels<order, false, false>(
+          src + recopyOffset,
+          dst + recopyOffset);  // copy last 8 pixels, possibly recopying
+    }
+  } else {
+    // Just copy pixel-by-pixel for <8
+    for (size_t i = 0; i < len; i += 4) {
+      Convert1Pixel(order, src + i, dst + i);
+    }
+  }
+}
+
+/**
+ * Copies pixelCount pixels from src to dst, converting from RGB to the
+ * specified order
+ * @tparam order the color order to convert to
+ * @param src the source array
+ * @param dst the destination array
+ * @param pixelCount the number of pixels to convert and copy
+ */
+template <HAL_AddressableLEDColorOrder order>
+void ConvertPixels(const uint8_t* src, uint8_t* dst, size_t pixelCount) {
+  if (Aligned(src) && Aligned(dst)) {
+    ConvertPixels<order, true, true>(src, dst, pixelCount);
+  } else if (Aligned(src)) {
+    ConvertPixels<order, true, false>(src, dst, pixelCount);
+  } else if (Aligned(dst)) {
+    ConvertPixels<order, false, true>(src, dst, pixelCount);
+  } else {
+    ConvertPixels<order, false, false>(src, dst, pixelCount);
+  }
+}
+}  // namespace hal::detail

hal/src/main/native/athena/simd/simd.h

@@ -0,0 +1,174 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+// This file contains modified snippets from the Simd Library by Ihar Yermalayeu
+// (http://ermig1979.github.io/Simd). The original source file names are listed
+// above each section.
+/*
+ * Simd Library (http://ermig1979.github.io/Simd).
+ *
+ * Copyright (c) 2011-2024 Yermalayeu Ihar.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ * SOFTWARE.
+ */
+
+#pragma once
+
+#include <arm_neon.h>
+
+#include <cstddef>
+#include <cstring>
+
+// SimdLib.h
+#define SIMD_INLINE inline __attribute__((always_inline))
+
+// SimdMemory.h
+namespace Simd {
+SIMD_INLINE size_t AlignLo(size_t size, size_t align) {
+  return size & ~(align - 1);
+}
+
+SIMD_INLINE void* AlignLo(const void* ptr, size_t align) {
+  return reinterpret_cast<void*>(reinterpret_cast<size_t>(ptr) & ~(align - 1));
+}
+
+SIMD_INLINE bool Aligned(size_t size, size_t align) {
+  return size == AlignLo(size, align);
+}
+
+SIMD_INLINE bool Aligned(const void* ptr, size_t align) {
+  return ptr == AlignLo(ptr, align);
+}
+}  // namespace Simd
+namespace Simd::Neon {
+SIMD_INLINE bool Aligned(size_t size, size_t align = sizeof(uint8x16_t)) {
+  return Simd::Aligned(size, align);
+}
+
+SIMD_INLINE bool Aligned(const void* ptr, size_t align = sizeof(uint8x16_t)) {
+  return Simd::Aligned(ptr, align);
+}
+}  // namespace Simd::Neon
+
+// SimdConst.h
+namespace Simd::Neon {
+const size_t A = sizeof(uint8x16_t);
+const size_t DA = 2 * A;
+const size_t QA = 4 * A;
+const size_t OA = 8 * A;
+const size_t HA = A / 2;
+}  // namespace Simd::Neon
+
+// SimdLoad.h
+namespace Simd::Neon {
+template <bool align>
+SIMD_INLINE uint8x8x4_t LoadHalf4(const uint8_t* p);
+
+template <>
+SIMD_INLINE uint8x8x4_t LoadHalf4<false>(const uint8_t* p) {
+#if defined(__GNUC__) && SIMD_NEON_PREFECH_SIZE
+  __builtin_prefetch(p + SIMD_NEON_PREFECH_SIZE);
+#endif
+  return vld4_u8(p);
+}
+
+template <>
+SIMD_INLINE uint8x8x4_t LoadHalf4<true>(const uint8_t* p) {
+#if defined(__GNUC__)
+#if SIMD_NEON_PREFECH_SIZE
+  __builtin_prefetch(p + SIMD_NEON_PREFECH_SIZE);
+#endif
+  uint8_t* _p = static_cast<uint8_t*>(__builtin_assume_aligned(p, 8));
+  return vld4_u8(_p);
+#elif defined(_MSC_VER)
+  return vld4_u8_ex(p, 64);
+#else
+  return vld4_u8(p);
+#endif
+}
+
+template <bool align>
+SIMD_INLINE uint8x16x4_t Load4(const uint8_t* p);
+
+template <>
+SIMD_INLINE uint8x16x4_t Load4<false>(const uint8_t* p) {
+#if defined(__GNUC__) && SIMD_NEON_PREFECH_SIZE
+  __builtin_prefetch(p + SIMD_NEON_PREFECH_SIZE);
+#endif
+  return vld4q_u8(p);
+}
+
+template <>
+SIMD_INLINE uint8x16x4_t Load4<true>(const uint8_t* p) {
+#if defined(__GNUC__)
+#if SIMD_NEON_PREFECH_SIZE
+  __builtin_prefetch(p + SIMD_NEON_PREFECH_SIZE);
+#endif
+  uint8_t* _p = static_cast<uint8_t*>(__builtin_assume_aligned(p, 16));
+  return vld4q_u8(_p);
+#elif defined(_MSC_VER)
+  return vld4q_u8_ex(p, 128);
+#else
+  return vld4q_u8(p);
+#endif
+}
+
+// SimdStore.h
+template <bool align>
+SIMD_INLINE void Store4(uint8_t* p, uint8x16x4_t a);
+
+template <>
+SIMD_INLINE void Store4<false>(uint8_t* p, uint8x16x4_t a) {
+  vst4q_u8(p, a);
+}
+
+template <>
+SIMD_INLINE void Store4<true>(uint8_t* p, uint8x16x4_t a) {
+#if defined(__GNUC__)
+  uint8_t* _p = static_cast<uint8_t*>(__builtin_assume_aligned(p, 16));
+  vst4q_u8(_p, a);
+#elif defined(_MSC_VER)
+  vst4q_u8_ex(p, a, 128);
+#else
+  vst4q_u8(p, a);
+#endif
+}
+
+template <bool align>
+SIMD_INLINE void Store4(uint8_t* p, uint8x8x4_t a);
+
+template <>
+SIMD_INLINE void Store4<false>(uint8_t* p, uint8x8x4_t a) {
+  vst4_u8(p, a);
+}
+
+template <>
+SIMD_INLINE void Store4<true>(uint8_t* p, uint8x8x4_t a) {
+#if defined(__GNUC__)
+  uint8_t* _p = static_cast<uint8_t*>(__builtin_assume_aligned(p, 8));
+  vst4_u8(_p, a);
+#elif defined(_MSC_VER)
+  vst4_u8_ex(p, a, 64);
+#else
+  vst4_u8(p, a);
+#endif
+}
+
+}  // namespace Simd::Neon

hal/src/main/native/cpp/jni/AddressableLEDJNI.cpp

@@ -15,6 +15,19 @@ using namespace wpi::java;
 
 static_assert(sizeof(jbyte) * 4 == sizeof(HAL_AddressableLEDData));
 
+static_assert(edu_wpi_first_hal_AddressableLEDJNI_COLOR_ORDER_RGB ==
+              HAL_ALED_RGB);
+static_assert(edu_wpi_first_hal_AddressableLEDJNI_COLOR_ORDER_RBG ==
+              HAL_ALED_RBG);
+static_assert(edu_wpi_first_hal_AddressableLEDJNI_COLOR_ORDER_BGR ==
+              HAL_ALED_BGR);
+static_assert(edu_wpi_first_hal_AddressableLEDJNI_COLOR_ORDER_BRG ==
+              HAL_ALED_BRG);
+static_assert(edu_wpi_first_hal_AddressableLEDJNI_COLOR_ORDER_GBR ==
+              HAL_ALED_GBR);
+static_assert(edu_wpi_first_hal_AddressableLEDJNI_COLOR_ORDER_GRB ==
+              HAL_ALED_GRB);
+
 extern "C" {
 /*
  * Class:     edu_wpi_first_hal_AddressableLEDJNI
@@ -46,6 +59,22 @@ Java_edu_wpi_first_hal_AddressableLEDJNI_free
   }
 }
 
+/*
+ * Class:     edu_wpi_first_hal_AddressableLEDJNI
+ * Method:    setColorOrder
+ * Signature: (II)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_AddressableLEDJNI_setColorOrder
+  (JNIEnv* env, jclass, jint handle, jint colorOrder)
+{
+  int32_t status = 0;
+  HAL_SetAddressableLEDColorOrder(
+      static_cast<HAL_AddressableLEDHandle>(handle),
+      static_cast<HAL_AddressableLEDColorOrder>(colorOrder), &status);
+  CheckStatus(env, status);
+}
+
 /*
  * Class:     edu_wpi_first_hal_AddressableLEDJNI
  * Method:    setLength

hal/src/main/native/cpp/jni/SPIJNI.cpp

@@ -55,12 +55,12 @@ Java_edu_wpi_first_hal_SPIJNI_spiInitialize
 /*
  * Class:     edu_wpi_first_hal_SPIJNI
  * Method:    spiTransaction
- * Signature: (ILjava/lang/Object;Ljava/lang/Object;B)I
+ * Signature: (ILjava/lang/Object;Ljava/lang/Object;I)I
  */
 JNIEXPORT jint JNICALL
 Java_edu_wpi_first_hal_SPIJNI_spiTransaction
   (JNIEnv* env, jclass, jint port, jobject dataToSend, jobject dataReceived,
-   jbyte size)
+   jint size)
 {
   uint8_t* dataToSendPtr = nullptr;
   if (dataToSend != nullptr) {
@@ -77,12 +77,12 @@ Java_edu_wpi_first_hal_SPIJNI_spiTransaction
 /*
  * Class:     edu_wpi_first_hal_SPIJNI
  * Method:    spiTransactionB
- * Signature: (I[B[BB)I
+ * Signature: (I[B[BI)I
  */
 JNIEXPORT jint JNICALL
 Java_edu_wpi_first_hal_SPIJNI_spiTransactionB
   (JNIEnv* env, jclass, jint port, jbyteArray dataToSend,
-   jbyteArray dataReceived, jbyte size)
+   jbyteArray dataReceived, jint size)
 {
   if (size < 0) {
     ThrowIllegalArgumentException(env, "SPIJNI.spiTransactionB() size < 0");
@@ -104,11 +104,11 @@ Java_edu_wpi_first_hal_SPIJNI_spiTransactionB
 /*
  * Class:     edu_wpi_first_hal_SPIJNI
  * Method:    spiWrite
- * Signature: (ILjava/lang/Object;B)I
+ * Signature: (ILjava/lang/Object;I)I
  */
 JNIEXPORT jint JNICALL
 Java_edu_wpi_first_hal_SPIJNI_spiWrite
-  (JNIEnv* env, jclass, jint port, jobject dataToSend, jbyte size)
+  (JNIEnv* env, jclass, jint port, jobject dataToSend, jint size)
 {
   uint8_t* dataToSendPtr = nullptr;
   if (dataToSend != nullptr) {
@@ -123,11 +123,11 @@ Java_edu_wpi_first_hal_SPIJNI_spiWrite
 /*
  * Class:     edu_wpi_first_hal_SPIJNI
  * Method:    spiWriteB
- * Signature: (I[BB)I
+ * Signature: (I[BI)I
  */
 JNIEXPORT jint JNICALL
 Java_edu_wpi_first_hal_SPIJNI_spiWriteB
-  (JNIEnv* env, jclass, jint port, jbyteArray dataToSend, jbyte size)
+  (JNIEnv* env, jclass, jint port, jbyteArray dataToSend, jint size)
 {
   jint retVal = HAL_WriteSPI(static_cast<HAL_SPIPort>(port),
                              reinterpret_cast<const uint8_t*>(
@@ -139,12 +139,12 @@ Java_edu_wpi_first_hal_SPIJNI_spiWriteB
 /*
  * Class:     edu_wpi_first_hal_SPIJNI
  * Method:    spiRead
- * Signature: (IZLjava/lang/Object;B)I
+ * Signature: (IZLjava/lang/Object;I)I
  */
 JNIEXPORT jint JNICALL
 Java_edu_wpi_first_hal_SPIJNI_spiRead
   (JNIEnv* env, jclass, jint port, jboolean initiate, jobject dataReceived,
-   jbyte size)
+   jint size)
 {
   if (size < 0) {
     ThrowIllegalArgumentException(env, "SPIJNI.spiRead() size < 0");
@@ -169,12 +169,12 @@ Java_edu_wpi_first_hal_SPIJNI_spiRead
 /*
  * Class:     edu_wpi_first_hal_SPIJNI
  * Method:    spiReadB
- * Signature: (IZ[BB)I
+ * Signature: (IZ[BI)I
  */
 JNIEXPORT jint JNICALL
 Java_edu_wpi_first_hal_SPIJNI_spiReadB
   (JNIEnv* env, jclass, jint port, jboolean initiate, jbyteArray dataReceived,
-   jbyte size)
+   jint size)
 {
   if (size < 0) {
     ThrowIllegalArgumentException(env, "SPIJNI.spiReadB() size < 0");

hal/src/main/native/include/hal/AddressableLED.h

@@ -36,6 +36,17 @@ HAL_AddressableLEDHandle HAL_InitializeAddressableLED(
  */
 void HAL_FreeAddressableLED(HAL_AddressableLEDHandle handle);
 
+/**
+ * Sets the color order for the addressable LED output. The default order is
+ * GRB. This will take effect on the next call to HAL_WriteAddressableLEDData().
+ * @param[in] handle the Addressable LED handle
+ * @param[in] colorOrder the color order
+ * @param[out] status the error code, or 0 for success
+ */
+void HAL_SetAddressableLEDColorOrder(HAL_AddressableLEDHandle handle,
+                                     HAL_AddressableLEDColorOrder colorOrder,
+                                     int32_t* status);
+
 /**
  * Set the Addressable LED PWM Digital port.
  *
@@ -77,8 +88,8 @@ void HAL_WriteAddressableLEDData(HAL_AddressableLEDHandle handle,
 /**
  * Sets the bit timing.
  *
- * <p>By default, the driver is set up to drive WS2812Bs, so nothing needs to
- * be set for those.
+ * <p>By default, the driver is set up to drive WS2812B and WS2815, so nothing
+ * needs to be set for those.
  *
  * @param[in] handle the Addressable LED handle
  * @param[in] highTime0NanoSeconds high time for 0 bit (default 400ns)
@@ -98,7 +109,7 @@ void HAL_SetAddressableLEDBitTiming(HAL_AddressableLEDHandle handle,
  * Sets the sync time.
  *
  * <p>The sync time is the time to hold output so LEDs enable. Default set for
- * WS2812B.
+ * WS2812B and WS2815.
  *
  * @param[in] handle the Addressable LED handle
  * @param[in] syncTimeMicroSeconds the sync time (default 280us)

hal/src/main/native/include/hal/AddressableLEDTypes.h

@@ -4,6 +4,7 @@
 
 #pragma once
 
+#include <hal/Types.h>
 #include <stdint.h>
 
 /** max length of LED strip supported by FPGA. */
@@ -16,3 +17,21 @@ struct HAL_AddressableLEDData {
   uint8_t r;  ///< red value
   uint8_t padding;
 };
+
+/**
+ * Order that color data is sent over the wire.
+ */
+HAL_ENUM(HAL_AddressableLEDColorOrder) {
+  HAL_ALED_RGB,
+  HAL_ALED_RBG,
+  HAL_ALED_BGR,
+  HAL_ALED_BRG,
+  HAL_ALED_GBR,
+  HAL_ALED_GRB
+};
+
+#ifdef __cplusplus
+constexpr auto format_as(HAL_AddressableLEDColorOrder order) {
+  return static_cast<int32_t>(order);
+}
+#endif

hal/src/main/native/sim/AddressableLED.cpp

@@ -91,6 +91,10 @@ void HAL_FreeAddressableLED(HAL_AddressableLEDHandle handle) {
   SimAddressableLEDData[led->index].initialized = false;
 }
 
+void HAL_SetAddressableLEDColorOrder(HAL_AddressableLEDHandle handle,
+                                     HAL_AddressableLEDColorOrder colorOrder,
+                                     int32_t* status) {}
+
 void HAL_SetAddressableLEDOutputPort(HAL_AddressableLEDHandle handle,
                                      HAL_DigitalHandle outputPort,
                                      int32_t* status) {

shared/bazel/compiler_flags/systemcore_flags.rc

@@ -0,0 +1,10 @@
+
+build:systemcore --config=base_linux
+
+build:systemcore --platforms=@rules_bzlmodrio_toolchains//platforms/systemcore
+build:systemcore --build_tag_filters=-no-bookworm
+build:systemcore --features=compiler_param_file
+build:systemcore --platform_suffix=systemcore
+build:systemcore --incompatible_enable_cc_toolchain_resolution
+
+build:systemcore --cxxopt=-Wno-error=deprecated-declarations

sysid/src/main/native/cpp/App.cpp

@@ -106,8 +106,10 @@ void Application(std::string_view saveDir) {
   auto analyzer = std::make_unique<sysid::Analyzer>(storage, gLogger);
 
   logLoader->unload.connect([ds = dataSelector.get()] { ds->Reset(); });
-  dataSelector->testdata = [_analyzer = analyzer.get()](auto data) {
+  dataSelector->testdata = [_analyzer = analyzer.get(),
+                            ds = dataSelector.get()](auto data) {
     _analyzer->m_data = data;
+    _analyzer->SetMissingTests(ds->m_missingTests);
     _analyzer->AnalyzeData();
   };
 

sysid/src/main/native/cpp/view/Analyzer.cpp

@@ -10,6 +10,7 @@
 #include <numbers>
 #include <string>
 #include <thread>
+#include <vector>
 
 #include <fmt/format.h>
 #include <glass/Context.h>
@@ -251,6 +252,13 @@ void Analyzer::Display() {
       }
       break;
     }
+    case AnalyzerState::kMissingTestsError: {
+      CreateErrorPopup(m_errorPopup, m_exception);
+      if (!m_errorPopup) {
+        m_state = AnalyzerState::kWaitingForData;
+      }
+      break;
+    }
     case AnalyzerState::kGeneralDataError:
     case AnalyzerState::kTestDurationError:
     case AnalyzerState::kVelocityThresholdError: {
@@ -269,6 +277,9 @@ void Analyzer::Display() {
 void Analyzer::PrepareData() {
   WPI_INFO(m_logger, "{}", "Preparing data");
   try {
+    if (m_missingTests.size() > 0) {
+      throw sysid::MissingTestsError{m_missingTests};
+    }
     m_manager->PrepareData();
     UpdateFeedforwardGains();
     UpdateFeedbackGains();
@@ -281,6 +292,9 @@ void Analyzer::PrepareData() {
   } catch (const sysid::NoDynamicDataError& e) {
     m_state = AnalyzerState::kTestDurationError;
     HandleError(e.what());
+  } catch (const sysid::MissingTestsError& e) {
+    m_state = AnalyzerState::kMissingTestsError;
+    HandleError(e.what());
   } catch (const AnalysisManager::FileReadingError& e) {
     m_state = AnalyzerState::kFileError;
     HandleError(e.what());
@@ -324,6 +338,10 @@ void Analyzer::HandleError(std::string_view msg) {
   PrepareRawGraphs();
 }
 
+void Analyzer::SetMissingTests(const std::vector<std::string>& missingTests) {
+  m_missingTests = missingTests;
+}
+
 void Analyzer::DisplayGraphs() {
   ImGui::SetNextWindowPos(ImVec2{kDiagnosticPlotWindowPos},
                           ImGuiCond_FirstUseEver);

sysid/src/main/native/cpp/view/DataSelector.cpp

@@ -6,6 +6,7 @@
 
 #include <algorithm>
 #include <string>
+#include <string_view>
 #include <utility>
 #include <vector>
 
@@ -111,6 +112,7 @@ void DataSelector::Display() {
           continue;
         }
         WPI_INFO(m_logger, "Loaded test state {}", it2->first);
+        m_executedTests.insert(it2->first);
         ++it2;
       }
       if (it->second.empty()) {
@@ -132,6 +134,15 @@ void DataSelector::Display() {
     return;
   }
 
+  if (m_executedTests.size() < 4 && !m_testCountValidated) {
+    for (auto test : kValidTests) {
+      if (!m_executedTests.contains(test)) {
+        m_missingTests.push_back(test);
+        m_testCountValidated = true;
+      }
+    }
+  }
+
 #if 0
   // Test filtering
   if (ImGui::BeginCombo("Test", m_selectedTest.c_str())) {

sysid/src/main/native/include/sysid/analysis/FilteringUtils.h

@@ -4,15 +4,16 @@
 
 #pragma once
 
-#include <cmath>
 #include <exception>
 #include <functional>
 #include <string>
 #include <string_view>
 #include <tuple>
+#include <utility>
 #include <vector>
 
 #include <fmt/format.h>
+#include <fmt/ranges.h>
 #include <frc/filter/LinearFilter.h>
 #include <units/time.h>
 #include <wpi/StringMap.h>
@@ -68,6 +69,25 @@ class NoQuasistaticDataError : public std::exception {
   }
 };
 
+/**
+ * Exception for not all tests being present.
+ */
+class MissingTestsError : public std::exception {
+ public:
+  explicit MissingTestsError(std::vector<std::string> MissingTests)
+      : missingTests(std::move(MissingTests)) {
+    errorString = fmt::format(
+        "The following tests were not detected: {}. Make sure to perform all "
+        "four tests as described in the SysId documentation.",
+        fmt::join(missingTests, ", "));
+  }
+  const char* what() const noexcept override { return errorString.c_str(); }
+
+ private:
+  std::vector<std::string> missingTests;
+  std::string errorString;
+};
+
 /**
  * Exception for Dynamic Data being completely removed.
  */

sysid/src/main/native/include/sysid/view/Analyzer.h

@@ -8,6 +8,7 @@
 #include <string>
 #include <string_view>
 #include <thread>
+#include <vector>
 
 #include <glass/View.h>
 #include <implot.h>
@@ -46,6 +47,7 @@ class Analyzer : public glass::View {
     kVelocityThresholdError,
     kTestDurationError,
     kGeneralDataError,
+    kMissingTestsError,
     kFileError
   };
   /**
@@ -91,6 +93,11 @@ class Analyzer : public glass::View {
    */
   void AnalyzeData();
 
+  /**
+   * Used by DataSelector to import any missing tests.
+   */
+  void SetMissingTests(const std::vector<std::string>& missingTests);
+
  private:
   /**
    * Kills the data preparation thread
@@ -199,6 +206,7 @@ class Analyzer : public glass::View {
 
   // Stores the exception message.
   std::string m_exception;
+  std::vector<std::string> m_missingTests;
 
   bool m_calcDefaults = false;
 

sysid/src/main/native/include/sysid/view/DataSelector.h

@@ -7,6 +7,7 @@
 #include <functional>
 #include <future>
 #include <map>
+#include <set>
 #include <string>
 #include <utility>
 #include <vector>
@@ -55,6 +56,7 @@ class DataSelector : public glass::View {
    * Called when new test data is loaded.
    */
   std::function<void(TestData)> testdata;
+  std::vector<std::string> m_missingTests;
 
  private:
   wpi::Logger& m_logger;
@@ -74,6 +76,11 @@ class DataSelector : public glass::View {
   int m_selectedAnalysis = 0;
   std::future<TestData> m_testdataFuture;
   std::vector<std::string> m_testdataStats;
+  std::set<std::string> kValidTests = {"quasistatic-forward",
+                                       "quasistatic-reverse", "dynamic-forward",
+                                       "dynamic-reverse"};
+  std::set<std::string> m_executedTests;
+  bool m_testCountValidated = false;
 
   static Tests LoadTests(const glass::DataLogReaderEntry& testStateEntry);
   TestData BuildTestData();

upstream_utils/eigen_patches/0001-Disable-warnings.patch

@@ -1,7 +1,7 @@
 From 0000000000000000000000000000000000000000 Mon Sep 17 00:00:00 2001
 From: Tyler Veness <calcmogul@gmail.com>
 Date: Wed, 18 May 2022 09:14:24 -0700
-Subject: [PATCH 1/2] Disable warnings
+Subject: [PATCH 1/3] Disable warnings
 
 ---
  Eigen/src/Core/util/DisableStupidWarnings.h | 6 ++++++

upstream_utils/eigen_patches/0002-Intellisense-fix.patch

@@ -1,7 +1,7 @@
 From 0000000000000000000000000000000000000000 Mon Sep 17 00:00:00 2001
 From: Peter Johnson <johnson.peter@gmail.com>
 Date: Fri, 20 Jan 2023 23:41:56 -0800
-Subject: [PATCH 2/2] Intellisense fix
+Subject: [PATCH 2/3] Intellisense fix
 
 ---
  Eigen/src/Core/util/ConfigureVectorization.h | 7 +++++++

upstream_utils/eigen_patches/0003-Make-assignment-constexpr.patch

@@ -0,0 +1,305 @@
+From 0000000000000000000000000000000000000000 Mon Sep 17 00:00:00 2001
+From: Tyler Veness <calcmogul@gmail.com>
+Date: Sun, 12 Jan 2025 21:04:07 -0800
+Subject: [PATCH 3/3] Make assignment constexpr
+
+---
+ Eigen/src/Core/AssignEvaluator.h             | 165 +++++++++++--------
+ Eigen/src/Core/EigenBase.h                   |   2 +-
+ Eigen/src/Core/functors/AssignmentFunctors.h |   2 +-
+ 3 files changed, 102 insertions(+), 67 deletions(-)
+
+diff --git a/Eigen/src/Core/AssignEvaluator.h b/Eigen/src/Core/AssignEvaluator.h
+index f7f0b238b8ca70bbc9100262479cc1dbebab9979..9c2436afa7fe98692a036e6ef255ed104a5bf388 100644
+--- a/Eigen/src/Core/AssignEvaluator.h
++++ b/Eigen/src/Core/AssignEvaluator.h
+@@ -263,7 +263,7 @@ struct copy_using_evaluator_innervec_CompleteUnrolling {
+     DstAlignment = Kernel::AssignmentTraits::DstAlignment
+   };
+ 
+-  EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE void run(Kernel& kernel) {
++  EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE constexpr void run(Kernel& kernel) {
+     kernel.template assignPacketByOuterInner<DstAlignment, SrcAlignment, PacketType>(outer, inner);
+     enum { NextIndex = Index + unpacket_traits<PacketType>::size };
+     copy_using_evaluator_innervec_CompleteUnrolling<Kernel, NextIndex, Stop>::run(kernel);
+@@ -431,17 +431,25 @@ struct dense_assignment_loop<Kernel, LinearVectorizedTraversal, NoUnrolling> {
+ template <typename Kernel>
+ struct dense_assignment_loop<Kernel, LinearVectorizedTraversal, CompleteUnrolling> {
+   EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE EIGEN_CONSTEXPR void run(Kernel& kernel) {
+-    typedef typename Kernel::DstEvaluatorType::XprType DstXprType;
+-    typedef typename Kernel::PacketType PacketType;
+-
+-    enum {
+-      size = DstXprType::SizeAtCompileTime,
+-      packetSize = unpacket_traits<PacketType>::size,
+-      alignedSize = (int(size) / packetSize) * packetSize
+-    };
+-
+-    copy_using_evaluator_linearvec_CompleteUnrolling<Kernel, 0, alignedSize>::run(kernel);
+-    copy_using_evaluator_LinearTraversal_CompleteUnrolling<Kernel, alignedSize, size>::run(kernel);
++    if (internal::is_constant_evaluated()) {
++      for (Index outer = 0; outer < kernel.outerSize(); ++outer) {
++        for (Index inner = 0; inner < kernel.innerSize(); ++inner) {
++          kernel.assignCoeffByOuterInner(outer, inner);
++        }
++      }
++    } else {
++      typedef typename Kernel::DstEvaluatorType::XprType DstXprType;
++      typedef typename Kernel::PacketType PacketType;
++
++      enum {
++        size = DstXprType::SizeAtCompileTime,
++        packetSize = unpacket_traits<PacketType>::size,
++        alignedSize = (int(size) / packetSize) * packetSize
++      };
++
++      copy_using_evaluator_linearvec_CompleteUnrolling<Kernel, 0, alignedSize>::run(kernel);
++      copy_using_evaluator_LinearTraversal_CompleteUnrolling<Kernel, alignedSize, size>::run(kernel);
++    }
+   }
+ };
+ 
+@@ -465,9 +473,17 @@ struct dense_assignment_loop<Kernel, InnerVectorizedTraversal, NoUnrolling> {
+ 
+ template <typename Kernel>
+ struct dense_assignment_loop<Kernel, InnerVectorizedTraversal, CompleteUnrolling> {
+-  EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE void run(Kernel& kernel) {
+-    typedef typename Kernel::DstEvaluatorType::XprType DstXprType;
+-    copy_using_evaluator_innervec_CompleteUnrolling<Kernel, 0, DstXprType::SizeAtCompileTime>::run(kernel);
++  EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE constexpr void run(Kernel& kernel) {
++    if (internal::is_constant_evaluated()) {
++      for (Index outer = 0; outer < kernel.outerSize(); ++outer) {
++        for (Index inner = 0; inner < kernel.innerSize(); ++inner) {
++          kernel.assignCoeffByOuterInner(outer, inner);
++        }
++      }
++    } else {
++      typedef typename Kernel::DstEvaluatorType::XprType DstXprType;
++      copy_using_evaluator_innervec_CompleteUnrolling<Kernel, 0, DstXprType::SizeAtCompileTime>::run(kernel);
++    }
+   }
+ };
+ 
+@@ -498,8 +514,16 @@ struct dense_assignment_loop<Kernel, LinearTraversal, NoUnrolling> {
+ template <typename Kernel>
+ struct dense_assignment_loop<Kernel, LinearTraversal, CompleteUnrolling> {
+   EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE EIGEN_CONSTEXPR void run(Kernel& kernel) {
+-    typedef typename Kernel::DstEvaluatorType::XprType DstXprType;
+-    copy_using_evaluator_LinearTraversal_CompleteUnrolling<Kernel, 0, DstXprType::SizeAtCompileTime>::run(kernel);
++    if (internal::is_constant_evaluated()) {
++      for (Index outer = 0; outer < kernel.outerSize(); ++outer) {
++        for (Index inner = 0; inner < kernel.innerSize(); ++inner) {
++          kernel.assignCoeffByOuterInner(outer, inner);
++        }
++      }
++    } else {
++      typedef typename Kernel::DstEvaluatorType::XprType DstXprType;
++      copy_using_evaluator_LinearTraversal_CompleteUnrolling<Kernel, 0, DstXprType::SizeAtCompileTime>::run(kernel);
++    }
+   }
+ };
+ 
+@@ -510,41 +534,49 @@ struct dense_assignment_loop<Kernel, LinearTraversal, CompleteUnrolling> {
+ template <typename Kernel>
+ struct dense_assignment_loop<Kernel, SliceVectorizedTraversal, NoUnrolling> {
+   EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE EIGEN_CONSTEXPR void run(Kernel& kernel) {
+-    typedef typename Kernel::Scalar Scalar;
+-    typedef typename Kernel::PacketType PacketType;
+-    enum {
+-      packetSize = unpacket_traits<PacketType>::size,
+-      requestedAlignment = int(Kernel::AssignmentTraits::InnerRequiredAlignment),
+-      alignable =
+-          packet_traits<Scalar>::AlignedOnScalar || int(Kernel::AssignmentTraits::DstAlignment) >= sizeof(Scalar),
+-      dstIsAligned = int(Kernel::AssignmentTraits::DstAlignment) >= int(requestedAlignment),
+-      dstAlignment = alignable ? int(requestedAlignment) : int(Kernel::AssignmentTraits::DstAlignment)
+-    };
+-    const Scalar* dst_ptr = kernel.dstDataPtr();
+-    if ((!bool(dstIsAligned)) && (std::uintptr_t(dst_ptr) % sizeof(Scalar)) > 0) {
+-      // the pointer is not aligned-on scalar, so alignment is not possible
+-      return dense_assignment_loop<Kernel, DefaultTraversal, NoUnrolling>::run(kernel);
+-    }
+-    const Index packetAlignedMask = packetSize - 1;
+-    const Index innerSize = kernel.innerSize();
+-    const Index outerSize = kernel.outerSize();
+-    const Index alignedStep = alignable ? (packetSize - kernel.outerStride() % packetSize) & packetAlignedMask : 0;
+-    Index alignedStart =
+-        ((!alignable) || bool(dstIsAligned)) ? 0 : internal::first_aligned<requestedAlignment>(dst_ptr, innerSize);
+-
+-    for (Index outer = 0; outer < outerSize; ++outer) {
+-      const Index alignedEnd = alignedStart + ((innerSize - alignedStart) & ~packetAlignedMask);
+-      // do the non-vectorizable part of the assignment
+-      for (Index inner = 0; inner < alignedStart; ++inner) kernel.assignCoeffByOuterInner(outer, inner);
+-
+-      // do the vectorizable part of the assignment
+-      for (Index inner = alignedStart; inner < alignedEnd; inner += packetSize)
+-        kernel.template assignPacketByOuterInner<dstAlignment, Unaligned, PacketType>(outer, inner);
+-
+-      // do the non-vectorizable part of the assignment
+-      for (Index inner = alignedEnd; inner < innerSize; ++inner) kernel.assignCoeffByOuterInner(outer, inner);
+-
+-      alignedStart = numext::mini((alignedStart + alignedStep) % packetSize, innerSize);
++    if (internal::is_constant_evaluated()) {
++      for (Index outer = 0; outer < kernel.outerSize(); ++outer) {
++        for (Index inner = 0; inner < kernel.innerSize(); ++inner) {
++          kernel.assignCoeffByOuterInner(outer, inner);
++        }
++      }
++    } else {
++      typedef typename Kernel::Scalar Scalar;
++      typedef typename Kernel::PacketType PacketType;
++      enum {
++        packetSize = unpacket_traits<PacketType>::size,
++        requestedAlignment = int(Kernel::AssignmentTraits::InnerRequiredAlignment),
++        alignable =
++            packet_traits<Scalar>::AlignedOnScalar || int(Kernel::AssignmentTraits::DstAlignment) >= sizeof(Scalar),
++        dstIsAligned = int(Kernel::AssignmentTraits::DstAlignment) >= int(requestedAlignment),
++        dstAlignment = alignable ? int(requestedAlignment) : int(Kernel::AssignmentTraits::DstAlignment)
++      };
++      const Scalar* dst_ptr = kernel.dstDataPtr();
++      if ((!bool(dstIsAligned)) && (std::uintptr_t(dst_ptr) % sizeof(Scalar)) > 0) {
++        // the pointer is not aligned-on scalar, so alignment is not possible
++        return dense_assignment_loop<Kernel, DefaultTraversal, NoUnrolling>::run(kernel);
++      }
++      const Index packetAlignedMask = packetSize - 1;
++      const Index innerSize = kernel.innerSize();
++      const Index outerSize = kernel.outerSize();
++      const Index alignedStep = alignable ? (packetSize - kernel.outerStride() % packetSize) & packetAlignedMask : 0;
++      Index alignedStart =
++          ((!alignable) || bool(dstIsAligned)) ? 0 : internal::first_aligned<requestedAlignment>(dst_ptr, innerSize);
++
++      for (Index outer = 0; outer < outerSize; ++outer) {
++        const Index alignedEnd = alignedStart + ((innerSize - alignedStart) & ~packetAlignedMask);
++        // do the non-vectorizable part of the assignment
++        for (Index inner = 0; inner < alignedStart; ++inner) kernel.assignCoeffByOuterInner(outer, inner);
++
++        // do the vectorizable part of the assignment
++        for (Index inner = alignedStart; inner < alignedEnd; inner += packetSize)
++          kernel.template assignPacketByOuterInner<dstAlignment, Unaligned, PacketType>(outer, inner);
++
++        // do the non-vectorizable part of the assignment
++        for (Index inner = alignedEnd; inner < innerSize; ++inner) kernel.assignCoeffByOuterInner(outer, inner);
++
++        alignedStart = numext::mini((alignedStart + alignedStep) % packetSize, innerSize);
++      }
+     }
+   }
+ };
+@@ -594,9 +626,9 @@ class generic_dense_assignment_kernel {
+   typedef copy_using_evaluator_traits<DstEvaluatorTypeT, SrcEvaluatorTypeT, Functor> AssignmentTraits;
+   typedef typename AssignmentTraits::PacketType PacketType;
+ 
+-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE generic_dense_assignment_kernel(DstEvaluatorType& dst,
+-                                                                        const SrcEvaluatorType& src,
+-                                                                        const Functor& func, DstXprType& dstExpr)
++  EIGEN_DEVICE_FUNC
++  EIGEN_STRONG_INLINE constexpr generic_dense_assignment_kernel(DstEvaluatorType& dst, const SrcEvaluatorType& src,
++                                                                const Functor& func, DstXprType& dstExpr)
+       : m_dst(dst), m_src(src), m_functor(func), m_dstExpr(dstExpr) {
+ #ifdef EIGEN_DEBUG_ASSIGN
+     AssignmentTraits::debug();
+@@ -614,7 +646,7 @@ class generic_dense_assignment_kernel {
+   EIGEN_DEVICE_FUNC const SrcEvaluatorType& srcEvaluator() const EIGEN_NOEXCEPT { return m_src; }
+ 
+   /// Assign src(row,col) to dst(row,col) through the assignment functor.
+-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void assignCoeff(Index row, Index col) {
++  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE constexpr void assignCoeff(Index row, Index col) {
+     m_functor.assignCoeff(m_dst.coeffRef(row, col), m_src.coeff(row, col));
+   }
+ 
+@@ -624,7 +656,7 @@ class generic_dense_assignment_kernel {
+   }
+ 
+   /// \sa assignCoeff(Index,Index)
+-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void assignCoeffByOuterInner(Index outer, Index inner) {
++  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE constexpr void assignCoeffByOuterInner(Index outer, Index inner) {
+     Index row = rowIndexByOuterInner(outer, inner);
+     Index col = colIndexByOuterInner(outer, inner);
+     assignCoeff(row, col);
+@@ -648,7 +680,7 @@ class generic_dense_assignment_kernel {
+     assignPacket<StoreMode, LoadMode, Packet>(row, col);
+   }
+ 
+-  EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE Index rowIndexByOuterInner(Index outer, Index inner) {
++  EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE constexpr Index rowIndexByOuterInner(Index outer, Index inner) {
+     typedef typename DstEvaluatorType::ExpressionTraits Traits;
+     return int(Traits::RowsAtCompileTime) == 1          ? 0
+            : int(Traits::ColsAtCompileTime) == 1        ? inner
+@@ -656,7 +688,7 @@ class generic_dense_assignment_kernel {
+                                                         : inner;
+   }
+ 
+-  EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE Index colIndexByOuterInner(Index outer, Index inner) {
++  EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE constexpr Index colIndexByOuterInner(Index outer, Index inner) {
+     typedef typename DstEvaluatorType::ExpressionTraits Traits;
+     return int(Traits::ColsAtCompileTime) == 1          ? 0
+            : int(Traits::RowsAtCompileTime) == 1        ? inner
+@@ -708,8 +740,8 @@ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void resize_if_allowed(DstXprType& dst, co
+ }
+ 
+ template <typename DstXprType, typename SrcXprType, typename T1, typename T2>
+-EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void resize_if_allowed(DstXprType& dst, const SrcXprType& src,
+-                                                             const internal::assign_op<T1, T2>& /*func*/) {
++EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE constexpr void resize_if_allowed(DstXprType& dst, const SrcXprType& src,
++                                                                       const internal::assign_op<T1, T2>& /*func*/) {
+   Index dstRows = src.rows();
+   Index dstCols = src.cols();
+   if (((dst.rows() != dstRows) || (dst.cols() != dstCols))) dst.resize(dstRows, dstCols);
+@@ -790,7 +822,7 @@ struct Assignment;
+ // not has to bother about these annoying details.
+ 
+ template <typename Dst, typename Src>
+-EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void call_assignment(Dst& dst, const Src& src) {
++EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE constexpr void call_assignment(Dst& dst, const Src& src) {
+   call_assignment(dst, src, internal::assign_op<typename Dst::Scalar, typename Src::Scalar>());
+ }
+ template <typename Dst, typename Src>
+@@ -807,7 +839,7 @@ EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE EIGEN_CONSTEXPR void call_assignment(
+ }
+ 
+ template <typename Dst, typename Src, typename Func>
+-EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void call_assignment(
++EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE constexpr void call_assignment(
+     Dst& dst, const Src& src, const Func& func, std::enable_if_t<!evaluator_assume_aliasing<Src>::value, void*> = 0) {
+   call_assignment_no_alias(dst, src, func);
+ }
+@@ -891,9 +923,12 @@ EIGEN_DEVICE_FUNC void check_for_aliasing(const Dst& dst, const Src& src);
+ // both partial specialization+SFINAE without ambiguous specialization
+ template <typename DstXprType, typename SrcXprType, typename Functor, typename Weak>
+ struct Assignment<DstXprType, SrcXprType, Functor, Dense2Dense, Weak> {
+-  EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE void run(DstXprType& dst, const SrcXprType& src, const Functor& func) {
++  EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE constexpr void run(DstXprType& dst, const SrcXprType& src,
++                                                                  const Functor& func) {
+ #ifndef EIGEN_NO_DEBUG
+-    internal::check_for_aliasing(dst, src);
++    if (!internal::is_constant_evaluated()) {
++      internal::check_for_aliasing(dst, src);
++    }
+ #endif
+ 
+     call_dense_assignment_loop(dst, src, func);
+diff --git a/Eigen/src/Core/EigenBase.h b/Eigen/src/Core/EigenBase.h
+index 6d167006a094181fa3693b19f6b9daeb6f2afb79..894bfc13b15eb994abd90f100da15de5bd8b22b7 100644
+--- a/Eigen/src/Core/EigenBase.h
++++ b/Eigen/src/Core/EigenBase.h
+@@ -50,7 +50,7 @@ struct EigenBase {
+   /** \returns a const reference to the derived object */
+   EIGEN_DEVICE_FUNC constexpr const Derived& derived() const { return *static_cast<const Derived*>(this); }
+ 
+-  EIGEN_DEVICE_FUNC inline Derived& const_cast_derived() const {
++  EIGEN_DEVICE_FUNC inline constexpr Derived& const_cast_derived() const {
+     return *static_cast<Derived*>(const_cast<EigenBase*>(this));
+   }
+   EIGEN_DEVICE_FUNC inline const Derived& const_derived() const { return *static_cast<const Derived*>(this); }
+diff --git a/Eigen/src/Core/functors/AssignmentFunctors.h b/Eigen/src/Core/functors/AssignmentFunctors.h
+index 09d1da8ca2bcb41384520f46e2b793ba8b28a798..3687bb20db4dfe1a2f6cf1342b4fcbd8f91f1f68 100644
+--- a/Eigen/src/Core/functors/AssignmentFunctors.h
++++ b/Eigen/src/Core/functors/AssignmentFunctors.h
+@@ -23,7 +23,7 @@ namespace internal {
+  */
+ template <typename DstScalar, typename SrcScalar>
+ struct assign_op {
+-  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void assignCoeff(DstScalar& a, const SrcScalar& b) const { a = b; }
++  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE constexpr void assignCoeff(DstScalar& a, const SrcScalar& b) const { a = b; }
+ 
+   template <int Alignment, typename Packet>
+   EIGEN_STRONG_INLINE void assignPacket(DstScalar* a, const Packet& b) const {

upstream_utils/stack_walker.py

@@ -1,65 +0,0 @@
-#!/usr/bin/env python3
-
-import os
-import shutil
-import subprocess
-
-from upstream_utils import Lib
-
-
-def crlf_to_lf():
-    for root, _, files in os.walk("."):
-        if ".git" in root:
-            continue
-
-        for fname in files:
-            filename = os.path.join(root, fname)
-            print(f"Converting CRLF -> LF for {filename}")
-            with open(filename, "rb") as f:
-                content = f.read()
-                content = content.replace(b"\r\n", b"\n")
-
-                with open(filename, "wb") as f:
-                    f.write(content)
-
-    subprocess.check_call(["git", "add", "-A"])
-    subprocess.check_call(["git", "commit", "-m", "Fix line endings"])
-
-
-def copy_upstream_src(wpilib_root):
-    wpiutil = os.path.join(wpilib_root, "wpiutil")
-
-    shutil.copy(
-        os.path.join("Main", "StackWalker", "StackWalker.h"),
-        os.path.join(wpiutil, "src/main/native/windows/StackWalker.h"),
-    )
-
-    shutil.copy(
-        os.path.join("Main", "StackWalker", "StackWalker.cpp"),
-        os.path.join(wpiutil, "src/main/native/windows/StackWalker.cpp"),
-    )
-
-
-def main():
-    name = "stack_walker"
-    url = "https://github.com/JochenKalmbach/StackWalker"
-    tag = "5b0df7a4db8896f6b6dc45d36e383c52577e3c6b"
-
-    patch_options = {
-        "ignore_whitespace": True,
-    }
-
-    stack_walker = Lib(
-        name,
-        url,
-        tag,
-        copy_upstream_src,
-        patch_options,
-        pre_patch_hook=crlf_to_lf,
-        pre_patch_commits=1,
-    )
-    stack_walker.main()
-
-
-if __name__ == "__main__":
-    main()

upstream_utils/stack_walker_patches/0001-Add-advapi-pragma.patch

@@ -1,21 +0,0 @@
-From 0000000000000000000000000000000000000000 Mon Sep 17 00:00:00 2001
-From: Thad House <thadhouse1@gmail.com>
-Date: Sat, 22 Jul 2023 13:03:13 -0700
-Subject: [PATCH] Add advapi pragma
-
----
- Main/StackWalker/StackWalker.cpp | 1 +
- 1 file changed, 1 insertion(+)
-
-diff --git a/Main/StackWalker/StackWalker.cpp b/Main/StackWalker/StackWalker.cpp
-index 89545f8612d0d099d48fcf4184a2f2a30cf8577f..b2bcbaa447c5db1a3bcc155fb317ebc8a8050e79 100644
---- a/Main/StackWalker/StackWalker.cpp
-+++ b/Main/StackWalker/StackWalker.cpp
-@@ -91,6 +91,7 @@
- #include <new>
- 
- #pragma comment(lib, "version.lib") // for "VerQueryValue"
-+#pragma comment(lib, "Advapi32.lib") // for "GetUserName"
- 
- #pragma warning(disable : 4826)
- #if _MSC_VER >= 1900

wpilibNewCommands/src/generate/main/java/commandhid.java.jinja

@@ -107,7 +107,7 @@ public class Command{{ ConsoleName }}Controller extends CommandGenericHID {
 {% endfor -%}
 {% for stick in sticks %}
   /**
-   * Get the {{ stick.NameParts[1] }} axis value of {{ stick.NameParts[0] }} side of the controller.
+   * Get the {{ stick.NameParts[1] }} axis value of {{ stick.NameParts[0] }} side of the controller. {{ stick.PositiveDirection }} is positive.
    *
    * @return The axis value.
    */

wpilibNewCommands/src/generate/main/native/include/frc2/command/button/commandhid.h.jinja

@@ -71,7 +71,7 @@ class Command{{ ConsoleName }}Controller : public CommandGenericHID {
 {% endfor -%}
 {% for stick in sticks %}
   /**
-   * Get the {{ stick.NameParts[1] }} axis value of {{ stick.NameParts[0] }} side of the controller.
+   * Get the {{ stick.NameParts[1] }} axis value of {{ stick.NameParts[0] }} side of the controller. {{ stick.PositiveDirection }} is positive.
    *
    * @return The axis value.
    */

wpilibNewCommands/src/generated/main/java/edu/wpi/first/wpilibj2/command/button/CommandPS4Controller.java

@@ -348,7 +348,7 @@ public class CommandPS4Controller extends CommandGenericHID {
   }
 
   /**
-   * Get the X axis value of left side of the controller.
+   * Get the X axis value of left side of the controller. Right is positive.
    *
    * @return The axis value.
    */
@@ -357,7 +357,7 @@ public class CommandPS4Controller extends CommandGenericHID {
   }
 
   /**
-   * Get the Y axis value of left side of the controller.
+   * Get the Y axis value of left side of the controller. Back is positive.
    *
    * @return The axis value.
    */
@@ -366,7 +366,7 @@ public class CommandPS4Controller extends CommandGenericHID {
   }
 
   /**
-   * Get the X axis value of right side of the controller.
+   * Get the X axis value of right side of the controller. Right is positive.
    *
    * @return The axis value.
    */
@@ -375,7 +375,7 @@ public class CommandPS4Controller extends CommandGenericHID {
   }
 
   /**
-   * Get the Y axis value of right side of the controller.
+   * Get the Y axis value of right side of the controller. Back is positive.
    *
    * @return The axis value.
    */

wpilibNewCommands/src/generated/main/java/edu/wpi/first/wpilibj2/command/button/CommandPS5Controller.java

@@ -348,7 +348,7 @@ public class CommandPS5Controller extends CommandGenericHID {
   }
 
   /**
-   * Get the X axis value of left side of the controller.
+   * Get the X axis value of left side of the controller. Right is positive.
    *
    * @return The axis value.
    */
@@ -357,7 +357,7 @@ public class CommandPS5Controller extends CommandGenericHID {
   }
 
   /**
-   * Get the Y axis value of left side of the controller.
+   * Get the Y axis value of left side of the controller. Back is positive.
    *
    * @return The axis value.
    */
@@ -366,7 +366,7 @@ public class CommandPS5Controller extends CommandGenericHID {
   }
 
   /**
-   * Get the X axis value of right side of the controller.
+   * Get the X axis value of right side of the controller. Right is positive.
    *
    * @return The axis value.
    */
@@ -375,7 +375,7 @@ public class CommandPS5Controller extends CommandGenericHID {
   }
 
   /**
-   * Get the Y axis value of right side of the controller.
+   * Get the Y axis value of right side of the controller. Back is positive.
    *
    * @return The axis value.
    */

wpilibNewCommands/src/generated/main/java/edu/wpi/first/wpilibj2/command/button/CommandStadiaController.java

@@ -370,7 +370,7 @@ public class CommandStadiaController extends CommandGenericHID {
   }
 
   /**
-   * Get the X axis value of left side of the controller.
+   * Get the X axis value of left side of the controller. Right is positive.
    *
    * @return The axis value.
    */
@@ -379,7 +379,7 @@ public class CommandStadiaController extends CommandGenericHID {
   }
 
   /**
-   * Get the X axis value of right side of the controller.
+   * Get the X axis value of right side of the controller. Right is positive.
    *
    * @return The axis value.
    */
@@ -388,7 +388,7 @@ public class CommandStadiaController extends CommandGenericHID {
   }
 
   /**
-   * Get the Y axis value of left side of the controller.
+   * Get the Y axis value of left side of the controller. Back is positive.
    *
    * @return The axis value.
    */
@@ -397,7 +397,7 @@ public class CommandStadiaController extends CommandGenericHID {
   }
 
   /**
-   * Get the Y axis value of right side of the controller.
+   * Get the Y axis value of right side of the controller. Back is positive.
    *
    * @return The axis value.
    */

wpilibNewCommands/src/generated/main/java/edu/wpi/first/wpilibj2/command/button/CommandXboxController.java

@@ -338,7 +338,7 @@ public class CommandXboxController extends CommandGenericHID {
   }
 
   /**
-   * Get the X axis value of left side of the controller.
+   * Get the X axis value of left side of the controller. Right is positive.
    *
    * @return The axis value.
    */
@@ -347,7 +347,7 @@ public class CommandXboxController extends CommandGenericHID {
   }
 
   /**
-   * Get the X axis value of right side of the controller.
+   * Get the X axis value of right side of the controller. Right is positive.
    *
    * @return The axis value.
    */
@@ -356,7 +356,7 @@ public class CommandXboxController extends CommandGenericHID {
   }
 
   /**
-   * Get the Y axis value of left side of the controller.
+   * Get the Y axis value of left side of the controller. Back is positive.
    *
    * @return The axis value.
    */
@@ -365,7 +365,7 @@ public class CommandXboxController extends CommandGenericHID {
   }
 
   /**
-   * Get the Y axis value of right side of the controller.
+   * Get the Y axis value of right side of the controller. Back is positive.
    *
    * @return The axis value.
    */

wpilibNewCommands/src/generated/main/native/include/frc2/command/button/CommandPS4Controller.h

@@ -204,28 +204,28 @@ class CommandPS4Controller : public CommandGenericHID {
                                                 .GetDefaultButtonLoop()) const;
 
   /**
-   * Get the X axis value of left side of the controller.
+   * Get the X axis value of left side of the controller. Right is positive.
    *
    * @return The axis value.
    */
   double GetLeftX() const;
 
   /**
-   * Get the Y axis value of left side of the controller.
+   * Get the Y axis value of left side of the controller. Back is positive.
    *
    * @return The axis value.
    */
   double GetLeftY() const;
 
   /**
-   * Get the X axis value of right side of the controller.
+   * Get the X axis value of right side of the controller. Right is positive.
    *
    * @return The axis value.
    */
   double GetRightX() const;
 
   /**
-   * Get the Y axis value of right side of the controller.
+   * Get the Y axis value of right side of the controller. Back is positive.
    *
    * @return The axis value.
    */

wpilibNewCommands/src/generated/main/native/include/frc2/command/button/CommandPS5Controller.h

@@ -204,28 +204,28 @@ class CommandPS5Controller : public CommandGenericHID {
                                                 .GetDefaultButtonLoop()) const;
 
   /**
-   * Get the X axis value of left side of the controller.
+   * Get the X axis value of left side of the controller. Right is positive.
    *
    * @return The axis value.
    */
   double GetLeftX() const;
 
   /**
-   * Get the Y axis value of left side of the controller.
+   * Get the Y axis value of left side of the controller. Back is positive.
    *
    * @return The axis value.
    */
   double GetLeftY() const;
 
   /**
-   * Get the X axis value of right side of the controller.
+   * Get the X axis value of right side of the controller. Right is positive.
    *
    * @return The axis value.
    */
   double GetRightX() const;
 
   /**
-   * Get the Y axis value of right side of the controller.
+   * Get the Y axis value of right side of the controller. Back is positive.
    *
    * @return The axis value.
    */

wpilibNewCommands/src/generated/main/native/include/frc2/command/button/CommandStadiaController.h

@@ -216,28 +216,28 @@ class CommandStadiaController : public CommandGenericHID {
                                                 .GetDefaultButtonLoop()) const;
 
   /**
-   * Get the X axis value of left side of the controller.
+   * Get the X axis value of left side of the controller. Right is positive.
    *
    * @return The axis value.
    */
   double GetLeftX() const;
 
   /**
-   * Get the X axis value of right side of the controller.
+   * Get the X axis value of right side of the controller. Right is positive.
    *
    * @return The axis value.
    */
   double GetRightX() const;
 
   /**
-   * Get the Y axis value of left side of the controller.
+   * Get the Y axis value of left side of the controller. Back is positive.
    *
    * @return The axis value.
    */
   double GetLeftY() const;
 
   /**
-   * Get the Y axis value of right side of the controller.
+   * Get the Y axis value of right side of the controller. Back is positive.
    *
    * @return The axis value.
    */

wpilibNewCommands/src/generated/main/native/include/frc2/command/button/CommandXboxController.h

@@ -190,28 +190,28 @@ class CommandXboxController : public CommandGenericHID {
                                                  .GetDefaultButtonLoop()) const;
 
   /**
-   * Get the X axis value of left side of the controller.
+   * Get the X axis value of left side of the controller. Right is positive.
    *
    * @return The axis value.
    */
   double GetLeftX() const;
 
   /**
-   * Get the X axis value of right side of the controller.
+   * Get the X axis value of right side of the controller. Right is positive.
    *
    * @return The axis value.
    */
   double GetRightX() const;
 
   /**
-   * Get the Y axis value of left side of the controller.
+   * Get the Y axis value of left side of the controller. Back is positive.
    *
    * @return The axis value.
    */
   double GetLeftY() const;
 
   /**
-   * Get the Y axis value of right side of the controller.
+   * Get the Y axis value of right side of the controller. Back is positive.
    *
    * @return The axis value.
    */

wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/button/CommandJoystick.java

@@ -173,6 +173,9 @@ public class CommandJoystick extends CommandGenericHID {
   /**
    * Get the x position of the HID.
    *
+   * <p>This depends on the mapping of the joystick connected to the current port. On most
+   * joysticks, positive is to the right.
+   *
    * @return the x position
    */
   public double getX() {
@@ -182,6 +185,9 @@ public class CommandJoystick extends CommandGenericHID {
   /**
    * Get the y position of the HID.
    *
+   * <p>This depends on the mapping of the joystick connected to the current port. On most
+   * joysticks, positive is to the back.
+   *
    * @return the y position
    */
   public double getY() {
@@ -218,8 +224,8 @@ public class CommandJoystick extends CommandGenericHID {
   }
 
   /**
-   * Get the magnitude of the direction vector formed by the joystick's current position relative to
-   * its origin.
+   * Get the magnitude of the vector formed by the joystick's current position relative to its
+   * origin.
    *
    * @return The magnitude of the direction vector
    */
@@ -228,16 +234,26 @@ public class CommandJoystick extends CommandGenericHID {
   }
 
   /**
-   * Get the direction of the vector formed by the joystick and its origin in radians.
+   * Get the direction of the vector formed by the joystick and its origin in radians. 0 is forward
+   * and clockwise is positive. (Straight right is π/2.)
    *
    * @return The direction of the vector in radians
    */
   public double getDirectionRadians() {
+    // https://docs.wpilib.org/en/stable/docs/software/basic-programming/coordinate-system.html#joystick-and-controller-coordinate-system
+    // A positive rotation around the X axis moves the joystick right, and a
+    // positive rotation around the Y axis moves the joystick backward. When
+    // treating them as translations, 0 radians is measured from the right
+    // direction, and angle increases clockwise.
+    //
+    // It's rotated 90 degrees CCW (y is negated and the arguments are reversed)
+    // so that 0 radians is forward.
     return m_hid.getDirectionRadians();
   }
 
   /**
-   * Get the direction of the vector formed by the joystick and its origin in degrees.
+   * Get the direction of the vector formed by the joystick and its origin in degrees. 0 is forward
+   * and clockwise is positive. (Straight right is 90.)
    *
    * @return The direction of the vector in degrees
    */

wpilibNewCommands/src/main/native/cpp/frc2/command/button/CommandJoystick.cpp

@@ -26,5 +26,13 @@ double CommandJoystick::GetMagnitude() const {
 }
 
 units::radian_t CommandJoystick::GetDirection() const {
+  // https://docs.wpilib.org/en/stable/docs/software/basic-programming/coordinate-system.html#joystick-and-controller-coordinate-system
+  // A positive rotation around the X axis moves the joystick right, and a
+  // positive rotation around the Y axis moves the joystick backward. When
+  // treating them as translations, 0 radians is measured from the right
+  // direction, and angle increases clockwise.
+  //
+  // It's rotated 90 degrees CCW (y is negated and the arguments are reversed)
+  // so that 0 radians is forward.
   return m_hid.GetDirection();
 }

wpilibNewCommands/src/main/native/include/frc2/command/button/CommandJoystick.h

@@ -56,7 +56,7 @@ class CommandJoystick : public CommandGenericHID {
   class Trigger Top(frc::EventLoop* loop = CommandScheduler::GetInstance()
                                                .GetDefaultButtonLoop()) const;
   /**
-   * Get the magnitude of the direction vector formed by the joystick's
+   * Get the magnitude of the vector formed by the joystick's
    * current position relative to its origin.
    *
    * @return The magnitude of the direction vector
@@ -64,7 +64,9 @@ class CommandJoystick : public CommandGenericHID {
   double GetMagnitude() const;
 
   /**
-   * Get the direction of the vector formed by the joystick and its origin.
+   * Get the direction of the vector formed by the joystick and its origin. 0 is
+   * forward and clockwise is positive. (Straight right is π/2 radians or 90
+   * degrees.)
    *
    * @return The direction of the vector.
    */

wpilibc/src/generate/main/native/include/frc/hid.h.jinja

@@ -47,7 +47,7 @@ class {{ ConsoleName }}Controller : public GenericHID,
   {{ ConsoleName }}Controller& operator=({{ ConsoleName }}Controller&&) = default;
 {% for stick in sticks %}
   /**
-   * Get the {{ stick.NameParts[1] }} axis value of {{ stick.NameParts[0] }} side of the controller.
+   * Get the {{ stick.NameParts[1] }} axis value of {{ stick.NameParts[0] }} side of the controller. {{ stick.PositiveDirection }} is positive.
    *
    * @return the axis value.
    */

wpilibc/src/generated/main/native/include/frc/PS4Controller.h

@@ -45,28 +45,28 @@ class PS4Controller : public GenericHID,
   PS4Controller& operator=(PS4Controller&&) = default;
 
   /**
-   * Get the X axis value of left side of the controller.
+   * Get the X axis value of left side of the controller. Right is positive.
    *
    * @return the axis value.
    */
   double GetLeftX() const;
 
   /**
-   * Get the Y axis value of left side of the controller.
+   * Get the Y axis value of left side of the controller. Back is positive.
    *
    * @return the axis value.
    */
   double GetLeftY() const;
 
   /**
-   * Get the X axis value of right side of the controller.
+   * Get the X axis value of right side of the controller. Right is positive.
    *
    * @return the axis value.
    */
   double GetRightX() const;
 
   /**
-   * Get the Y axis value of right side of the controller.
+   * Get the Y axis value of right side of the controller. Back is positive.
    *
    * @return the axis value.
    */

wpilibc/src/generated/main/native/include/frc/PS5Controller.h

@@ -45,28 +45,28 @@ class PS5Controller : public GenericHID,
   PS5Controller& operator=(PS5Controller&&) = default;
 
   /**
-   * Get the X axis value of left side of the controller.
+   * Get the X axis value of left side of the controller. Right is positive.
    *
    * @return the axis value.
    */
   double GetLeftX() const;
 
   /**
-   * Get the Y axis value of left side of the controller.
+   * Get the Y axis value of left side of the controller. Back is positive.
    *
    * @return the axis value.
    */
   double GetLeftY() const;
 
   /**
-   * Get the X axis value of right side of the controller.
+   * Get the X axis value of right side of the controller. Right is positive.
    *
    * @return the axis value.
    */
   double GetRightX() const;
 
   /**
-   * Get the Y axis value of right side of the controller.
+   * Get the Y axis value of right side of the controller. Back is positive.
    *
    * @return the axis value.
    */

wpilibc/src/generated/main/native/include/frc/StadiaController.h

@@ -45,28 +45,28 @@ class StadiaController : public GenericHID,
   StadiaController& operator=(StadiaController&&) = default;
 
   /**
-   * Get the X axis value of left side of the controller.
+   * Get the X axis value of left side of the controller. Right is positive.
    *
    * @return the axis value.
    */
   double GetLeftX() const;
 
   /**
-   * Get the X axis value of right side of the controller.
+   * Get the X axis value of right side of the controller. Right is positive.
    *
    * @return the axis value.
    */
   double GetRightX() const;
 
   /**
-   * Get the Y axis value of left side of the controller.
+   * Get the Y axis value of left side of the controller. Back is positive.
    *
    * @return the axis value.
    */
   double GetLeftY() const;
 
   /**
-   * Get the Y axis value of right side of the controller.
+   * Get the Y axis value of right side of the controller. Back is positive.
    *
    * @return the axis value.
    */

wpilibc/src/generated/main/native/include/frc/XboxController.h

@@ -45,28 +45,28 @@ class XboxController : public GenericHID,
   XboxController& operator=(XboxController&&) = default;
 
   /**
-   * Get the X axis value of left side of the controller.
+   * Get the X axis value of left side of the controller. Right is positive.
    *
    * @return the axis value.
    */
   double GetLeftX() const;
 
   /**
-   * Get the X axis value of right side of the controller.
+   * Get the X axis value of right side of the controller. Right is positive.
    *
    * @return the axis value.
    */
   double GetRightX() const;
 
   /**
-   * Get the Y axis value of left side of the controller.
+   * Get the Y axis value of left side of the controller. Back is positive.
    *
    * @return the axis value.
    */
   double GetLeftY() const;
 
   /**
-   * Get the Y axis value of right side of the controller.
+   * Get the Y axis value of right side of the controller. Back is positive.
    *
    * @return the axis value.
    */

wpilibc/src/main/native/cpp/ADIS16448_IMU.cpp

@@ -18,6 +18,7 @@
 #include <numbers>
 #include <utility>
 
+#include <fmt/format.h>
 #include <hal/HAL.h>
 #include <wpi/sendable/SendableBuilder.h>
 #include <wpi/sendable/SendableRegistry.h>
@@ -374,7 +375,8 @@ bool ADIS16448_IMU::SwitchToStandardSPI() {
   // Validate the product ID
   uint16_t prod_id = ReadRegister(PROD_ID);
   if (prod_id != 16448) {
-    REPORT_ERROR("Could not find ADIS16448!");
+    REPORT_ERROR(
+        fmt::format("Could not find ADIS16448; got product ID {}", prod_id));
     Close();
     return false;
   }

wpilibc/src/main/native/cpp/ADIS16470_IMU.cpp

@@ -17,6 +17,7 @@
 #include <numbers>
 #include <utility>
 
+#include <fmt/format.h>
 #include <hal/HAL.h>
 #include <wpi/sendable/SendableBuilder.h>
 #include <wpi/sendable/SendableRegistry.h>
@@ -355,7 +356,8 @@ bool ADIS16470_IMU::SwitchToStandardSPI() {
   // Validate the product ID
   uint16_t prod_id = ReadRegister(PROD_ID);
   if (prod_id != 16982 && prod_id != 16470) {
-    REPORT_ERROR("Could not find ADIS16470!");
+    REPORT_ERROR(
+        fmt::format("Could not find ADIS16470; got product ID {}", prod_id));
     Close();
     return false;
   }

wpilibc/src/main/native/cpp/AddressableLED.cpp

@@ -35,6 +35,13 @@ AddressableLED::AddressableLED(int port) : m_port{port} {
   HAL_Report(HALUsageReporting::kResourceType_AddressableLEDs, port + 1);
 }
 
+void AddressableLED::SetColorOrder(AddressableLED::ColorOrder order) {
+  int32_t status = 0;
+  HAL_SetAddressableLEDColorOrder(
+      m_handle, static_cast<HAL_AddressableLEDColorOrder>(order), &status);
+  FRC_CheckErrorStatus(status, "Port {} Color order {}", m_port, order);
+}
+
 void AddressableLED::SetLength(int length) {
   int32_t status = 0;
   HAL_SetAddressableLEDLength(m_handle, length, &status);

wpilibc/src/main/native/cpp/Alert.cpp

@@ -82,17 +82,18 @@ class Alert::SendableAlerts : public nt::NTSendable,
    * @return the SendableAlerts for the group
    */
   static SendableAlerts& ForGroup(std::string_view group) {
-    // Force initialization of SendableRegistry before our magic static to
-    // prevent incorrect destruction order.
-    wpi::SendableRegistry::EnsureInitialized();
-    static wpi::StringMap<Alert::SendableAlerts> groups;
-
-    auto [iter, exists] = groups.try_emplace(group);
-    SendableAlerts& sendable = iter->second;
-    if (!exists) {
-      frc::SmartDashboard::PutData(group, &iter->second);
+    SendableAlerts* salert = nullptr;
+    try {
+      auto* sendable = frc::SmartDashboard::GetData(group);
+      salert = dynamic_cast<SendableAlerts*>(sendable);
+    } catch (frc::RuntimeError&) {
     }
-    return sendable;
+    if (!salert) {
+      // this leaks if ResetSmartDashboardInstance is called, but that's fine
+      salert = new Alert::SendableAlerts;
+      frc::SmartDashboard::PutData(group, salert);
+    }
+    return *salert;
   }
 
  private:

wpilibc/src/main/native/cpp/Joystick.cpp

@@ -119,5 +119,13 @@ double Joystick::GetMagnitude() const {
 }
 
 units::radian_t Joystick::GetDirection() const {
+  // https://docs.wpilib.org/en/stable/docs/software/basic-programming/coordinate-system.html#joystick-and-controller-coordinate-system
+  // A positive rotation around the X axis moves the joystick right, and a
+  // positive rotation around the Y axis moves the joystick backward. When
+  // treating them as translations, 0 radians is measured from the right
+  // direction, and angle increases clockwise.
+  //
+  // It's rotated 90 degrees CCW (y is negated and the arguments are reversed)
+  // so that 0 radians is forward.
   return units::radian_t{std::atan2(GetX(), -GetY())};
 }

wpilibc/src/main/native/include/frc/AddressableLED.h

@@ -19,10 +19,13 @@
 namespace frc {
 
 /**
- * A class for driving addressable LEDs, such as WS2812Bs and NeoPixels.
+ * A class for driving addressable LEDs, such as WS2812B, WS2815, and NeoPixels.
  *
- * By default, the timing supports WS2812B LEDs, but is configurable using
- * SetBitTiming()
+ * By default, the timing supports WS2812B and WS2815 LEDs, but is configurable
+ * using SetBitTiming()
+ *
+ * Some LEDs use a different color order than the default GRB. The color order
+ * is configurable using SetColorOrder().
  *
  * <p>Only 1 LED driver is currently supported by the roboRIO. However,
  * multiple LED strips can be connected in series and controlled from the
@@ -30,6 +33,18 @@ namespace frc {
  */
 class AddressableLED {
  public:
+  /**
+   * Order that color data is sent over the wire.
+   */
+  enum ColorOrder {
+    kRGB = HAL_ALED_RGB,  ///< RGB order
+    kRBG = HAL_ALED_RBG,  ///< RBG order
+    kBGR = HAL_ALED_BGR,  ///< BGR order
+    kBRG = HAL_ALED_BRG,  ///< BRG order
+    kGBR = HAL_ALED_GBR,  ///< GBR order
+    kGRB = HAL_ALED_GRB   ///< GRB order. This is the default order.
+  };
+
   class LEDData : public HAL_AddressableLEDData {
    public:
     LEDData() : LEDData(0, 0, 0) {}
@@ -95,6 +110,15 @@ class AddressableLED {
   AddressableLED(AddressableLED&&) = default;
   AddressableLED& operator=(AddressableLED&&) = default;
 
+  /**
+   * Sets the color order for this AddressableLED. The default order is GRB.
+   *
+   * This will take effect on the next call to SetData().
+   *
+   * @param order the color order
+   */
+  void SetColorOrder(ColorOrder order);
+
   /**
    * Sets the length of the LED strip.
    *
@@ -130,8 +154,8 @@ class AddressableLED {
   /**
    * Sets the bit timing.
    *
-   * <p>By default, the driver is set up to drive WS2812Bs, so nothing needs to
-   * be set for those.
+   * <p>By default, the driver is set up to drive WS2812B and WS2815, so nothing
+   * needs to be set for those.
    *
    * @param highTime0 high time for 0 bit (default 400ns)
    * @param lowTime0 low time for 0 bit (default 900ns)
@@ -146,7 +170,7 @@ class AddressableLED {
    * Sets the sync time.
    *
    * <p>The sync time is the time to hold output so LEDs enable. Default set for
-   * WS2812B.
+   * WS2812B and WS2815.
    *
    * @param syncTime the sync time (default 280us)
    */
@@ -169,4 +193,9 @@ class AddressableLED {
   hal::Handle<HAL_AddressableLEDHandle, HAL_FreeAddressableLED> m_handle;
   int m_port;
 };
+
+constexpr auto format_as(AddressableLED::ColorOrder order) {
+  return static_cast<int32_t>(order);
+}
+
 }  // namespace frc

wpilibc/src/main/native/include/frc/Joystick.h

@@ -148,6 +148,7 @@ class Joystick : public GenericHID {
    * Get the X value of the current joystick.
    *
    * This depends on the mapping of the joystick connected to the current port.
+   * On most joysticks, positive is to the right.
    */
   double GetX() const;
 
@@ -155,6 +156,7 @@ class Joystick : public GenericHID {
    * Get the Y value of the current joystick.
    *
    * This depends on the mapping of the joystick connected to the current port.
+   * On most joysticks, positive is to the back.
    */
   double GetY() const;
 
@@ -244,7 +246,7 @@ class Joystick : public GenericHID {
   BooleanEvent Top(EventLoop* loop) const;
 
   /**
-   * Get the magnitude of the direction vector formed by the joystick's
+   * Get the magnitude of the vector formed by the joystick's
    * current position relative to its origin.
    *
    * @return The magnitude of the direction vector
@@ -252,7 +254,9 @@ class Joystick : public GenericHID {
   double GetMagnitude() const;
 
   /**
-   * Get the direction of the vector formed by the joystick and its origin.
+   * Get the direction of the vector formed by the joystick and its origin. 0 is
+   * forward and clockwise is positive. (Straight right is π/2 radians or 90
+   * degrees.)
    *
    * @return The direction of the vector.
    */

wpilibc/src/test/native/cpp/AlertTest.cpp

@@ -33,8 +33,7 @@ class AlertsTest : public ::testing::Test {
   std::string GetGroupName() {
     const ::testing::TestInfo* testInfo =
         ::testing::UnitTest::GetInstance()->current_test_info();
-    return fmt::format("{}_{}", testInfo->test_suite_name(),
-                       testInfo->test_case_name());
+    return fmt::format("{}_{}", testInfo->test_suite_name(), testInfo->name());
   }
 
   template <typename... Args>
@@ -80,7 +79,16 @@ class AlertsTest : public ::testing::Test {
 #define EXPECT_STATE(type, ...) \
   EXPECT_EQ(GetActiveAlerts(type), (std::vector<std::string>{__VA_ARGS__}))
 
-TEST_F(AlertsTest, SetUnset) {
+TEST_F(AlertsTest, SetUnsetSingle) {
+  auto one = MakeAlert("one", kInfo);
+  EXPECT_FALSE(IsAlertActive("one", kInfo));
+  one.Set(true);
+  EXPECT_TRUE(IsAlertActive("one", kInfo));
+  one.Set(false);
+  EXPECT_FALSE(IsAlertActive("one", kInfo));
+}
+
+TEST_F(AlertsTest, SetUnsetMultiple) {
   auto one = MakeAlert("one", kError);
   auto two = MakeAlert("two", kInfo);
   EXPECT_FALSE(IsAlertActive("one", kError));

wpilibj/src/generate/hids.json

@@ -60,28 +60,32 @@
           "left",
           "X"
         ],
-        "value": 0
+        "value": 0,
+        "PositiveDirection": "Right"
       },
       {
         "NameParts": [
           "right",
           "X"
         ],
-        "value": 4
+        "value": 4,
+        "PositiveDirection": "Right"
       },
       {
         "NameParts": [
           "left",
           "Y"
         ],
-        "value": 1
+        "value": 1,
+        "PositiveDirection": "Back"
       },
       {
         "NameParts": [
           "right",
           "Y"
         ],
-        "value": 5
+        "value": 5,
+        "PositiveDirection": "Back"
       }
     ],
     "triggers": [
@@ -175,28 +179,32 @@
           "left",
           "X"
         ],
-        "value": 0
+        "value": 0,
+        "PositiveDirection": "Right"
       },
       {
         "NameParts": [
           "left",
           "Y"
         ],
-        "value": 1
+        "value": 1,
+        "PositiveDirection": "Back"
       },
       {
         "NameParts": [
           "right",
           "X"
         ],
-        "value": 2
+        "value": 2,
+        "PositiveDirection": "Right"
       },
       {
         "NameParts": [
           "right",
           "Y"
         ],
-        "value": 5
+        "value": 5,
+        "PositiveDirection": "Back"
       }
     ],
     "triggers": [
@@ -290,28 +298,32 @@
           "left",
           "X"
         ],
-        "value": 0
+        "value": 0,
+        "PositiveDirection": "Right"
       },
       {
         "NameParts": [
           "left",
           "Y"
         ],
-        "value": 1
+        "value": 1,
+        "PositiveDirection": "Back"
       },
       {
         "NameParts": [
           "right",
           "X"
         ],
-        "value": 2
+        "value": 2,
+        "PositiveDirection": "Right"
       },
       {
         "NameParts": [
           "right",
           "Y"
         ],
-        "value": 5
+        "value": 5,
+        "PositiveDirection": "Back"
       }
     ],
     "triggers": [
@@ -412,28 +424,32 @@
           "left",
           "X"
         ],
-        "value": 0
+        "value": 0,
+        "PositiveDirection": "Right"
       },
       {
         "NameParts": [
           "right",
           "X"
         ],
-        "value": 3
+        "value": 3,
+        "PositiveDirection": "Right"
       },
       {
         "NameParts": [
           "left",
           "Y"
         ],
-        "value": 1
+        "value": 1,
+        "PositiveDirection": "Back"
       },
       {
         "NameParts": [
           "right",
           "Y"
         ],
-        "value": 4
+        "value": 4,
+        "PositiveDirection": "Back"
       }
     ]
   }

wpilibj/src/generate/hids.schema.json

@@ -66,7 +66,8 @@
           "type": "object",
           "required": [
             "NameParts",
-            "value"
+            "value",
+            "PositiveDirection"
           ],
           "properties": {
             "NameParts": {
@@ -80,6 +81,10 @@
             "value": {
               "description": "The axis value",
               "type": "integer"
+            },
+            "PositiveDirection": {
+              "description": "The positive direction of the axis.",
+              "type": "string"
             }
           }
         }

wpilibj/src/generate/main/java/hid.java.jinja

@@ -103,7 +103,7 @@ public class {{ ConsoleName }}Controller extends GenericHID implements Sendable
   }
 {% for stick in sticks %}
   /**
-   * Get the {{ stick.NameParts[1] }} axis value of {{ stick.NameParts[0] }} side of the controller.
+   * Get the {{ stick.NameParts[1] }} axis value of {{ stick.NameParts[0] }} side of the controller. {{ stick.PositiveDirection }} is positive.
    *
    * @return The axis value.
    */

wpilibj/src/generated/main/java/edu/wpi/first/wpilibj/PS4Controller.java

@@ -129,7 +129,7 @@ public class PS4Controller extends GenericHID implements Sendable {
   }
 
   /**
-   * Get the X axis value of left side of the controller.
+   * Get the X axis value of left side of the controller. Right is positive.
    *
    * @return The axis value.
    */
@@ -138,7 +138,7 @@ public class PS4Controller extends GenericHID implements Sendable {
   }
 
   /**
-   * Get the Y axis value of left side of the controller.
+   * Get the Y axis value of left side of the controller. Back is positive.
    *
    * @return The axis value.
    */
@@ -147,7 +147,7 @@ public class PS4Controller extends GenericHID implements Sendable {
   }
 
   /**
-   * Get the X axis value of right side of the controller.
+   * Get the X axis value of right side of the controller. Right is positive.
    *
    * @return The axis value.
    */
@@ -156,7 +156,7 @@ public class PS4Controller extends GenericHID implements Sendable {
   }
 
   /**
-   * Get the Y axis value of right side of the controller.
+   * Get the Y axis value of right side of the controller. Back is positive.
    *
    * @return The axis value.
    */

wpilibj/src/generated/main/java/edu/wpi/first/wpilibj/PS5Controller.java

@@ -129,7 +129,7 @@ public class PS5Controller extends GenericHID implements Sendable {
   }
 
   /**
-   * Get the X axis value of left side of the controller.
+   * Get the X axis value of left side of the controller. Right is positive.
    *
    * @return The axis value.
    */
@@ -138,7 +138,7 @@ public class PS5Controller extends GenericHID implements Sendable {
   }
 
   /**
-   * Get the Y axis value of left side of the controller.
+   * Get the Y axis value of left side of the controller. Back is positive.
    *
    * @return The axis value.
    */
@@ -147,7 +147,7 @@ public class PS5Controller extends GenericHID implements Sendable {
   }
 
   /**
-   * Get the X axis value of right side of the controller.
+   * Get the X axis value of right side of the controller. Right is positive.
    *
    * @return The axis value.
    */
@@ -156,7 +156,7 @@ public class PS5Controller extends GenericHID implements Sendable {
   }
 
   /**
-   * Get the Y axis value of right side of the controller.
+   * Get the Y axis value of right side of the controller. Back is positive.
    *
    * @return The axis value.
    */

wpilibj/src/generated/main/java/edu/wpi/first/wpilibj/StadiaController.java

@@ -127,7 +127,7 @@ public class StadiaController extends GenericHID implements Sendable {
   }
 
   /**
-   * Get the X axis value of left side of the controller.
+   * Get the X axis value of left side of the controller. Right is positive.
    *
    * @return The axis value.
    */
@@ -136,7 +136,7 @@ public class StadiaController extends GenericHID implements Sendable {
   }
 
   /**
-   * Get the X axis value of right side of the controller.
+   * Get the X axis value of right side of the controller. Right is positive.
    *
    * @return The axis value.
    */
@@ -145,7 +145,7 @@ public class StadiaController extends GenericHID implements Sendable {
   }
 
   /**
-   * Get the Y axis value of left side of the controller.
+   * Get the Y axis value of left side of the controller. Back is positive.
    *
    * @return The axis value.
    */
@@ -154,7 +154,7 @@ public class StadiaController extends GenericHID implements Sendable {
   }
 
   /**
-   * Get the Y axis value of right side of the controller.
+   * Get the Y axis value of right side of the controller. Back is positive.
    *
    * @return The axis value.
    */

wpilibj/src/generated/main/java/edu/wpi/first/wpilibj/XboxController.java

@@ -121,7 +121,7 @@ public class XboxController extends GenericHID implements Sendable {
   }
 
   /**
-   * Get the X axis value of left side of the controller.
+   * Get the X axis value of left side of the controller. Right is positive.
    *
    * @return The axis value.
    */
@@ -130,7 +130,7 @@ public class XboxController extends GenericHID implements Sendable {
   }
 
   /**
-   * Get the X axis value of right side of the controller.
+   * Get the X axis value of right side of the controller. Right is positive.
    *
    * @return The axis value.
    */
@@ -139,7 +139,7 @@ public class XboxController extends GenericHID implements Sendable {
   }
 
   /**
-   * Get the Y axis value of left side of the controller.
+   * Get the Y axis value of left side of the controller. Back is positive.
    *
    * @return The axis value.
    */
@@ -148,7 +148,7 @@ public class XboxController extends GenericHID implements Sendable {
   }
 
   /**
-   * Get the Y axis value of right side of the controller.
+   * Get the Y axis value of right side of the controller. Back is positive.
    *
    * @return The axis value.
    */

wpilibj/src/main/java/edu/wpi/first/wpilibj/ADIS16448_IMU.java

@@ -425,8 +425,9 @@ public class ADIS16448_IMU implements AutoCloseable, Sendable {
     }
     readRegister(PROD_ID); // Dummy read
     // Validate the product ID
-    if (readRegister(PROD_ID) != 16448) {
-      DriverStation.reportError("Could not find ADIS16448", false);
+    int prodId = readRegister(PROD_ID);
+    if (prodId != 16448) {
+      DriverStation.reportError("Could not find ADIS16448; got product ID " + prodId, false);
       close();
       return false;
     }

wpilibj/src/main/java/edu/wpi/first/wpilibj/ADIS16470_IMU.java

@@ -483,8 +483,9 @@ public class ADIS16470_IMU implements AutoCloseable, Sendable {
     }
     readRegister(PROD_ID); // Dummy read
     // Validate the product ID
-    if (readRegister(PROD_ID) != 16982) {
-      DriverStation.reportError("Could not find an ADIS16470", false);
+    int prodId = readRegister(PROD_ID);
+    if (prodId != 16982 && prodId != 16470) {
+      DriverStation.reportError("Could not find an ADIS16470; got product ID " + prodId, false);
       close();
       return false;
     }

wpilibj/src/main/java/edu/wpi/first/wpilibj/AddressableLED.java

@@ -10,14 +10,59 @@ import edu.wpi.first.hal.HAL;
 import edu.wpi.first.hal.PWMJNI;
 
 /**
- * A class for driving addressable LEDs, such as WS2812Bs and NeoPixels.
+ * A class for driving addressable LEDs, such as WS2812B, WS2815, and NeoPixels.
  *
- * <p>By default, the timing supports WS2812B LEDs, but is configurable using setBitTiming()
+ * <p>By default, the timing supports WS2812B and WS2815 LEDs, but is configurable using {@link
+ * #setBitTiming(int, int, int, int)}
+ *
+ * <p>Some LEDs use a different color order than the default GRB. The color order is configurable
+ * using {@link #setColorOrder(ColorOrder)}.
  *
  * <p>Only 1 LED driver is currently supported by the roboRIO. However, multiple LED strips can be
  * connected in series and controlled from the single driver.
  */
 public class AddressableLED implements AutoCloseable {
+  /** Order that color data is sent over the wire. */
+  public enum ColorOrder {
+    /** RGB order. */
+    kRGB(AddressableLEDJNI.COLOR_ORDER_RGB),
+    /** RBG order. */
+    kRBG(AddressableLEDJNI.COLOR_ORDER_RBG),
+    /** BGR order. */
+    kBGR(AddressableLEDJNI.COLOR_ORDER_BGR),
+    /** BRG order. */
+    kBRG(AddressableLEDJNI.COLOR_ORDER_BRG),
+    /** GBR order. */
+    kGBR(AddressableLEDJNI.COLOR_ORDER_GBR),
+    /** GRB order. This is the default order. */
+    kGRB(AddressableLEDJNI.COLOR_ORDER_GRB);
+
+    /** The native value for this ColorOrder. */
+    public final int value;
+
+    ColorOrder(int value) {
+      this.value = value;
+    }
+
+    /**
+     * Gets a color order from an int value.
+     *
+     * @param value int value
+     * @return color order
+     */
+    public ColorOrder fromValue(int value) {
+      return switch (value) {
+        case AddressableLEDJNI.COLOR_ORDER_RBG -> kRBG;
+        case AddressableLEDJNI.COLOR_ORDER_BGR -> kBGR;
+        case AddressableLEDJNI.COLOR_ORDER_BRG -> kBRG;
+        case AddressableLEDJNI.COLOR_ORDER_GRB -> kGRB;
+        case AddressableLEDJNI.COLOR_ORDER_GBR -> kGBR;
+        case AddressableLEDJNI.COLOR_ORDER_RGB -> kRGB;
+        default -> kGRB;
+      };
+    }
+  }
+
   private final int m_pwmHandle;
   private final int m_handle;
 
@@ -42,6 +87,17 @@ public class AddressableLED implements AutoCloseable {
     }
   }
 
+  /**
+   * Sets the color order for this AddressableLED. The default order is GRB.
+   *
+   * <p>This will take effect on the next call to {@link #setData(AddressableLEDBuffer)}.
+   *
+   * @param order the color order
+   */
+  public void setColorOrder(ColorOrder order) {
+    AddressableLEDJNI.setColorOrder(m_handle, order.value);
+  }
+
   /**
    * Sets the length of the LED strip.
    *
@@ -70,7 +126,8 @@ public class AddressableLED implements AutoCloseable {
   /**
    * Sets the bit timing.
    *
-   * <p>By default, the driver is set up to drive WS2812Bs, so nothing needs to be set for those.
+   * <p>By default, the driver is set up to drive WS2812B and WS2815, so nothing needs to be set for
+   * those.
    *
    * @param highTime0NanoSeconds high time for 0 bit (default 400ns)
    * @param lowTime0NanoSeconds low time for 0 bit (default 900ns)
@@ -93,7 +150,7 @@ public class AddressableLED implements AutoCloseable {
   /**
    * Sets the sync time.
    *
-   * <p>The sync time is the time to hold output so LEDs enable. Default set for WS2812B.
+   * <p>The sync time is the time to hold output so LEDs enable. Default set for WS2812B and WS2815.
    *
    * @param syncTimeMicroSeconds the sync time (default 280us)
    */

wpilibj/src/main/java/edu/wpi/first/wpilibj/Joystick.java

@@ -179,7 +179,7 @@ public class Joystick extends GenericHID {
 
   /**
    * Get the X value of the joystick. This depends on the mapping of the joystick connected to the
-   * current port.
+   * current port. On most joysticks, positive is to the right.
    *
    * @return The X value of the joystick.
    */
@@ -189,7 +189,7 @@ public class Joystick extends GenericHID {
 
   /**
    * Get the Y value of the joystick. This depends on the mapping of the joystick connected to the
-   * current port.
+   * current port. On most joysticks, positive is to the back.
    *
    * @return The Y value of the joystick.
    */
@@ -303,8 +303,8 @@ public class Joystick extends GenericHID {
   }
 
   /**
-   * Get the magnitude of the direction vector formed by the joystick's current position relative to
-   * its origin.
+   * Get the magnitude of the vector formed by the joystick's current position relative to its
+   * origin.
    *
    * @return The magnitude of the direction vector
    */
@@ -313,16 +313,26 @@ public class Joystick extends GenericHID {
   }
 
   /**
-   * Get the direction of the vector formed by the joystick and its origin in radians.
+   * Get the direction of the vector formed by the joystick and its origin in radians. 0 is forward
+   * and clockwise is positive. (Straight right is π/2.)
    *
    * @return The direction of the vector in radians
    */
   public double getDirectionRadians() {
+    // https://docs.wpilib.org/en/stable/docs/software/basic-programming/coordinate-system.html#joystick-and-controller-coordinate-system
+    // A positive rotation around the X axis moves the joystick right, and a
+    // positive rotation around the Y axis moves the joystick backward. When
+    // treating them as translations, 0 radians is measured from the right
+    // direction, and angle increases clockwise.
+    //
+    // It's rotated 90 degrees CCW (y is negated and the arguments are reversed)
+    // so that 0 radians is forward.
     return Math.atan2(getX(), -getY());
   }
 
   /**
-   * Get the direction of the vector formed by the joystick and its origin in degrees.
+   * Get the direction of the vector formed by the joystick and its origin in degrees. 0 is forward
+   * and clockwise is positive. (Straight right is 90.)
    *
    * @return The direction of the vector in degrees
    */

wpilibj/src/main/java/edu/wpi/first/wpilibj/SPI.java

@@ -140,7 +140,7 @@ public class SPI implements AutoCloseable {
     if (dataToSend.length < size) {
       throw new IllegalArgumentException("buffer is too small, must be at least " + size);
     }
-    return SPIJNI.spiWriteB(m_port, dataToSend, (byte) size);
+    return SPIJNI.spiWriteB(m_port, dataToSend, size);
   }
 
   /**
@@ -163,7 +163,7 @@ public class SPI implements AutoCloseable {
     if (dataToSend.capacity() < size) {
       throw new IllegalArgumentException("buffer is too small, must be at least " + size);
     }
-    return SPIJNI.spiWrite(m_port, dataToSend, (byte) size);
+    return SPIJNI.spiWrite(m_port, dataToSend, size);
   }
 
   /**
@@ -184,7 +184,7 @@ public class SPI implements AutoCloseable {
     if (dataReceived.length < size) {
       throw new IllegalArgumentException("buffer is too small, must be at least " + size);
     }
-    return SPIJNI.spiReadB(m_port, initiate, dataReceived, (byte) size);
+    return SPIJNI.spiReadB(m_port, initiate, dataReceived, size);
   }
 
   /**
@@ -211,7 +211,7 @@ public class SPI implements AutoCloseable {
     if (dataReceived.capacity() < size) {
       throw new IllegalArgumentException("buffer is too small, must be at least " + size);
     }
-    return SPIJNI.spiRead(m_port, initiate, dataReceived, (byte) size);
+    return SPIJNI.spiRead(m_port, initiate, dataReceived, size);
   }
 
   /**
@@ -229,7 +229,7 @@ public class SPI implements AutoCloseable {
     if (dataReceived.length < size) {
       throw new IllegalArgumentException("dataReceived is too small, must be at least " + size);
     }
-    return SPIJNI.spiTransactionB(m_port, dataToSend, dataReceived, (byte) size);
+    return SPIJNI.spiTransactionB(m_port, dataToSend, dataReceived, size);
   }
 
   /**
@@ -256,7 +256,7 @@ public class SPI implements AutoCloseable {
     if (dataReceived.capacity() < size) {
       throw new IllegalArgumentException("dataReceived is too small, must be at least " + size);
     }
-    return SPIJNI.spiTransaction(m_port, dataToSend, dataReceived, (byte) size);
+    return SPIJNI.spiTransaction(m_port, dataToSend, dataReceived, size);
   }
 
   /**

wpilibj/src/test/java/edu/wpi/first/wpilibj/AlertTest.java

@@ -81,7 +81,18 @@ class AlertTest {
   }
 
   @Test
-  void setUnset() {
+  void setUnsetSingle() {
+    try (var one = makeAlert("one", AlertType.kInfo)) {
+      assertFalse(isAlertActive("one", AlertType.kInfo));
+      one.set(true);
+      assertTrue(isAlertActive("one", AlertType.kInfo));
+      one.set(false);
+      assertFalse(isAlertActive("one", AlertType.kInfo));
+    }
+  }
+
+  @Test
+  void setUnsetMultiple() {
     try (var one = makeAlert("one", AlertType.kError);
         var two = makeAlert("two", AlertType.kInfo)) {
       assertFalse(isAlertActive("one", AlertType.kError));

wpimath/CMakeLists.txt

@@ -189,6 +189,12 @@ target_include_directories(
         $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src/main/native/thirdparty/sleipnir/src>
 )
 
+install(
+    DIRECTORY src/generated/main/native/cpp/
+    DESTINATION "${include_dest}/wpimath"
+    FILES_MATCHING
+    PATTERN "*.h"
+)
 install(DIRECTORY src/main/native/include/ DESTINATION "${include_dest}/wpimath")
 target_include_directories(
     wpimath

wpimath/src/main/java/edu/wpi/first/math/controller/ArmFeedforward.java

@@ -16,16 +16,16 @@ import edu.wpi.first.util.struct.StructSerializable;
  */
 public class ArmFeedforward implements ProtobufSerializable, StructSerializable {
   /** The static gain, in volts. */
-  private final double ks;
+  private double ks;
 
   /** The gravity gain, in volts. */
-  private final double kg;
+  private double kg;
 
   /** The velocity gain, in V/(rad/s). */
-  private final double kv;
+  private double kv;
 
   /** The acceleration gain, in V/(rad/s²). */
-  private final double ka;
+  private double ka;
 
   /** The period, in seconds. */
   private final double m_dt;
@@ -86,6 +86,42 @@ public class ArmFeedforward implements ProtobufSerializable, StructSerializable
     this(ks, kg, kv, 0);
   }
 
+  /**
+   * Sets the static gain.
+   *
+   * @param ks The static gain in volts.
+   */
+  public void setKs(double ks) {
+    this.ks = ks;
+  }
+
+  /**
+   * Sets the gravity gain.
+   *
+   * @param kg The gravity gain in volts.
+   */
+  public void setKg(double kg) {
+    this.kg = kg;
+  }
+
+  /**
+   * Sets the velocity gain.
+   *
+   * @param kv The velocity gain in V/(rad/s).
+   */
+  public void setKv(double kv) {
+    this.kv = kv;
+  }
+
+  /**
+   * Sets the acceleration gain.
+   *
+   * @param ka The acceleration gain in V/(rad/s²).
+   */
+  public void setKa(double ka) {
+    this.ka = ka;
+  }
+
   /**
    * Returns the static gain in volts.
    *

wpimath/src/main/java/edu/wpi/first/math/controller/ElevatorFeedforward.java

@@ -15,16 +15,16 @@ import edu.wpi.first.util.struct.StructSerializable;
  */
 public class ElevatorFeedforward implements ProtobufSerializable, StructSerializable {
   /** The static gain, in volts. */
-  private final double ks;
+  private double ks;
 
   /** The gravity gain, in volts. */
-  private final double kg;
+  private double kg;
 
   /** The velocity gain, in V/(m/s). */
-  private final double kv;
+  private double kv;
 
   /** The acceleration gain, in V/(m/s²). */
-  private final double ka;
+  private double ka;
 
   /** The period, in seconds. */
   private final double m_dt;
@@ -86,6 +86,42 @@ public class ElevatorFeedforward implements ProtobufSerializable, StructSerializ
     this(ks, kg, kv, 0);
   }
 
+  /**
+   * Sets the static gain.
+   *
+   * @param ks The static gain in volts.
+   */
+  public void setKs(double ks) {
+    this.ks = ks;
+  }
+
+  /**
+   * Sets the gravity gain.
+   *
+   * @param kg The gravity gain in volts.
+   */
+  public void setKg(double kg) {
+    this.kg = kg;
+  }
+
+  /**
+   * Sets the velocity gain.
+   *
+   * @param kv The velocity gain in V/(m/s).
+   */
+  public void setKv(double kv) {
+    this.kv = kv;
+  }
+
+  /**
+   * Sets the acceleration gain.
+   *
+   * @param ka The acceleration gain in V/(m/s²).
+   */
+  public void setKa(double ka) {
+    this.ka = ka;
+  }
+
   /**
    * Returns the static gain in volts.
    *

wpimath/src/main/java/edu/wpi/first/math/controller/SimpleMotorFeedforward.java

@@ -12,13 +12,13 @@ import edu.wpi.first.util.struct.StructSerializable;
 /** A helper class that computes feedforward outputs for a simple permanent-magnet DC motor. */
 public class SimpleMotorFeedforward implements ProtobufSerializable, StructSerializable {
   /** The static gain, in volts. */
-  private final double ks;
+  private double ks;
 
   /** The velocity gain, in V/(units/s). */
-  private final double kv;
+  private double kv;
 
   /** The acceleration gain, in V/(units/s²). */
-  private final double ka;
+  private double ka;
 
   /** The period, in seconds. */
   private final double m_dt;
@@ -83,6 +83,33 @@ public class SimpleMotorFeedforward implements ProtobufSerializable, StructSeria
     this(ks, kv, 0);
   }
 
+  /**
+   * Sets the static gain.
+   *
+   * @param ks The static gain in volts.
+   */
+  public void setKs(double ks) {
+    this.ks = ks;
+  }
+
+  /**
+   * Sets the velocity gain.
+   *
+   * @param kv The velocity gain in V/(units/s).
+   */
+  public void setKv(double kv) {
+    this.kv = kv;
+  }
+
+  /**
+   * Sets the acceleration gain.
+   *
+   * @param ka The acceleration gain in V/(units/s²).
+   */
+  public void setKa(double ka) {
+    this.ka = ka;
+  }
+
   /**
    * Returns the static gain in volts.
    *

wpimath/src/main/java/edu/wpi/first/math/geometry/Pose2d.java

@@ -238,6 +238,17 @@ public class Pose2d implements Interpolatable<Pose2d>, ProtobufSerializable, Str
     return new Pose2d(transform.getTranslation(), transform.getRotation());
   }
 
+  /**
+   * Rotates the current pose around a point in 2D space.
+   *
+   * @param point The point in 2D space to rotate around.
+   * @param rot The rotation to rotate the pose by.
+   * @return The new rotated pose.
+   */
+  public Pose2d rotateAround(Translation2d point, Rotation2d rot) {
+    return new Pose2d(m_translation.rotateAround(point, rot), m_rotation.rotateBy(rot));
+  }
+
   /**
    * Obtain a new Pose2d from a (constant curvature) velocity.
    *

wpimath/src/main/java/edu/wpi/first/math/geometry/Pose3d.java

@@ -271,6 +271,17 @@ public class Pose3d implements Interpolatable<Pose3d>, ProtobufSerializable, Str
     return new Pose3d(transform.getTranslation(), transform.getRotation());
   }
 
+  /**
+   * Rotates the current pose around a point in 3D space.
+   *
+   * @param point The point in 3D space to rotate around.
+   * @param rot The rotation to rotate the pose by.
+   * @return The new rotated pose.
+   */
+  public Pose3d rotateAround(Translation3d point, Rotation3d rot) {
+    return new Pose3d(m_translation.rotateAround(point, rot), m_rotation.rotateBy(rot));
+  }
+
   /**
    * Obtain a new Pose3d from a (constant curvature) velocity.
    *

wpimath/src/main/java/edu/wpi/first/math/kinematics/ChassisSpeeds.java

@@ -96,7 +96,10 @@ public class ChassisSpeeds implements ProtobufSerializable, StructSerializable {
    * along the y-axis, and omega * dt around the z-axis).
    *
    * <p>This is useful for compensating for translational skew when translating and rotating a
-   * swerve drivetrain.
+   * holonomic (swerve or mecanum) drivetrain. However, scaling down the ChassisSpeeds after
+   * discretizing (e.g., when desaturating swerve module speeds) rotates the direction of net motion
+   * in the opposite direction of rotational velocity, introducing a different translational skew
+   * which is not accounted for by discretization.
    *
    * @param vxMetersPerSecond Forward velocity.
    * @param vyMetersPerSecond Sideways velocity.
@@ -134,7 +137,10 @@ public class ChassisSpeeds implements ProtobufSerializable, StructSerializable {
    * along the y-axis, and omega * dt around the z-axis).
    *
    * <p>This is useful for compensating for translational skew when translating and rotating a
-   * swerve drivetrain.
+   * holonomic (swerve or mecanum) drivetrain. However, scaling down the ChassisSpeeds after
+   * discretizing (e.g., when desaturating swerve module speeds) rotates the direction of net motion
+   * in the opposite direction of rotational velocity, introducing a different translational skew
+   * which is not accounted for by discretization.
    *
    * @param vx Forward velocity.
    * @param vy Sideways velocity.
@@ -157,7 +163,10 @@ public class ChassisSpeeds implements ProtobufSerializable, StructSerializable {
    * along the y-axis, and omega * dt around the z-axis).
    *
    * <p>This is useful for compensating for translational skew when translating and rotating a
-   * swerve drivetrain.
+   * holonomic (swerve or mecanum) drivetrain. However, scaling down the ChassisSpeeds after
+   * discretizing (e.g., when desaturating swerve module speeds) rotates the direction of net motion
+   * in the opposite direction of rotational velocity, introducing a different translational skew
+   * which is not accounted for by discretization.
    *
    * @param continuousSpeeds The continuous speeds.
    * @param dtSeconds The duration of the timestep the speeds should be applied for.

wpimath/src/main/java/edu/wpi/first/math/kinematics/DifferentialDriveWheelPositions.java

@@ -11,11 +11,15 @@ import edu.wpi.first.math.interpolation.Interpolatable;
 import edu.wpi.first.math.kinematics.proto.DifferentialDriveWheelPositionsProto;
 import edu.wpi.first.math.kinematics.struct.DifferentialDriveWheelPositionsStruct;
 import edu.wpi.first.units.measure.Distance;
+import edu.wpi.first.util.protobuf.ProtobufSerializable;
+import edu.wpi.first.util.struct.StructSerializable;
 import java.util.Objects;
 
 /** Represents the wheel positions for a differential drive drivetrain. */
 public class DifferentialDriveWheelPositions
-    implements Interpolatable<DifferentialDriveWheelPositions> {
+    implements StructSerializable,
+        ProtobufSerializable,
+        Interpolatable<DifferentialDriveWheelPositions> {
   /** Distance measured by the left side. */
   public double leftMeters;
 

wpimath/src/main/java/edu/wpi/first/math/kinematics/SwerveDriveKinematics.java

@@ -274,6 +274,10 @@ public class SwerveDriveKinematics
    * reduce all the wheel speeds to make sure that all requested module speeds are at-or-below the
    * absolute threshold, while maintaining the ratio of speeds between modules.
    *
+   * <p>Scaling down the module speeds rotates the direction of net motion in the opposite direction
+   * of rotational velocity, which makes discretizing the chassis speeds inaccurate because the
+   * discretization did not account for this translational skew.
+   *
    * @param moduleStates Reference to array of module states. The array will be mutated with the
    *     normalized speeds!
    * @param attainableMaxSpeedMetersPerSecond The absolute max speed that a module can reach.
@@ -300,6 +304,10 @@ public class SwerveDriveKinematics
    * reduce all the wheel speeds to make sure that all requested module speeds are at-or-below the
    * absolute threshold, while maintaining the ratio of speeds between modules.
    *
+   * <p>Scaling down the module speeds rotates the direction of net motion in the opposite direction
+   * of rotational velocity, which makes discretizing the chassis speeds inaccurate because the
+   * discretization did not account for this translational skew.
+   *
    * @param moduleStates Reference to array of module states. The array will be mutated with the
    *     normalized speeds!
    * @param attainableMaxSpeed The absolute max speed that a module can reach.
@@ -318,6 +326,10 @@ public class SwerveDriveKinematics
    * reduce all the wheel speeds to make sure that all requested module speeds are at-or-below the
    * absolute threshold, while maintaining the ratio of speeds between modules.
    *
+   * <p>Scaling down the module speeds rotates the direction of net motion in the opposite direction
+   * of rotational velocity, which makes discretizing the chassis speeds inaccurate because the
+   * discretization did not account for this translational skew.
+   *
    * @param moduleStates Reference to array of module states. The array will be mutated with the
    *     normalized speeds!
    * @param desiredChassisSpeed The desired speed of the robot
@@ -365,6 +377,10 @@ public class SwerveDriveKinematics
    * reduce all the wheel speeds to make sure that all requested module speeds are at-or-below the
    * absolute threshold, while maintaining the ratio of speeds between modules.
    *
+   * <p>Scaling down the module speeds rotates the direction of net motion in the opposite direction
+   * of rotational velocity, which makes discretizing the chassis speeds inaccurate because the
+   * discretization did not account for this translational skew.
+   *
    * @param moduleStates Reference to array of module states. The array will be mutated with the
    *     normalized speeds!
    * @param desiredChassisSpeed The desired speed of the robot