Update vendordep frcYear to 2026 (#8552)

https://github.com/android/ndk/wiki#release-schedule

.github/workflows/cmake-android.yml

@@ -30,7 +30,7 @@ jobs:
       - uses: nttld/setup-ndk@v1
         id: setup-ndk
         with:
-          ndk-version: r27c
+          ndk-version: r27d
           add-to-path: false
 
       - uses: actions/setup-java@v4

.github/workflows/gradle.yml

@@ -52,11 +52,11 @@ jobs:
         run: echo "EXTRA_GRADLE_ARGS=-PreleaseMode" >> $GITHUB_ENV
         if: startsWith(github.ref, 'refs/tags/v') && !contains(github.ref, '2027')
       - name: Build with Gradle
-        uses: addnab/docker-run-action@v3
+        uses: addnab/docker-run-action@3e77f186b7a929ef010f183a9e24c0f9955ea609
         with:
           image: ${{ matrix.container }}
           options: -v ${{ github.workspace }}:/work -w /work -e ARTIFACTORY_PUBLISH_USERNAME -e ARTIFACTORY_PUBLISH_PASSWORD -e GITHUB_REF -e CI
-          run: df . && rm -f semicolon_delimited_script && echo $GITHUB_REF && ./gradlew build --build-cache -PbuildServer -PskipJavaFormat ${{ matrix.build-options }} ${{ env.EXTRA_GRADLE_ARGS }}
+          run: df . && echo $GITHUB_REF && ./gradlew build --build-cache -PbuildServer -PskipJavaFormat ${{ matrix.build-options }} ${{ env.EXTRA_GRADLE_ARGS }}
         env:
           ARTIFACTORY_PUBLISH_USERNAME: ${{ secrets.ARTIFACTORY_USERNAME }}
           ARTIFACTORY_PUBLISH_PASSWORD: ${{ secrets.ARTIFACTORY_PASSWORD }}

.github/workflows/sentinel-build.yml

@@ -53,11 +53,11 @@ jobs:
         with:
           fetch-depth: 0
       - name: Build with Gradle
-        uses: addnab/docker-run-action@v3
+        uses: addnab/docker-run-action@3e77f186b7a929ef010f183a9e24c0f9955ea609
         with:
           image: ${{ matrix.container }}
           options: -v ${{ github.workspace }}:/work -w /work -e GITHUB_REF -e CI
-          run: df . && rm -f semicolon_delimited_script && echo $GITHUB_REF && ./gradlew build -PbuildServer -PskipJavaFormat ${{ matrix.build-options }}
+          run: df . && echo $GITHUB_REF && ./gradlew build -PbuildServer -PskipJavaFormat ${{ matrix.build-options }}
       - name: Check free disk space
         run: df .
       - uses: actions/upload-artifact@v4

CMakeLists.txt

@@ -351,7 +351,9 @@ endif()
 if(WITH_WPILIB)
     set(APRILTAG_DEP_REPLACE "find_dependency(apriltag)")
     set(WPILIBC_DEP_REPLACE "find_dependency(wpilibc)")
-    set(WPILIBJ_DEP_REPLACE "find_dependency(wpilibj)")
+    if(WITH_JAVA)
+        set(WPILIBJ_DEP_REPLACE "find_dependency(wpilibj)")
+    endif()
     set(WPILIBNEWCOMMANDS_DEP_REPLACE "find_dependency(wpilibNewCommands)")
     add_subdirectory(apriltag)
     add_subdirectory(wpilibj)

DevelopmentBuilds.md

@@ -13,7 +13,7 @@ This article contains instructions on building projects using a development buil
 
 Development builds are the per-commit build hosted every time a commit is pushed to the [allwpilib](https://github.com/wpilibsuite/allwpilib/) repository. These builds are then hosted on [artifactory](https://frcmaven.wpi.edu/artifactory/webapp/#/home).
 
-To build a project using a development build, find the build.gradle file and open it. Then, add the following code below the plugin section and replace YEAR with the year of the development version. It is also necessary to use a 2025 GradleRIO version, ie `2025.1.1-beta-1`
+To build a project using a development build, find the build.gradle file and open it. Then, add the following code below the plugin section and replace YEAR with the year of the development version. It is also necessary to use a 2026 GradleRIO version, ie `2026.1.1`
 
 ```groovy
 wpi.maven.useLocal = false
@@ -28,13 +28,13 @@ Java
 ```groovy
 plugins {
   id "java"
-  id "edu.wpi.first.GradleRIO" version "2025.1.1-beta-1"
+  id "edu.wpi.first.GradleRIO" version "2026.1.1"
 }
 
 wpi.maven.useLocal = false
 wpi.maven.useDevelopment = true
-wpi.versions.wpilibVersion = '2025.+'
-wpi.versions.wpimathVersion = '2025.+'
+wpi.versions.wpilibVersion = '2026.+'
+wpi.versions.wpimathVersion = '2026.+'
 ```
 
 C++
@@ -42,13 +42,13 @@ C++
 plugins {
   id "cpp"
   id "google-test-test-suite"
-  id "edu.wpi.first.GradleRIO" version "2025.1.1-beta-1"
+  id "edu.wpi.first.GradleRIO" version "2026.1.1"
 }
 
 wpi.maven.useLocal = false
 wpi.maven.useDevelopment = true
-wpi.versions.wpilibVersion = '2025.+'
-wpi.versions.wpimathVersion = '2025.+'
+wpi.versions.wpilibVersion = '2026.+'
+wpi.versions.wpimathVersion = '2026.+'
 ```
 
 ### Development Build Documentation
@@ -64,7 +64,7 @@ Java
 ```groovy
 plugins {
   id "java"
-  id "edu.wpi.first.GradleRIO" version "2025.1.1-beta-1"
+  id "edu.wpi.first.GradleRIO" version "2026.1.1"
 }
 
 wpi.maven.useLocal = false
@@ -78,7 +78,7 @@ C++
 plugins {
   id "cpp"
   id "google-test-test-suite"
-  id "edu.wpi.first.GradleRIO" version "2025.1.1-beta-1"
+  id "edu.wpi.first.GradleRIO" version "2026.1.1"
 }
 
 wpi.maven.useLocal = false

LICENSE.md

@@ -1,4 +1,4 @@
-Copyright (c) 2009-2025 FIRST and other WPILib contributors
+Copyright (c) 2009-2026 FIRST and other WPILib contributors
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without

README.md

@@ -50,7 +50,7 @@ Using Gradle makes building WPILib very straightforward. It only has a few depen
 - C++ compiler
     - On Linux, install GCC 11 or greater
     - On Windows, install [Visual Studio Community 2022](https://visualstudio.microsoft.com/vs/community/) and select the C++ programming language during installation (Gradle can't use the build tools for Visual Studio)
-    - On macOS 13.3 or newer, install Xcode 14 or later (the command-line build tools are insufficient).
+    - On macOS, install the Xcode command-line build tools via `xcode-select --install`. Xcode 14 or later is required.
 - ARM compiler toolchain
     - Run `./gradlew installRoboRioToolchain` after cloning this repository
     - If the WPILib installer was used, this toolchain is already installed

hal/src/generate/Instances.txt

@@ -17,6 +17,7 @@ kFramework_AdvantageKit = 7
 kFramework_MagicBot = 8
 kFramework_KitBotTraditional = 9
 kFramework_KitBotInline = 10
+kFramework_Everybot = 11
 kRobotDrive_ArcadeStandard = 1
 kRobotDrive_ArcadeButtonSpin = 2
 kRobotDrive_ArcadeRatioCurve = 3

hal/src/generate/ResourceType.txt

@@ -125,3 +125,12 @@ kResourceType_ThriftyNova = 123
 kResourceType_RevServoHub = 124
 kResourceType_PWFSEN36005 = 125
 kResourceType_LaserShark = 126
+kResourceType_YAMS = 127
+kResourceType_LEDPattern = 128
+kResourceType_LinearQuadraticRegulator = 129
+kResourceType_KalmanFilter = 130
+kResourceType_PoseEstimator = 131
+kResourceType_PoseEstimator3d = 132
+kResourceType_LinearSystemLoop = 133
+kResourceType_LumynLabs_ConnectorX = 134
+kResourceType_LumynLabs_ConnectorXAnimate = 135

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

@@ -273,6 +273,24 @@ public final class FRCNetComm {
     public static final int kResourceType_PWFSEN36005 = 125;
     /** kResourceType_LaserShark = 126. */
     public static final int kResourceType_LaserShark = 126;
+    /** kResourceType_YAMS = 127. */
+    public static final int kResourceType_YAMS = 127;
+    /** kResourceType_LEDPattern = 128. */
+    public static final int kResourceType_LEDPattern = 128;
+    /** kResourceType_LinearQuadraticRegulator = 129. */
+    public static final int kResourceType_LinearQuadraticRegulator = 129;
+    /** kResourceType_KalmanFilter = 130. */
+    public static final int kResourceType_KalmanFilter = 130;
+    /** kResourceType_PoseEstimator = 131. */
+    public static final int kResourceType_PoseEstimator = 131;
+    /** kResourceType_PoseEstimator3d = 132. */
+    public static final int kResourceType_PoseEstimator3d = 132;
+    /** kResourceType_LinearSystemLoop = 133. */
+    public static final int kResourceType_LinearSystemLoop = 133;
+    /** kResourceType_LumynLabs_ConnectorX = 134. */
+    public static final int kResourceType_LumynLabs_ConnectorX = 134;
+    /** kResourceType_LumynLabs_ConnectorXAnimate = 135. */
+    public static final int kResourceType_LumynLabs_ConnectorXAnimate = 135;
   }
 
   /**
@@ -321,6 +339,8 @@ public final class FRCNetComm {
     public static final int kFramework_KitBotTraditional = 9;
     /** kFramework_KitBotInline = 10. */
     public static final int kFramework_KitBotInline = 10;
+    /** kFramework_Everybot = 11. */
+    public static final int kFramework_Everybot = 11;
     /** kRobotDrive_ArcadeStandard = 1. */
     public static final int kRobotDrive_ArcadeStandard = 1;
     /** kRobotDrive_ArcadeButtonSpin = 2. */

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

@@ -178,6 +178,15 @@ namespace HALUsageReporting {
     kResourceType_RevServoHub = 124,
     kResourceType_PWFSEN36005 = 125,
     kResourceType_LaserShark = 126,
+    kResourceType_YAMS = 127,
+    kResourceType_LEDPattern = 128,
+    kResourceType_LinearQuadraticRegulator = 129,
+    kResourceType_KalmanFilter = 130,
+    kResourceType_PoseEstimator = 131,
+    kResourceType_PoseEstimator3d = 132,
+    kResourceType_LinearSystemLoop = 133,
+    kResourceType_LumynLabs_ConnectorX = 134,
+    kResourceType_LumynLabs_ConnectorXAnimate = 135,
   };
   enum tInstances : int32_t {
     kLanguage_LabVIEW = 1,
@@ -199,6 +208,7 @@ namespace HALUsageReporting {
     kFramework_MagicBot = 8,
     kFramework_KitBotTraditional = 9,
     kFramework_KitBotInline = 10,
+    kFramework_Everybot = 11,
     kRobotDrive_ArcadeStandard = 1,
     kRobotDrive_ArcadeButtonSpin = 2,
     kRobotDrive_ArcadeRatioCurve = 3,

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

@@ -147,6 +147,15 @@ typedef enum
     kResourceType_RevServoHub = 124,
     kResourceType_PWFSEN36005 = 125,
     kResourceType_LaserShark = 126,
+    kResourceType_YAMS = 127,
+    kResourceType_LEDPattern = 128,
+    kResourceType_LinearQuadraticRegulator = 129,
+    kResourceType_KalmanFilter = 130,
+    kResourceType_PoseEstimator = 131,
+    kResourceType_PoseEstimator3d = 132,
+    kResourceType_LinearSystemLoop = 133,
+    kResourceType_LumynLabs_ConnectorX = 134,
+    kResourceType_LumynLabs_ConnectorXAnimate = 135,
 
 //    kResourceType_MaximumID = 255,
 } tResourceType;
@@ -172,6 +181,7 @@ typedef enum
     kFramework_MagicBot = 8,
     kFramework_KitBotTraditional = 9,
     kFramework_KitBotInline = 10,
+    kFramework_Everybot = 11,
     kRobotDrive_ArcadeStandard = 1,
     kRobotDrive_ArcadeButtonSpin = 2,
     kRobotDrive_ArcadeRatioCurve = 3,

romiVendordep/RomiVendordep.json

@@ -3,7 +3,7 @@
   "name": "Romi-Vendordep",
   "version": "1.0.0",
   "uuid": "1010372a-b446-46f4-b229-61e53a26a7dc",
-  "frcYear": "2026beta",
+  "frcYear": "2026",
   "mavenUrls": [],
   "jsonUrl": "",
   "javaDependencies": [

upstream_utils/llvm_patches/0001-Remove-StringRef-ArrayRef-and-Optional.patch

@@ -1,7 +1,7 @@
 From 0000000000000000000000000000000000000000 Mon Sep 17 00:00:00 2001
 From: PJ Reiniger <pj.reiniger@gmail.com>
 Date: Sat, 7 May 2022 22:09:18 -0400
-Subject: [PATCH 01/37] Remove StringRef, ArrayRef, and Optional
+Subject: [PATCH 01/36] Remove StringRef, ArrayRef, and Optional
 
 ---
  llvm/include/llvm/ADT/PointerUnion.h          |   1 -

upstream_utils/llvm_patches/0002-Wrap-std-min-max-calls-in-parens-for-Windows-warning.patch

@@ -1,7 +1,7 @@
 From 0000000000000000000000000000000000000000 Mon Sep 17 00:00:00 2001
 From: PJ Reiniger <pj.reiniger@gmail.com>
 Date: Sat, 7 May 2022 22:12:41 -0400
-Subject: [PATCH 02/37] Wrap std::min/max calls in parens, for Windows warnings
+Subject: [PATCH 02/36] Wrap std::min/max calls in parens, for Windows warnings
 
 ---
  llvm/include/llvm/ADT/DenseMap.h       |  4 ++--

upstream_utils/llvm_patches/0003-Change-unique_function-storage-size.patch

@@ -1,7 +1,7 @@
 From 0000000000000000000000000000000000000000 Mon Sep 17 00:00:00 2001
 From: PJ Reiniger <pj.reiniger@gmail.com>
 Date: Sat, 7 May 2022 22:13:55 -0400
-Subject: [PATCH 03/37] Change unique_function storage size
+Subject: [PATCH 03/36] Change unique_function storage size
 
 ---
  llvm/include/llvm/ADT/FunctionExtras.h | 4 ++--

upstream_utils/llvm_patches/0004-Threading-updates.patch

@@ -1,7 +1,7 @@
 From 0000000000000000000000000000000000000000 Mon Sep 17 00:00:00 2001
 From: PJ Reiniger <pj.reiniger@gmail.com>
 Date: Sat, 7 May 2022 22:17:19 -0400
-Subject: [PATCH 04/37] Threading updates
+Subject: [PATCH 04/36] Threading updates
 
 - Remove guards for threads and exception
 - Prefer scope gaurd over lock gaurd

upstream_utils/llvm_patches/0005-ifdef-guard-safety.patch

@@ -1,7 +1,7 @@
 From 0000000000000000000000000000000000000000 Mon Sep 17 00:00:00 2001
 From: PJ Reiniger <pj.reiniger@gmail.com>
 Date: Sat, 7 May 2022 22:28:13 -0400
-Subject: [PATCH 05/37] \#ifdef guard safety
+Subject: [PATCH 05/36] \#ifdef guard safety
 
 Prevents redefinition if someone is pulling in real LLVM, since the macros are in global namespace
 ---

upstream_utils/llvm_patches/0006-Explicitly-use-std.patch

@@ -1,7 +1,7 @@
 From 0000000000000000000000000000000000000000 Mon Sep 17 00:00:00 2001
 From: PJ Reiniger <pj.reiniger@gmail.com>
 Date: Sat, 7 May 2022 22:37:34 -0400
-Subject: [PATCH 06/37] Explicitly use std::
+Subject: [PATCH 06/36] Explicitly use std::
 
 ---
  llvm/include/llvm/ADT/SmallSet.h       |  2 +-

upstream_utils/llvm_patches/0007-Remove-format_provider.patch

@@ -1,7 +1,7 @@
 From 0000000000000000000000000000000000000000 Mon Sep 17 00:00:00 2001
 From: PJ Reiniger <pj.reiniger@gmail.com>
 Date: Sat, 7 May 2022 22:53:50 -0400
-Subject: [PATCH 07/37] Remove format_provider
+Subject: [PATCH 07/36] Remove format_provider
 
 ---
  llvm/include/llvm/Support/Chrono.h      | 114 ------------------------

upstream_utils/llvm_patches/0008-Add-compiler-warning-pragmas.patch

@@ -1,7 +1,7 @@
 From 0000000000000000000000000000000000000000 Mon Sep 17 00:00:00 2001
 From: PJ Reiniger <pj.reiniger@gmail.com>
 Date: Sun, 8 May 2022 13:34:07 -0400
-Subject: [PATCH 08/37] Add compiler warning pragmas
+Subject: [PATCH 08/36] Add compiler warning pragmas
 
 ---
  llvm/include/llvm/ADT/FunctionExtras.h | 11 +++++++++++

upstream_utils/llvm_patches/0009-Remove-unused-functions.patch

@@ -1,7 +1,7 @@
 From 0000000000000000000000000000000000000000 Mon Sep 17 00:00:00 2001
 From: PJ Reiniger <pj.reiniger@gmail.com>
 Date: Sun, 8 May 2022 13:43:50 -0400
-Subject: [PATCH 09/37] Remove unused functions
+Subject: [PATCH 09/36] Remove unused functions
 
 ---
  llvm/include/llvm/ADT/SmallString.h      |  77 ------

upstream_utils/llvm_patches/0010-Detemplatize-SmallVectorBase.patch

@@ -1,7 +1,7 @@
 From 0000000000000000000000000000000000000000 Mon Sep 17 00:00:00 2001
 From: PJ Reiniger <pj.reiniger@gmail.com>
 Date: Thu, 5 May 2022 23:18:34 -0400
-Subject: [PATCH 10/37] Detemplatize SmallVectorBase
+Subject: [PATCH 10/36] Detemplatize SmallVectorBase
 
 ---
  llvm/include/llvm/ADT/SmallVector.h | 35 ++++++++++-----------------

upstream_utils/llvm_patches/0011-Add-vectors-to-raw_ostream.patch

@@ -1,7 +1,7 @@
 From 0000000000000000000000000000000000000000 Mon Sep 17 00:00:00 2001
 From: PJ Reiniger <pj.reiniger@gmail.com>
 Date: Sun, 8 May 2022 13:48:59 -0400
-Subject: [PATCH 11/37] Add vectors to raw_ostream
+Subject: [PATCH 11/36] Add vectors to raw_ostream
 
 ---
  llvm/include/llvm/Support/raw_ostream.h | 115 ++++++++++++++++++++++++

upstream_utils/llvm_patches/0012-Extra-collections-features.patch

@@ -1,7 +1,7 @@
 From 0000000000000000000000000000000000000000 Mon Sep 17 00:00:00 2001
 From: PJ Reiniger <pj.reiniger@gmail.com>
 Date: Tue, 3 May 2022 22:16:10 -0400
-Subject: [PATCH 12/37] Extra collections features
+Subject: [PATCH 12/36] Extra collections features
 
 ---
  llvm/lib/Support/raw_ostream.cpp | 8 ++++++++

upstream_utils/llvm_patches/0013-Delete-numbers-from-MathExtras.patch

@@ -1,7 +1,7 @@
 From 0000000000000000000000000000000000000000 Mon Sep 17 00:00:00 2001
 From: PJ Reiniger <pj.reiniger@gmail.com>
 Date: Thu, 5 May 2022 18:09:45 -0400
-Subject: [PATCH 14/37] Delete numbers from MathExtras
+Subject: [PATCH 13/36] Delete numbers from MathExtras
 
 ---
  llvm/include/llvm/Support/MathExtras.h | 36 --------------------------

upstream_utils/llvm_patches/0013-EpochTracker-ABI-macro.patch

@@ -1,22 +0,0 @@
-From 0000000000000000000000000000000000000000 Mon Sep 17 00:00:00 2001
-From: PJ Reiniger <pj.reiniger@gmail.com>
-Date: Wed, 4 May 2022 00:01:00 -0400
-Subject: [PATCH 13/37] EpochTracker ABI macro
-
----
- llvm/include/llvm/ADT/EpochTracker.h | 2 +-
- 1 file changed, 1 insertion(+), 1 deletion(-)
-
-diff --git a/llvm/include/llvm/ADT/EpochTracker.h b/llvm/include/llvm/ADT/EpochTracker.h
-index fc41d6f2c92d2f9876c741067b5645a74663db04..56d0acda2c1a0e390cfed086fa298b650c4a561f 100644
---- a/llvm/include/llvm/ADT/EpochTracker.h
-+++ b/llvm/include/llvm/ADT/EpochTracker.h
-@@ -22,7 +22,7 @@
- 
- namespace llvm {
- 
--#if LLVM_ENABLE_ABI_BREAKING_CHECKS
-+#ifndef NDEBUG //ifndef LLVM_ENABLE_ABI_BREAKING_CHECKS
- #define LLVM_DEBUGEPOCHBASE_HANDLEBASE_EMPTYBASE
- 
- /// A base class for data structure classes wishing to make iterators

upstream_utils/llvm_patches/0014-Add-lerp-and-sgn.patch

@@ -1,7 +1,7 @@
 From 0000000000000000000000000000000000000000 Mon Sep 17 00:00:00 2001
 From: PJ Reiniger <pj.reiniger@gmail.com>
 Date: Tue, 3 May 2022 22:50:24 -0400
-Subject: [PATCH 15/37] Add lerp and sgn
+Subject: [PATCH 14/36] Add lerp and sgn
 
 ---
  llvm/include/llvm/Support/MathExtras.h | 21 +++++++++++++++++++++

upstream_utils/llvm_patches/0015-Fixup-includes.patch

@@ -1,7 +1,7 @@
 From 0000000000000000000000000000000000000000 Mon Sep 17 00:00:00 2001
 From: PJ Reiniger <pj.reiniger@gmail.com>
 Date: Sun, 8 May 2022 16:38:11 -0400
-Subject: [PATCH 16/37] Fixup includes
+Subject: [PATCH 15/36] Fixup includes
 
 ---
  llvm/include/llvm/Support/PointerLikeTypeTraits.h |  1 +

upstream_utils/llvm_patches/0016-Use-std-is_trivially_copy_constructible.patch

@@ -1,7 +1,7 @@
 From 0000000000000000000000000000000000000000 Mon Sep 17 00:00:00 2001
 From: PJ Reiniger <pj.reiniger@gmail.com>
 Date: Sun, 8 May 2022 16:42:09 -0400
-Subject: [PATCH 17/37] Use std::is_trivially_copy_constructible
+Subject: [PATCH 16/36] Use std::is_trivially_copy_constructible
 
 ---
  llvm/include/llvm/Support/type_traits.h | 16 ----------------

upstream_utils/llvm_patches/0017-Windows-support.patch

@@ -1,7 +1,7 @@
 From 0000000000000000000000000000000000000000 Mon Sep 17 00:00:00 2001
 From: PJ Reiniger <pj.reiniger@gmail.com>
 Date: Tue, 3 May 2022 20:22:38 -0400
-Subject: [PATCH 18/37] Windows support
+Subject: [PATCH 17/36] Windows support
 
 ---
  .../llvm/Support/Windows/WindowsSupport.h     | 45 +++++----

upstream_utils/llvm_patches/0018-Remove-call-to-RtlGetLastNtStatus.patch

@@ -1,7 +1,7 @@
 From 0000000000000000000000000000000000000000 Mon Sep 17 00:00:00 2001
 From: Tyler Veness <calcmogul@gmail.com>
 Date: Tue, 17 Sep 2024 21:19:52 -0700
-Subject: [PATCH 19/37] Remove call to RtlGetLastNtStatus()
+Subject: [PATCH 18/36] Remove call to RtlGetLastNtStatus()
 
 ---
  llvm/lib/Support/ErrorHandling.cpp | 23 -----------------------

upstream_utils/llvm_patches/0019-Prefer-fmtlib.patch

@@ -1,7 +1,7 @@
 From 0000000000000000000000000000000000000000 Mon Sep 17 00:00:00 2001
 From: PJ Reiniger <pj.reiniger@gmail.com>
 Date: Sun, 8 May 2022 16:46:20 -0400
-Subject: [PATCH 20/37] Prefer fmtlib
+Subject: [PATCH 19/36] Prefer fmtlib
 
 ---
  llvm/lib/Support/ErrorHandling.cpp | 20 ++++++--------------

upstream_utils/llvm_patches/0020-Prefer-wpi-s-fs.h.patch

@@ -1,7 +1,7 @@
 From 0000000000000000000000000000000000000000 Mon Sep 17 00:00:00 2001
 From: PJ Reiniger <pj.reiniger@gmail.com>
 Date: Sun, 8 May 2022 16:49:36 -0400
-Subject: [PATCH 21/37] Prefer wpi's fs.h
+Subject: [PATCH 20/36] Prefer wpi's fs.h
 
 ---
  llvm/include/llvm/Support/raw_ostream.h | 7 ++-----

upstream_utils/llvm_patches/0021-Remove-unused-functions.patch

@@ -1,7 +1,7 @@
 From 0000000000000000000000000000000000000000 Mon Sep 17 00:00:00 2001
 From: PJ Reiniger <pj.reiniger@gmail.com>
 Date: Sun, 8 May 2022 19:16:51 -0400
-Subject: [PATCH 22/37] Remove unused functions
+Subject: [PATCH 21/36] Remove unused functions
 
 ---
  llvm/include/llvm/Support/raw_ostream.h |  5 +-

upstream_utils/llvm_patches/0022-OS-specific-changes.patch

@@ -1,7 +1,7 @@
 From 0000000000000000000000000000000000000000 Mon Sep 17 00:00:00 2001
 From: PJ Reiniger <pj.reiniger@gmail.com>
 Date: Sun, 8 May 2022 19:30:43 -0400
-Subject: [PATCH 23/37] OS-specific changes
+Subject: [PATCH 22/36] OS-specific changes
 
 ---
  llvm/lib/Support/ErrorHandling.cpp | 16 +++++++---------

upstream_utils/llvm_patches/0023-Use-SmallVector-for-UTF-conversion.patch

@@ -1,7 +1,7 @@
 From 0000000000000000000000000000000000000000 Mon Sep 17 00:00:00 2001
 From: PJ Reiniger <pj.reiniger@gmail.com>
 Date: Mon, 9 May 2022 00:04:30 -0400
-Subject: [PATCH 24/37] Use SmallVector for UTF conversion
+Subject: [PATCH 23/36] Use SmallVector for UTF conversion
 
 ---
  llvm/include/llvm/Support/ConvertUTF.h    |  6 +++---

upstream_utils/llvm_patches/0024-Prefer-to-use-static-pointers-in-raw_ostream.patch

@@ -1,7 +1,7 @@
 From 0000000000000000000000000000000000000000 Mon Sep 17 00:00:00 2001
 From: PJ Reiniger <pj.reiniger@gmail.com>
 Date: Thu, 19 May 2022 00:58:36 -0400
-Subject: [PATCH 25/37] Prefer to use static pointers in raw_ostream
+Subject: [PATCH 24/36] Prefer to use static pointers in raw_ostream
 
 See #1401
 ---

upstream_utils/llvm_patches/0025-constexpr-endian-byte-swap.patch

@@ -1,7 +1,7 @@
 From 0000000000000000000000000000000000000000 Mon Sep 17 00:00:00 2001
 From: PJ Reiniger <pj.reiniger@gmail.com>
 Date: Fri, 1 Mar 2024 11:56:17 -0800
-Subject: [PATCH 26/37] constexpr endian byte swap
+Subject: [PATCH 25/36] constexpr endian byte swap
 
 ---
  llvm/include/llvm/Support/Endian.h | 4 +++-

upstream_utils/llvm_patches/0026-Copy-type-traits-from-STLExtras.h-into-PointerUnion..patch

@@ -1,7 +1,7 @@
 From 0000000000000000000000000000000000000000 Mon Sep 17 00:00:00 2001
 From: Tyler Veness <calcmogul@gmail.com>
 Date: Wed, 10 Aug 2022 17:07:52 -0700
-Subject: [PATCH 27/37] Copy type traits from STLExtras.h into PointerUnion.h
+Subject: [PATCH 26/36] Copy type traits from STLExtras.h into PointerUnion.h
 
 ---
  llvm/include/llvm/ADT/PointerUnion.h | 46 ++++++++++++++++++++++++++++

upstream_utils/llvm_patches/0027-Unused-variable-in-release-mode.patch

@@ -1,7 +1,7 @@
 From 0000000000000000000000000000000000000000 Mon Sep 17 00:00:00 2001
 From: Leander Schulten <Leander.Schulten@rwth-aachen.de>
 Date: Mon, 10 Jul 2023 00:53:43 +0200
-Subject: [PATCH 28/37] Unused variable in release mode
+Subject: [PATCH 27/36] Unused variable in release mode
 
 ---
  llvm/include/llvm/ADT/DenseMap.h | 2 +-

upstream_utils/llvm_patches/0028-Use-C-20-bit-header.patch

@@ -1,7 +1,7 @@
 From 0000000000000000000000000000000000000000 Mon Sep 17 00:00:00 2001
 From: Tyler Veness <calcmogul@gmail.com>
 Date: Tue, 11 Jul 2023 22:56:09 -0700
-Subject: [PATCH 29/37] Use C++20 <bit> header
+Subject: [PATCH 28/36] Use C++20 <bit> header
 
 ---
  llvm/include/llvm/ADT/DenseMap.h       |   3 +-

upstream_utils/llvm_patches/0029-Remove-DenseMap-GTest-printer-test.patch

@@ -1,7 +1,7 @@
 From 0000000000000000000000000000000000000000 Mon Sep 17 00:00:00 2001
 From: Tyler Veness <calcmogul@gmail.com>
 Date: Sun, 30 Jul 2023 14:17:37 -0700
-Subject: [PATCH 30/37] Remove DenseMap GTest printer test
+Subject: [PATCH 29/36] Remove DenseMap GTest printer test
 
 LLVM modifies internal GTest headers to support it, which we can't do.
 ---

upstream_utils/llvm_patches/0030-raw_ostream-Add-SetNumBytesInBuffer.patch

@@ -1,7 +1,7 @@
 From 0000000000000000000000000000000000000000 Mon Sep 17 00:00:00 2001
 From: Peter Johnson <johnson.peter@gmail.com>
 Date: Sun, 29 Oct 2023 23:00:08 -0700
-Subject: [PATCH 31/37] raw_ostream: Add SetNumBytesInBuffer
+Subject: [PATCH 30/36] raw_ostream: Add SetNumBytesInBuffer
 
 ---
  llvm/include/llvm/Support/raw_ostream.h | 5 +++++

upstream_utils/llvm_patches/0031-raw_ostream-Replace-errnoAsErrorCode.patch

@@ -1,7 +1,7 @@
 From 0000000000000000000000000000000000000000 Mon Sep 17 00:00:00 2001
 From: Tyler Veness <calcmogul@gmail.com>
 Date: Tue, 17 Sep 2024 15:30:31 -0700
-Subject: [PATCH 32/37] raw_ostream: Replace errnoAsErrorCode()
+Subject: [PATCH 31/36] raw_ostream: Replace errnoAsErrorCode()
 
 ---
  llvm/lib/Support/raw_ostream.cpp | 4 ++--

upstream_utils/llvm_patches/0032-type_traits.h-Add-is_constexpr.patch

@@ -1,7 +1,7 @@
 From 0000000000000000000000000000000000000000 Mon Sep 17 00:00:00 2001
 From: Peter Johnson <johnson.peter@gmail.com>
 Date: Sat, 2 Dec 2023 15:21:32 -0800
-Subject: [PATCH 33/37] type_traits.h: Add is_constexpr()
+Subject: [PATCH 32/36] type_traits.h: Add is_constexpr()
 
 ---
  llvm/include/llvm/Support/type_traits.h | 5 +++++

upstream_utils/llvm_patches/0033-Remove-auto-conversion-from-raw_ostream.patch

@@ -1,7 +1,7 @@
 From 0000000000000000000000000000000000000000 Mon Sep 17 00:00:00 2001
 From: Tyler Veness <calcmogul@gmail.com>
 Date: Sun, 17 Mar 2024 14:51:11 -0700
-Subject: [PATCH 34/37] Remove auto-conversion from raw_ostream
+Subject: [PATCH 33/36] Remove auto-conversion from raw_ostream
 
 ---
  llvm/lib/Support/raw_ostream.cpp | 11 +----------

upstream_utils/llvm_patches/0034-Add-SmallVector-erase_if.patch

@@ -1,7 +1,7 @@
 From 0000000000000000000000000000000000000000 Mon Sep 17 00:00:00 2001
 From: Tyler Veness <calcmogul@gmail.com>
 Date: Tue, 18 Jun 2024 09:07:33 -0700
-Subject: [PATCH 35/37] Add SmallVector erase_if()
+Subject: [PATCH 34/36] Add SmallVector erase_if()
 
 ---
  llvm/include/llvm/ADT/SmallVector.h | 8 ++++++++

upstream_utils/llvm_patches/0035-Fix-AlignedCharArrayUnion-for-C-23.patch

@@ -1,7 +1,7 @@
 From 0000000000000000000000000000000000000000 Mon Sep 17 00:00:00 2001
 From: Tyler Veness <calcmogul@gmail.com>
 Date: Sat, 13 Jul 2024 15:24:30 -0700
-Subject: [PATCH 36/37] Fix AlignedCharArrayUnion for C++23
+Subject: [PATCH 35/36] Fix AlignedCharArrayUnion for C++23
 
 ---
  llvm/include/llvm/Support/AlignOf.h | 14 +++++---------

upstream_utils/llvm_patches/0036-Fix-minIntN-and-maxIntN-assertions.patch

@@ -1,7 +1,7 @@
 From 0000000000000000000000000000000000000000 Mon Sep 17 00:00:00 2001
 From: Tyler Veness <calcmogul@gmail.com>
 Date: Mon, 23 Dec 2024 22:56:29 -0800
-Subject: [PATCH 37/37] Fix minIntN() and maxIntN() assertions
+Subject: [PATCH 36/36] Fix minIntN() and maxIntN() assertions
 
 ---
  llvm/include/llvm/Support/MathExtras.h | 4 ++--

wpilibNewCommands/WPILibNewCommands.json

@@ -3,7 +3,7 @@
   "name": "WPILib-New-Commands",
   "version": "1.0.0",
   "uuid": "111e20f7-815e-48f8-9dd6-e675ce75b266",
-  "frcYear": "2026beta",
+  "frcYear": "2026",
   "mavenUrls": [],
   "jsonUrl": "",
   "javaDependencies": [

wpilibc/src/main/native/cpp/LEDPattern.cpp

@@ -11,6 +11,7 @@
 #include <utility>
 #include <vector>
 
+#include <hal/FRCUsageReporting.h>
 #include <wpi/MathExtras.h>
 #include <wpi/timestamp.h>
 
@@ -21,7 +22,9 @@ using namespace frc;
 LEDPattern::LEDPattern(std::function<void(frc::LEDPattern::LEDReader,
                                           std::function<void(int, frc::Color)>)>
                            impl)
-    : m_impl(std::move(impl)) {}
+    : m_impl(std::move(impl)) {
+  HAL_Report(HALUsageReporting::kResourceType_LEDPattern, 1);
+}
 
 void LEDPattern::ApplyTo(LEDPattern::LEDReader reader,
                          std::function<void(int, frc::Color)> writer) const {

wpilibc/src/main/native/cppcs/RobotBase.cpp

@@ -146,6 +146,22 @@ class WPILibMathShared : public wpi::math::MathShared {
         HAL_Report(HALUsageReporting::kResourceType_PathWeaverTrajectory,
                    count);
         break;
+      case wpi::math::MathUsageId::kController_LinearQuadraticRegulator:
+        HAL_Report(HALUsageReporting::kResourceType_LinearQuadraticRegulator,
+                   count);
+        break;
+      case wpi::math::MathUsageId::kEstimator_KalmanFilter:
+        HAL_Report(HALUsageReporting::kResourceType_KalmanFilter, count);
+        break;
+      case wpi::math::MathUsageId::kEstimator_PoseEstimator:
+        HAL_Report(HALUsageReporting::kResourceType_PoseEstimator, count);
+        break;
+      case wpi::math::MathUsageId::kEstimator_PoseEstimator3d:
+        HAL_Report(HALUsageReporting::kResourceType_PoseEstimator3d, count);
+        break;
+      case wpi::math::MathUsageId::kSystem_LinearSystemLoop:
+        HAL_Report(HALUsageReporting::kResourceType_LinearSystemLoop, count);
+        break;
     }
   }
 

wpilibc/src/main/native/include/frc/drive/DifferentialDrive.h

@@ -77,7 +77,7 @@ class DifferentialDrive : public RobotDriveBase,
    * Construct a DifferentialDrive.
    *
    * To pass multiple motors per side, use CAN motor controller followers or
-   * PWMSpeedController::AddFollower(). If a motor needs to be inverted, do so
+   * PWMMotorController::AddFollower(). If a motor needs to be inverted, do so
    * before passing it in.
    *
    * @param leftMotor Left motor.
@@ -91,7 +91,7 @@ class DifferentialDrive : public RobotDriveBase,
    * Construct a DifferentialDrive.
    *
    * To pass multiple motors per side, use CAN motor controller followers or
-   * PWMSpeedController::AddFollower(). If a motor needs to be inverted, do so
+   * PWMMotorController::AddFollower(). If a motor needs to be inverted, do so
    * before passing it in.
    *
    * @param leftMotor Left motor setter.

wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/cpp/subsystems/DriveSubsystem.cpp

@@ -45,8 +45,8 @@ DriveSubsystem::DriveSubsystem()
 void DriveSubsystem::Periodic() {
   // Implementation of subsystem periodic method goes here.
   m_odometry.Update(m_gyro.GetRotation2d(),
-                    {m_frontLeft.GetPosition(), m_rearLeft.GetPosition(),
-                     m_frontRight.GetPosition(), m_rearRight.GetPosition()});
+                    {m_frontLeft.GetPosition(), m_frontRight.GetPosition(),
+                     m_rearLeft.GetPosition(), m_rearRight.GetPosition()});
 }
 
 void DriveSubsystem::Drive(units::meters_per_second_t xSpeed,

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

@@ -9,6 +9,8 @@ import static edu.wpi.first.units.Units.Microsecond;
 import static edu.wpi.first.units.Units.Microseconds;
 import static edu.wpi.first.units.Units.Value;
 
+import edu.wpi.first.hal.FRCNetComm.tResourceType;
+import edu.wpi.first.hal.HAL;
 import edu.wpi.first.math.MathUtil;
 import edu.wpi.first.units.collections.LongToObjectHashMap;
 import edu.wpi.first.units.measure.Dimensionless;
@@ -149,6 +151,7 @@ public interface LEDPattern {
    * @return the mapped pattern
    */
   default LEDPattern mapIndex(IndexMapper indexMapper) {
+    HAL.report(tResourceType.kResourceType_LEDPattern, 1);
     return (reader, writer) -> {
       int bufLen = reader.getLength();
       applyTo(
@@ -294,6 +297,7 @@ public interface LEDPattern {
     final long totalTimeMicros = (long) (onTime.in(Microseconds) + offTime.in(Microseconds));
     final long onTimeMicros = (long) onTime.in(Microseconds);
 
+    HAL.report(tResourceType.kResourceType_LEDPattern, 1);
     return (reader, writer) -> {
       if (RobotController.getTime() % totalTimeMicros < onTimeMicros) {
         applyTo(reader, writer);
@@ -323,6 +327,7 @@ public interface LEDPattern {
    * @return the blinking pattern
    */
   default LEDPattern synchronizedBlink(BooleanSupplier signal) {
+    HAL.report(tResourceType.kResourceType_LEDPattern, 1);
     return (reader, writer) -> {
       if (signal.getAsBoolean()) {
         applyTo(reader, writer);
@@ -342,6 +347,7 @@ public interface LEDPattern {
   default LEDPattern breathe(Time period) {
     final long periodMicros = (long) period.in(Microseconds);
 
+    HAL.report(tResourceType.kResourceType_LEDPattern, 1);
     return (reader, writer) -> {
       applyTo(
           reader,
@@ -373,6 +379,7 @@ public interface LEDPattern {
    * @return the combined overlay pattern
    */
   default LEDPattern overlayOn(LEDPattern base) {
+    HAL.report(tResourceType.kResourceType_LEDPattern, 1);
     return (reader, writer) -> {
       // write the base pattern down first...
       base.applyTo(reader, writer);
@@ -400,6 +407,7 @@ public interface LEDPattern {
    * @return the blended pattern
    */
   default LEDPattern blend(LEDPattern other) {
+    HAL.report(tResourceType.kResourceType_LEDPattern, 1);
     return (reader, writer) -> {
       applyTo(reader, writer);
 
@@ -431,6 +439,7 @@ public interface LEDPattern {
    * @return the masked pattern
    */
   default LEDPattern mask(LEDPattern mask) {
+    HAL.report(tResourceType.kResourceType_LEDPattern, 1);
     return (reader, writer) -> {
       // Apply the current pattern down as normal...
       applyTo(reader, writer);
@@ -470,6 +479,7 @@ public interface LEDPattern {
   default LEDPattern atBrightness(Dimensionless relativeBrightness) {
     double multiplier = relativeBrightness.in(Value);
 
+    HAL.report(tResourceType.kResourceType_LEDPattern, 1);
     return (reader, writer) -> {
       applyTo(
           reader,
@@ -496,6 +506,7 @@ public interface LEDPattern {
    * @return the pattern
    */
   static LEDPattern solid(Color color) {
+    HAL.report(tResourceType.kResourceType_LEDPattern, 1);
     return (reader, writer) -> {
       int bufLen = reader.getLength();
       for (int led = 0; led < bufLen; led++) {
@@ -525,6 +536,7 @@ public interface LEDPattern {
    * @return the mask pattern
    */
   static LEDPattern progressMaskLayer(DoubleSupplier progressSupplier) {
+    HAL.report(tResourceType.kResourceType_LEDPattern, 1);
     return (reader, writer) -> {
       double progress = MathUtil.clamp(progressSupplier.getAsDouble(), 0, 1);
 
@@ -561,6 +573,7 @@ public interface LEDPattern {
    * @return a motionless step pattern
    */
   static LEDPattern steps(Map<? extends Number, Color> steps) {
+    HAL.report(tResourceType.kResourceType_LEDPattern, 1);
     if (steps.isEmpty()) {
       // no colors specified
       DriverStation.reportWarning("Creating LED steps with no colors!", false);
@@ -622,6 +635,7 @@ public interface LEDPattern {
    * @return a motionless gradient pattern
    */
   static LEDPattern gradient(GradientType type, Color... colors) {
+    HAL.report(tResourceType.kResourceType_LEDPattern, 1);
     if (colors.length == 0) {
       // Nothing to display
       DriverStation.reportWarning("Creating a gradient with no colors!", false);
@@ -679,6 +693,7 @@ public interface LEDPattern {
    * @return the rainbow pattern
    */
   static LEDPattern rainbow(int saturation, int value) {
+    HAL.report(tResourceType.kResourceType_LEDPattern, 1);
     return (reader, writer) -> {
       int bufLen = reader.getLength();
       for (int i = 0; i < bufLen; i++) {

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

@@ -126,6 +126,16 @@ public abstract class RobotBase implements AutoCloseable {
                   HAL.report(tResourceType.kResourceType_BangBangController, count);
               case kTrajectory_PathWeaver ->
                   HAL.report(tResourceType.kResourceType_PathWeaverTrajectory, count);
+              case kController_LinearQuadraticRegulator ->
+                  HAL.report(tResourceType.kResourceType_LinearQuadraticRegulator, count);
+              case kEstimator_KalmanFilter ->
+                  HAL.report(tResourceType.kResourceType_KalmanFilter, count);
+              case kEstimator_PoseEstimator ->
+                  HAL.report(tResourceType.kResourceType_PoseEstimator, count);
+              case kEstimator_PoseEstimator3d ->
+                  HAL.report(tResourceType.kResourceType_PoseEstimator3d, count);
+              case kSystem_LinearSystemLoop ->
+                  HAL.report(tResourceType.kResourceType_LinearSystemLoop, count);
               default -> {
                 // NOP
               }

wpimath/src/main/java/edu/wpi/first/math/MathUsageId.java

@@ -41,4 +41,19 @@ public enum MathUsageId {
 
   /** PathWeaver Trajectory. */
   kTrajectory_PathWeaver,
+
+  /** Linear Quadratic Regulator. */
+  kController_LinearQuadraticRegulator,
+
+  /** Kalman Filter. */
+  kEstimator_KalmanFilter,
+
+  /** Pose Estimator. */
+  kEstimator_PoseEstimator,
+
+  /** 3D Pose Estimator. */
+  kEstimator_PoseEstimator3d,
+
+  /** Linear System Loop. */
+  kSystem_LinearSystemLoop,
 }

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

@@ -5,6 +5,8 @@
 package edu.wpi.first.math.controller;
 
 import edu.wpi.first.math.DARE;
+import edu.wpi.first.math.MathSharedStore;
+import edu.wpi.first.math.MathUsageId;
 import edu.wpi.first.math.Matrix;
 import edu.wpi.first.math.Num;
 import edu.wpi.first.math.StateSpaceUtil;
@@ -124,6 +126,8 @@ public class LinearQuadraticRegulator<States extends Num, Inputs extends Num, Ou
     m_u = new Matrix<>(new SimpleMatrix(B.getNumCols(), 1));
 
     reset();
+    MathSharedStore.getMathShared()
+        .reportUsage(MathUsageId.kController_LinearQuadraticRegulator, 1);
   }
 
   /**
@@ -163,6 +167,8 @@ public class LinearQuadraticRegulator<States extends Num, Inputs extends Num, Ou
     m_u = new Matrix<>(new SimpleMatrix(B.getNumCols(), 1));
 
     reset();
+    MathSharedStore.getMathShared()
+        .reportUsage(MathUsageId.kController_LinearQuadraticRegulator, 1);
   }
 
   /**

wpimath/src/main/java/edu/wpi/first/math/estimator/ExtendedKalmanFilter.java

@@ -5,6 +5,8 @@
 package edu.wpi.first.math.estimator;
 
 import edu.wpi.first.math.DARE;
+import edu.wpi.first.math.MathSharedStore;
+import edu.wpi.first.math.MathUsageId;
 import edu.wpi.first.math.Matrix;
 import edu.wpi.first.math.Nat;
 import edu.wpi.first.math.Num;
@@ -163,6 +165,8 @@ public class ExtendedKalmanFilter<States extends Num, Inputs extends Num, Output
     }
 
     m_P = m_initP;
+
+    MathSharedStore.getMathShared().reportUsage(MathUsageId.kEstimator_KalmanFilter, 2);
   }
 
   /**

wpimath/src/main/java/edu/wpi/first/math/estimator/KalmanFilter.java

@@ -5,6 +5,8 @@
 package edu.wpi.first.math.estimator;
 
 import edu.wpi.first.math.DARE;
+import edu.wpi.first.math.MathSharedStore;
+import edu.wpi.first.math.MathUsageId;
 import edu.wpi.first.math.Matrix;
 import edu.wpi.first.math.Nat;
 import edu.wpi.first.math.Num;
@@ -87,6 +89,8 @@ public class KalmanFilter<States extends Num, Inputs extends Num, Outputs extend
     m_initP = new Matrix<>(DARE.dare(discA.transpose(), C.transpose(), discQ, discR));
 
     reset();
+
+    MathSharedStore.getMathShared().reportUsage(MathUsageId.kEstimator_KalmanFilter, 1);
   }
 
   /**

wpimath/src/main/java/edu/wpi/first/math/estimator/PoseEstimator.java

@@ -5,6 +5,7 @@
 package edu.wpi.first.math.estimator;
 
 import edu.wpi.first.math.MathSharedStore;
+import edu.wpi.first.math.MathUsageId;
 import edu.wpi.first.math.MathUtil;
 import edu.wpi.first.math.Matrix;
 import edu.wpi.first.math.Nat;
@@ -48,7 +49,9 @@ public class PoseEstimator<T> {
       TimeInterpolatableBuffer.createBuffer(kBufferDuration);
   // Maps timestamps to vision updates
   // Always contains one entry before the oldest entry in m_odometryPoseBuffer, unless there have
-  // been no vision measurements after the last reset
+  // been no vision measurements after the last reset. May contain one entry while
+  // m_odometryPoseBuffer is empty to correct for translation/rotation after a call to
+  // ResetRotation/ResetTranslation.
   private final NavigableMap<Double, VisionUpdate> m_visionUpdates = new TreeMap<>();
 
   private Pose2d m_poseEstimate;
@@ -79,6 +82,7 @@ public class PoseEstimator<T> {
       m_q.set(i, 0, stateStdDevs.get(i, 0) * stateStdDevs.get(i, 0));
     }
     setVisionMeasurementStdDevs(visionMeasurementStdDevs);
+    MathSharedStore.getMathShared().reportUsage(MathUsageId.kEstimator_PoseEstimator, 1);
   }
 
   /**
@@ -145,9 +149,22 @@ public class PoseEstimator<T> {
    */
   public void resetTranslation(Translation2d translation) {
     m_odometry.resetTranslation(translation);
+
+    final var latestVisionUpdate = m_visionUpdates.lastEntry();
     m_odometryPoseBuffer.clear();
     m_visionUpdates.clear();
-    m_poseEstimate = m_odometry.getPoseMeters();
+
+    if (latestVisionUpdate != null) {
+      // apply vision compensation to the pose rotation
+      final var visionUpdate =
+          new VisionUpdate(
+              new Pose2d(translation, latestVisionUpdate.getValue().visionPose.getRotation()),
+              new Pose2d(translation, latestVisionUpdate.getValue().odometryPose.getRotation()));
+      m_visionUpdates.put(latestVisionUpdate.getKey(), visionUpdate);
+      m_poseEstimate = visionUpdate.compensate(m_odometry.getPoseMeters());
+    } else {
+      m_poseEstimate = m_odometry.getPoseMeters();
+    }
   }
 
   /**
@@ -157,9 +174,22 @@ public class PoseEstimator<T> {
    */
   public void resetRotation(Rotation2d rotation) {
     m_odometry.resetRotation(rotation);
+
+    final var latestVisionUpdate = m_visionUpdates.lastEntry();
     m_odometryPoseBuffer.clear();
     m_visionUpdates.clear();
-    m_poseEstimate = m_odometry.getPoseMeters();
+
+    if (latestVisionUpdate != null) {
+      // apply vision compensation to the pose translation
+      final var visionUpdate =
+          new VisionUpdate(
+              new Pose2d(latestVisionUpdate.getValue().visionPose.getTranslation(), rotation),
+              new Pose2d(latestVisionUpdate.getValue().odometryPose.getTranslation(), rotation));
+      m_visionUpdates.put(latestVisionUpdate.getKey(), visionUpdate);
+      m_poseEstimate = visionUpdate.compensate(m_odometry.getPoseMeters());
+    } else {
+      m_poseEstimate = m_odometry.getPoseMeters();
+    }
   }
 
   /**

wpimath/src/main/java/edu/wpi/first/math/estimator/PoseEstimator3d.java

@@ -5,6 +5,7 @@
 package edu.wpi.first.math.estimator;
 
 import edu.wpi.first.math.MathSharedStore;
+import edu.wpi.first.math.MathUsageId;
 import edu.wpi.first.math.MathUtil;
 import edu.wpi.first.math.Matrix;
 import edu.wpi.first.math.Nat;
@@ -56,7 +57,9 @@ public class PoseEstimator3d<T> {
       TimeInterpolatableBuffer.createBuffer(kBufferDuration);
   // Maps timestamps to vision updates
   // Always contains one entry before the oldest entry in m_odometryPoseBuffer, unless there have
-  // been no vision measurements after the last reset
+  // been no vision measurements after the last reset. May contain one entry while
+  // m_odometryPoseBuffer is empty to correct for translation/rotation after a call to
+  // ResetRotation/ResetTranslation.
   private final NavigableMap<Double, VisionUpdate> m_visionUpdates = new TreeMap<>();
 
   private Pose3d m_poseEstimate;
@@ -87,6 +90,7 @@ public class PoseEstimator3d<T> {
       m_q.set(i, 0, stateStdDevs.get(i, 0) * stateStdDevs.get(i, 0));
     }
     setVisionMeasurementStdDevs(visionMeasurementStdDevs);
+    MathSharedStore.getMathShared().reportUsage(MathUsageId.kEstimator_PoseEstimator3d, 1);
   }
 
   /**
@@ -157,9 +161,22 @@ public class PoseEstimator3d<T> {
    */
   public void resetTranslation(Translation3d translation) {
     m_odometry.resetTranslation(translation);
+
+    final var latestVisionUpdate = m_visionUpdates.lastEntry();
     m_odometryPoseBuffer.clear();
     m_visionUpdates.clear();
-    m_poseEstimate = m_odometry.getPoseMeters();
+
+    if (latestVisionUpdate != null) {
+      // apply vision compensation to the pose rotation
+      final var visionUpdate =
+          new VisionUpdate(
+              new Pose3d(translation, latestVisionUpdate.getValue().visionPose.getRotation()),
+              new Pose3d(translation, latestVisionUpdate.getValue().odometryPose.getRotation()));
+      m_visionUpdates.put(latestVisionUpdate.getKey(), visionUpdate);
+      m_poseEstimate = visionUpdate.compensate(m_odometry.getPoseMeters());
+    } else {
+      m_poseEstimate = m_odometry.getPoseMeters();
+    }
   }
 
   /**
@@ -169,9 +186,22 @@ public class PoseEstimator3d<T> {
    */
   public void resetRotation(Rotation3d rotation) {
     m_odometry.resetRotation(rotation);
+
+    final var latestVisionUpdate = m_visionUpdates.lastEntry();
     m_odometryPoseBuffer.clear();
     m_visionUpdates.clear();
-    m_poseEstimate = m_odometry.getPoseMeters();
+
+    if (latestVisionUpdate != null) {
+      // apply vision compensation to the pose translation
+      final var visionUpdate =
+          new VisionUpdate(
+              new Pose3d(latestVisionUpdate.getValue().visionPose.getTranslation(), rotation),
+              new Pose3d(latestVisionUpdate.getValue().odometryPose.getTranslation(), rotation));
+      m_visionUpdates.put(latestVisionUpdate.getKey(), visionUpdate);
+      m_poseEstimate = visionUpdate.compensate(m_odometry.getPoseMeters());
+    } else {
+      m_poseEstimate = m_odometry.getPoseMeters();
+    }
   }
 
   /**

wpimath/src/main/java/edu/wpi/first/math/estimator/SteadyStateKalmanFilter.java

@@ -5,6 +5,8 @@
 package edu.wpi.first.math.estimator;
 
 import edu.wpi.first.math.DARE;
+import edu.wpi.first.math.MathSharedStore;
+import edu.wpi.first.math.MathUsageId;
 import edu.wpi.first.math.Matrix;
 import edu.wpi.first.math.Nat;
 import edu.wpi.first.math.Num;
@@ -107,6 +109,7 @@ public class SteadyStateKalmanFilter<States extends Num, Inputs extends Num, Out
     m_K = new Matrix<>(S.getStorage().solve(C.times(P).getStorage()).transpose());
 
     reset();
+    MathSharedStore.getMathShared().reportUsage(MathUsageId.kEstimator_KalmanFilter, 4);
   }
 
   /** Resets the observer. */

wpimath/src/main/java/edu/wpi/first/math/estimator/UnscentedKalmanFilter.java

@@ -4,6 +4,8 @@
 
 package edu.wpi.first.math.estimator;
 
+import edu.wpi.first.math.MathSharedStore;
+import edu.wpi.first.math.MathUsageId;
 import edu.wpi.first.math.Matrix;
 import edu.wpi.first.math.Nat;
 import edu.wpi.first.math.Num;
@@ -163,6 +165,7 @@ public class UnscentedKalmanFilter<States extends Num, Inputs extends Num, Outpu
     m_pts = new MerweScaledSigmaPoints<>(states);
 
     reset();
+    MathSharedStore.getMathShared().reportUsage(MathUsageId.kEstimator_KalmanFilter, 3);
   }
 
   static <S extends Num, C extends Num>

wpimath/src/main/java/edu/wpi/first/math/system/LinearSystemLoop.java

@@ -4,6 +4,8 @@
 
 package edu.wpi.first.math.system;
 
+import edu.wpi.first.math.MathSharedStore;
+import edu.wpi.first.math.MathUsageId;
 import edu.wpi.first.math.Matrix;
 import edu.wpi.first.math.Num;
 import edu.wpi.first.math.StateSpaceUtil;
@@ -132,6 +134,7 @@ public class LinearSystemLoop<States extends Num, Inputs extends Num, Outputs ex
 
     m_nextR = new Matrix<>(new SimpleMatrix(controller.getK().getNumCols(), 1));
     reset(m_nextR);
+    MathSharedStore.getMathShared().reportUsage(MathUsageId.kSystem_LinearSystemLoop, 1);
   }
 
   /**

wpimath/src/main/java/edu/wpi/first/math/trajectory/TrapezoidProfile.java

@@ -7,6 +7,7 @@ package edu.wpi.first.math.trajectory;
 import edu.wpi.first.math.MathSharedStore;
 import edu.wpi.first.math.MathUsageId;
 import edu.wpi.first.math.trajectory.struct.TrapezoidProfileStateStruct;
+import edu.wpi.first.util.struct.StructSerializable;
 import java.util.Objects;
 
 /**
@@ -76,7 +77,7 @@ public class TrapezoidProfile {
   }
 
   /** Profile state. */
-  public static class State {
+  public static class State implements StructSerializable {
     /** The struct used to serialize this class. */
     public static final TrapezoidProfileStateStruct struct = new TrapezoidProfileStateStruct();
 

wpimath/src/main/native/include/frc/controller/LinearQuadraticRegulator.h

@@ -135,6 +135,8 @@ class LinearQuadraticRegulator {
     }
 
     Reset();
+    wpi::math::MathSharedStore::ReportUsage(
+        wpi::math::MathUsageId::kController_LinearQuadraticRegulator, 1);
   }
 
   /**
@@ -194,6 +196,8 @@ class LinearQuadraticRegulator {
     }
 
     Reset();
+    wpi::math::MathSharedStore::ReportUsage(
+        wpi::math::MathUsageId::kController_LinearQuadraticRegulator, 1);
   }
 
   LinearQuadraticRegulator(LinearQuadraticRegulator&&) = default;

wpimath/src/main/native/include/frc/estimator/ExtendedKalmanFilter.h

@@ -137,6 +137,8 @@ class ExtendedKalmanFilter {
       m_initP = StateMatrix::Zero();
     }
     m_P = m_initP;
+    wpi::math::MathSharedStore::ReportUsage(
+        wpi::math::MathUsageId::kEstimator_KalmanFilter, 2);
   }
 
   /**
@@ -221,6 +223,8 @@ class ExtendedKalmanFilter {
       m_initP = StateMatrix::Zero();
     }
     m_P = m_initP;
+    wpi::math::MathSharedStore::ReportUsage(
+        wpi::math::MathUsageId::kEstimator_KalmanFilter, 2);
   }
 
   /**

wpimath/src/main/native/include/frc/estimator/KalmanFilter.h

@@ -118,6 +118,8 @@ class KalmanFilter {
     }
 
     Reset();
+    wpi::math::MathSharedStore::ReportUsage(
+        wpi::math::MathUsageId::kEstimator_KalmanFilter, 1);
   }
 
   /**

wpimath/src/main/native/include/frc/estimator/PoseEstimator.h

@@ -70,6 +70,8 @@ class WPILIB_DLLEXPORT PoseEstimator {
     }
 
     SetVisionMeasurementStdDevs(visionMeasurementStdDevs);
+    wpi::math::MathSharedStore::ReportUsage(
+        wpi::math::MathUsageId::kEstimator_PoseEstimator, 1);
   }
 
   /**
@@ -137,24 +139,70 @@ class WPILIB_DLLEXPORT PoseEstimator {
    *
    * @param translation The pose to translation to.
    */
+#if defined(__GNUC__) && !defined(__clang__)
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wmaybe-uninitialized"
+#endif  // defined(__GNUC__) && !defined(__clang__)
   void ResetTranslation(const Translation2d& translation) {
     m_odometry.ResetTranslation(translation);
+
+    const std::optional<std::pair<units::second_t, VisionUpdate>>
+        latestVisionUpdate =
+            m_visionUpdates.empty() ? std::nullopt
+                                    : std::optional{*m_visionUpdates.crbegin()};
     m_odometryPoseBuffer.Clear();
     m_visionUpdates.clear();
-    m_poseEstimate = m_odometry.GetPose();
+
+    if (latestVisionUpdate) {
+      // apply vision compensation to the pose rotation
+      const VisionUpdate visionUpdate{
+          Pose2d{translation, latestVisionUpdate->second.visionPose.Rotation()},
+          Pose2d{translation,
+                 latestVisionUpdate->second.odometryPose.Rotation()}};
+      m_visionUpdates[latestVisionUpdate->first] = visionUpdate;
+      m_poseEstimate = visionUpdate.Compensate(m_odometry.GetPose());
+    } else {
+      m_poseEstimate = m_odometry.GetPose();
+    }
   }
+#if defined(__GNUC__) && !defined(__clang__)
+#pragma GCC diagnostic pop
+#endif  // defined(__GNUC__) && !defined(__clang__)
 
   /**
    * Resets the robot's rotation.
    *
    * @param rotation The rotation to reset to.
    */
+#if defined(__GNUC__) && !defined(__clang__)
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wmaybe-uninitialized"
+#endif  // defined(__GNUC__) && !defined(__clang__)
   void ResetRotation(const Rotation2d& rotation) {
     m_odometry.ResetRotation(rotation);
+
+    const std::optional<std::pair<units::second_t, VisionUpdate>>
+        latestVisionUpdate =
+            m_visionUpdates.empty() ? std::nullopt
+                                    : std::optional{*m_visionUpdates.crbegin()};
     m_odometryPoseBuffer.Clear();
     m_visionUpdates.clear();
-    m_poseEstimate = m_odometry.GetPose();
+
+    if (latestVisionUpdate) {
+      // apply vision compensation to the pose translation
+      const VisionUpdate visionUpdate{
+          Pose2d{latestVisionUpdate->second.visionPose.Translation(), rotation},
+          Pose2d{latestVisionUpdate->second.odometryPose.Translation(),
+                 rotation}};
+      m_visionUpdates[latestVisionUpdate->first] = visionUpdate;
+      m_poseEstimate = visionUpdate.Compensate(m_odometry.GetPose());
+    } else {
+      m_poseEstimate = m_odometry.GetPose();
+    }
   }
+#if defined(__GNUC__) && !defined(__clang__)
+#pragma GCC diagnostic pop
+#endif  // defined(__GNUC__) && !defined(__clang__)
 
   /**
    * Gets the estimated robot pose.
@@ -434,7 +482,9 @@ class WPILIB_DLLEXPORT PoseEstimator {
   TimeInterpolatableBuffer<Pose2d> m_odometryPoseBuffer{kBufferDuration};
   // Maps timestamps to vision updates
   // Always contains one entry before the oldest entry in m_odometryPoseBuffer,
-  // unless there have been no vision measurements after the last reset
+  // unless there have been no vision measurements after the last reset. May
+  // contain one entry while m_odometryPoseBuffer is empty to correct for
+  // translation/rotation after a call to ResetRotation/ResetTranslation.
   std::map<units::second_t, VisionUpdate> m_visionUpdates;
 
   Pose2d m_poseEstimate;

wpimath/src/main/native/include/frc/estimator/PoseEstimator3d.h

@@ -76,6 +76,8 @@ class WPILIB_DLLEXPORT PoseEstimator3d {
     }
 
     SetVisionMeasurementStdDevs(visionMeasurementStdDevs);
+    wpi::math::MathSharedStore::ReportUsage(
+        wpi::math::MathUsageId::kEstimator_PoseEstimator3d, 1);
   }
 
   /**
@@ -146,24 +148,70 @@ class WPILIB_DLLEXPORT PoseEstimator3d {
    *
    * @param translation The pose to translation to.
    */
+#if defined(__GNUC__) && !defined(__clang__)
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wmaybe-uninitialized"
+#endif  // defined(__GNUC__) && !defined(__clang__)
   void ResetTranslation(const Translation3d& translation) {
     m_odometry.ResetTranslation(translation);
+
+    const std::optional<std::pair<units::second_t, VisionUpdate>>
+        latestVisionUpdate =
+            m_visionUpdates.empty() ? std::nullopt
+                                    : std::optional{*m_visionUpdates.crbegin()};
     m_odometryPoseBuffer.Clear();
     m_visionUpdates.clear();
-    m_poseEstimate = m_odometry.GetPose();
+
+    if (latestVisionUpdate) {
+      // apply vision compensation to the pose rotation
+      const VisionUpdate visionUpdate{
+          Pose3d{translation, latestVisionUpdate->second.visionPose.Rotation()},
+          Pose3d{translation,
+                 latestVisionUpdate->second.odometryPose.Rotation()}};
+      m_visionUpdates[latestVisionUpdate->first] = visionUpdate;
+      m_poseEstimate = visionUpdate.Compensate(m_odometry.GetPose());
+    } else {
+      m_poseEstimate = m_odometry.GetPose();
+    }
   }
+#if defined(__GNUC__) && !defined(__clang__)
+#pragma GCC diagnostic pop
+#endif  // defined(__GNUC__) && !defined(__clang__)
 
   /**
    * Resets the robot's rotation.
    *
    * @param rotation The rotation to reset to.
    */
+#if defined(__GNUC__) && !defined(__clang__)
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wmaybe-uninitialized"
+#endif  // defined(__GNUC__) && !defined(__clang__)
   void ResetRotation(const Rotation3d& rotation) {
     m_odometry.ResetRotation(rotation);
+
+    const std::optional<std::pair<units::second_t, VisionUpdate>>
+        latestVisionUpdate =
+            m_visionUpdates.empty() ? std::nullopt
+                                    : std::optional{*m_visionUpdates.crbegin()};
     m_odometryPoseBuffer.Clear();
     m_visionUpdates.clear();
-    m_poseEstimate = m_odometry.GetPose();
+
+    if (latestVisionUpdate) {
+      // apply vision compensation to the pose translation
+      const VisionUpdate visionUpdate{
+          Pose3d{latestVisionUpdate->second.visionPose.Translation(), rotation},
+          Pose3d{latestVisionUpdate->second.odometryPose.Translation(),
+                 rotation}};
+      m_visionUpdates[latestVisionUpdate->first] = visionUpdate;
+      m_poseEstimate = visionUpdate.Compensate(m_odometry.GetPose());
+    } else {
+      m_poseEstimate = m_odometry.GetPose();
+    }
   }
+#if defined(__GNUC__) && !defined(__clang__)
+#pragma GCC diagnostic pop
+#endif  // defined(__GNUC__) && !defined(__clang__)
 
   /**
    * Gets the estimated robot pose.
@@ -449,7 +497,9 @@ class WPILIB_DLLEXPORT PoseEstimator3d {
   TimeInterpolatableBuffer<Pose3d> m_odometryPoseBuffer{kBufferDuration};
   // Maps timestamps to vision updates
   // Always contains one entry before the oldest entry in m_odometryPoseBuffer,
-  // unless there have been no vision measurements after the last reset
+  // unless there have been no vision measurements after the last reset. May
+  // contain one entry while m_odometryPoseBuffer is empty to correct for
+  // translation/rotation after a call to ResetRotation/ResetTranslation.
   std::map<units::second_t, VisionUpdate> m_visionUpdates;
 
   Pose3d m_poseEstimate;

wpimath/src/main/native/include/frc/estimator/SteadyStateKalmanFilter.h

@@ -149,6 +149,8 @@ class SteadyStateKalmanFilter {
     }
 
     Reset();
+    wpi::math::MathSharedStore::ReportUsage(
+        wpi::math::MathUsageId::kEstimator_KalmanFilter, 4);
   }
 
   SteadyStateKalmanFilter(SteadyStateKalmanFilter&&) = default;

wpimath/src/main/native/include/frc/estimator/UnscentedKalmanFilter.h

@@ -107,6 +107,8 @@ class UnscentedKalmanFilter {
     m_dt = dt;
 
     Reset();
+    wpi::math::MathSharedStore::ReportUsage(
+        wpi::math::MathUsageId::kEstimator_KalmanFilter, 3);
   }
 
   /**
@@ -166,6 +168,8 @@ class UnscentedKalmanFilter {
     m_dt = dt;
 
     Reset();
+    wpi::math::MathSharedStore::ReportUsage(
+        wpi::math::MathUsageId::kEstimator_KalmanFilter, 3);
   }
 
   /**

wpimath/src/main/native/include/frc/system/LinearSystemLoop.h

@@ -129,6 +129,8 @@ class LinearSystemLoop {
         m_clampFunc(clampFunction) {
     m_nextR.setZero();
     Reset(m_nextR);
+    wpi::math::MathSharedStore::ReportUsage(
+        wpi::math::MathUsageId::kSystem_LinearSystemLoop, 1);
   }
 
   LinearSystemLoop(LinearSystemLoop&&) = default;

wpimath/src/main/native/include/wpimath/MathShared.h

@@ -26,6 +26,11 @@ enum class MathUsageId {
   kController_ProfiledPIDController,
   kController_BangBangController,
   kTrajectory_PathWeaver,
+  kController_LinearQuadraticRegulator,
+  kEstimator_KalmanFilter,
+  kEstimator_PoseEstimator,
+  kEstimator_PoseEstimator3d,
+  kSystem_LinearSystemLoop,
 };
 
 class WPILIB_DLLEXPORT MathShared {

wpimath/src/test/java/edu/wpi/first/math/estimator/SwerveDrivePoseEstimator3dTest.java

@@ -8,6 +8,7 @@ import static org.junit.jupiter.api.Assertions.assertAll;
 import static org.junit.jupiter.api.Assertions.assertEquals;
 import static org.junit.jupiter.api.Assertions.assertTrue;
 
+import edu.wpi.first.math.MathSharedStore;
 import edu.wpi.first.math.VecBuilder;
 import edu.wpi.first.math.geometry.Pose2d;
 import edu.wpi.first.math.geometry.Pose3d;
@@ -509,11 +510,23 @@ class SwerveDrivePoseEstimator3dTest {
         () -> assertEquals(0, estimator.getEstimatedPosition().getRotation().getY(), kEpsilon),
         () -> assertEquals(0, estimator.getEstimatedPosition().getRotation().getZ(), kEpsilon));
 
+    // Add a vision measurement with a different translation
+    estimator.addVisionMeasurement(
+        new Pose3d(3, 0, 0, Rotation3d.kZero), MathSharedStore.getTimestamp());
+
+    assertAll(
+        () -> assertEquals(2.5, estimator.getEstimatedPosition().getX(), kEpsilon),
+        () -> assertEquals(0, estimator.getEstimatedPosition().getY(), kEpsilon),
+        () -> assertEquals(0, estimator.getEstimatedPosition().getZ(), kEpsilon),
+        () -> assertEquals(0, estimator.getEstimatedPosition().getRotation().getX(), kEpsilon),
+        () -> assertEquals(0, estimator.getEstimatedPosition().getRotation().getY(), kEpsilon),
+        () -> assertEquals(0, estimator.getEstimatedPosition().getRotation().getZ(), kEpsilon));
+
     // Test reset rotation
     estimator.resetRotation(new Rotation3d(Rotation2d.kCCW_Pi_2));
 
     assertAll(
-        () -> assertEquals(2, estimator.getEstimatedPosition().getX(), kEpsilon),
+        () -> assertEquals(2.5, estimator.getEstimatedPosition().getX(), kEpsilon),
         () -> assertEquals(0, estimator.getEstimatedPosition().getY(), kEpsilon),
         () -> assertEquals(0, estimator.getEstimatedPosition().getZ(), kEpsilon),
         () -> assertEquals(0, estimator.getEstimatedPosition().getRotation().getX(), kEpsilon),
@@ -533,7 +546,7 @@ class SwerveDrivePoseEstimator3dTest {
     }
 
     assertAll(
-        () -> assertEquals(2, estimator.getEstimatedPosition().getX(), kEpsilon),
+        () -> assertEquals(2.5, estimator.getEstimatedPosition().getX(), kEpsilon),
         () -> assertEquals(1, estimator.getEstimatedPosition().getY(), kEpsilon),
         () -> assertEquals(0, estimator.getEstimatedPosition().getZ(), kEpsilon),
         () -> assertEquals(0, estimator.getEstimatedPosition().getRotation().getX(), kEpsilon),
@@ -542,6 +555,22 @@ class SwerveDrivePoseEstimator3dTest {
             assertEquals(
                 Math.PI / 2, estimator.getEstimatedPosition().getRotation().getZ(), kEpsilon));
 
+    // Add a vision measurement with a different rotation
+    estimator.addVisionMeasurement(
+        new Pose3d(2.5, 1, 0, new Rotation3d(Rotation2d.kPi)), MathSharedStore.getTimestamp());
+
+    assertAll(
+        () -> assertEquals(2.5, estimator.getEstimatedPosition().getX(), kEpsilon),
+        () -> assertEquals(1, estimator.getEstimatedPosition().getY(), kEpsilon),
+        () -> assertEquals(0, estimator.getEstimatedPosition().getZ(), kEpsilon),
+        () -> assertEquals(0, estimator.getEstimatedPosition().getRotation().getX(), kEpsilon),
+        () -> assertEquals(0, estimator.getEstimatedPosition().getRotation().getY(), kEpsilon),
+        () ->
+            assertEquals(
+                Math.PI * 3.0 / 4,
+                estimator.getEstimatedPosition().getRotation().getZ(),
+                kEpsilon));
+
     // Test reset translation
     estimator.resetTranslation(new Translation3d(-1, -1, -1));
 
@@ -553,7 +582,9 @@ class SwerveDrivePoseEstimator3dTest {
         () -> assertEquals(0, estimator.getEstimatedPosition().getRotation().getY(), kEpsilon),
         () ->
             assertEquals(
-                Math.PI / 2, estimator.getEstimatedPosition().getRotation().getZ(), kEpsilon));
+                Math.PI * 3.0 / 4,
+                estimator.getEstimatedPosition().getRotation().getZ(),
+                kEpsilon));
 
     // Test reset pose
     estimator.resetPose(Pose3d.kZero);

wpimath/src/test/java/edu/wpi/first/math/estimator/SwerveDrivePoseEstimatorTest.java

@@ -8,6 +8,7 @@ import static org.junit.jupiter.api.Assertions.assertAll;
 import static org.junit.jupiter.api.Assertions.assertEquals;
 import static org.junit.jupiter.api.Assertions.assertTrue;
 
+import edu.wpi.first.math.MathSharedStore;
 import edu.wpi.first.math.VecBuilder;
 import edu.wpi.first.math.geometry.Pose2d;
 import edu.wpi.first.math.geometry.Rotation2d;
@@ -481,11 +482,21 @@ class SwerveDrivePoseEstimatorTest {
         () ->
             assertEquals(0, estimator.getEstimatedPosition().getRotation().getRadians(), kEpsilon));
 
+    // Add a vision measurement with a different translation
+    estimator.addVisionMeasurement(
+        new Pose2d(3, 0, Rotation2d.kZero), MathSharedStore.getTimestamp());
+
+    assertAll(
+        () -> assertEquals(2.5, estimator.getEstimatedPosition().getX(), kEpsilon),
+        () -> assertEquals(0, estimator.getEstimatedPosition().getY(), kEpsilon),
+        () ->
+            assertEquals(0, estimator.getEstimatedPosition().getRotation().getRadians(), kEpsilon));
+
     // Test reset rotation
     estimator.resetRotation(Rotation2d.kCCW_Pi_2);
 
     assertAll(
-        () -> assertEquals(2, estimator.getEstimatedPosition().getX(), kEpsilon),
+        () -> assertEquals(2.5, estimator.getEstimatedPosition().getX(), kEpsilon),
         () -> assertEquals(0, estimator.getEstimatedPosition().getY(), kEpsilon),
         () ->
             assertEquals(
@@ -504,7 +515,7 @@ class SwerveDrivePoseEstimatorTest {
     }
 
     assertAll(
-        () -> assertEquals(2, estimator.getEstimatedPosition().getX(), kEpsilon),
+        () -> assertEquals(2.5, estimator.getEstimatedPosition().getX(), kEpsilon),
         () -> assertEquals(1, estimator.getEstimatedPosition().getY(), kEpsilon),
         () ->
             assertEquals(
@@ -512,6 +523,19 @@ class SwerveDrivePoseEstimatorTest {
                 estimator.getEstimatedPosition().getRotation().getRadians(),
                 kEpsilon));
 
+    // Add a vision measurement with a different rotation
+    estimator.addVisionMeasurement(
+        new Pose2d(2.5, 1, Rotation2d.kPi), MathSharedStore.getTimestamp());
+
+    assertAll(
+        () -> assertEquals(2.5, estimator.getEstimatedPosition().getX(), kEpsilon),
+        () -> assertEquals(1, estimator.getEstimatedPosition().getY(), kEpsilon),
+        () ->
+            assertEquals(
+                Math.PI * 3.0 / 4,
+                estimator.getEstimatedPosition().getRotation().getRadians(),
+                kEpsilon));
+
     // Test reset translation
     estimator.resetTranslation(new Translation2d(-1, -1));
 
@@ -520,7 +544,7 @@ class SwerveDrivePoseEstimatorTest {
         () -> assertEquals(-1, estimator.getEstimatedPosition().getY(), kEpsilon),
         () ->
             assertEquals(
-                Math.PI / 2,
+                Math.PI * 3.0 / 4,
                 estimator.getEstimatedPosition().getRotation().getRadians(),
                 kEpsilon));
 

wpimath/src/test/native/cpp/estimator/SwerveDrivePoseEstimator3dTest.cpp

@@ -453,10 +453,21 @@ TEST(SwerveDrivePoseEstimator3dTest, TestReset) {
   EXPECT_DOUBLE_EQ(0, estimator.GetEstimatedPosition().Rotation().Y().value());
   EXPECT_DOUBLE_EQ(0, estimator.GetEstimatedPosition().Rotation().Z().value());
 
+  // Add a vision measurement with a different translation
+  estimator.AddVisionMeasurement(frc::Pose3d(3_m, 0_m, 0_m, frc::Rotation3d{}),
+                                 wpi::math::MathSharedStore::GetTimestamp());
+
+  EXPECT_DOUBLE_EQ(2.5, estimator.GetEstimatedPosition().X().value());
+  EXPECT_DOUBLE_EQ(0, estimator.GetEstimatedPosition().Y().value());
+  EXPECT_DOUBLE_EQ(0, estimator.GetEstimatedPosition().Z().value());
+  EXPECT_DOUBLE_EQ(0, estimator.GetEstimatedPosition().Rotation().X().value());
+  EXPECT_DOUBLE_EQ(0, estimator.GetEstimatedPosition().Rotation().Y().value());
+  EXPECT_DOUBLE_EQ(0, estimator.GetEstimatedPosition().Rotation().Z().value());
+
   // Test reset rotation
   estimator.ResetRotation(frc::Rotation3d{0_deg, 0_deg, 90_deg});
 
-  EXPECT_DOUBLE_EQ(2, estimator.GetEstimatedPosition().X().value());
+  EXPECT_DOUBLE_EQ(2.5, estimator.GetEstimatedPosition().X().value());
   EXPECT_DOUBLE_EQ(0, estimator.GetEstimatedPosition().Y().value());
   EXPECT_DOUBLE_EQ(0, estimator.GetEstimatedPosition().Z().value());
   EXPECT_DOUBLE_EQ(0, estimator.GetEstimatedPosition().Rotation().X().value());
@@ -471,7 +482,7 @@ TEST(SwerveDrivePoseEstimator3dTest, TestReset) {
                                          modulePosition, modulePosition});
   }
 
-  EXPECT_DOUBLE_EQ(2, estimator.GetEstimatedPosition().X().value());
+  EXPECT_DOUBLE_EQ(2.5, estimator.GetEstimatedPosition().X().value());
   EXPECT_DOUBLE_EQ(1, estimator.GetEstimatedPosition().Y().value());
   EXPECT_DOUBLE_EQ(0, estimator.GetEstimatedPosition().Z().value());
   EXPECT_DOUBLE_EQ(0, estimator.GetEstimatedPosition().Rotation().X().value());
@@ -479,6 +490,19 @@ TEST(SwerveDrivePoseEstimator3dTest, TestReset) {
   EXPECT_DOUBLE_EQ(std::numbers::pi / 2,
                    estimator.GetEstimatedPosition().Rotation().Z().value());
 
+  // Add a vision measurement with a different rotation
+  estimator.AddVisionMeasurement(
+      frc::Pose3d(2.5_m, 1_m, 0_m, frc::Rotation3d{frc::Rotation2d{180_deg}}),
+      wpi::math::MathSharedStore::GetTimestamp());
+
+  EXPECT_DOUBLE_EQ(2.5, estimator.GetEstimatedPosition().X().value());
+  EXPECT_DOUBLE_EQ(1, estimator.GetEstimatedPosition().Y().value());
+  EXPECT_DOUBLE_EQ(0, estimator.GetEstimatedPosition().Z().value());
+  EXPECT_DOUBLE_EQ(0, estimator.GetEstimatedPosition().Rotation().X().value());
+  EXPECT_DOUBLE_EQ(0, estimator.GetEstimatedPosition().Rotation().Y().value());
+  EXPECT_DOUBLE_EQ(std::numbers::pi * 3.0 / 4,
+                   estimator.GetEstimatedPosition().Rotation().Z().value());
+
   // Test reset translation
   estimator.ResetTranslation(frc::Translation3d{-1_m, -1_m, -1_m});
 
@@ -487,7 +511,7 @@ TEST(SwerveDrivePoseEstimator3dTest, TestReset) {
   EXPECT_DOUBLE_EQ(-1, estimator.GetEstimatedPosition().Z().value());
   EXPECT_DOUBLE_EQ(0, estimator.GetEstimatedPosition().Rotation().X().value());
   EXPECT_DOUBLE_EQ(0, estimator.GetEstimatedPosition().Rotation().Y().value());
-  EXPECT_DOUBLE_EQ(std::numbers::pi / 2,
+  EXPECT_DOUBLE_EQ(std::numbers::pi * 3.0 / 4,
                    estimator.GetEstimatedPosition().Rotation().Z().value());
 
   // Test reset pose

wpimath/src/test/native/cpp/estimator/SwerveDrivePoseEstimatorTest.cpp

@@ -430,10 +430,19 @@ TEST(SwerveDrivePoseEstimatorTest, TestReset) {
   EXPECT_DOUBLE_EQ(
       0, estimator.GetEstimatedPosition().Rotation().Radians().value());
 
+  // Add a vision measurement with a different translation
+  estimator.AddVisionMeasurement(frc::Pose2d{3_m, 0_m, frc::Rotation2d{}},
+                                 wpi::math::MathSharedStore::GetTimestamp());
+
+  EXPECT_DOUBLE_EQ(2.5, estimator.GetEstimatedPosition().X().value());
+  EXPECT_DOUBLE_EQ(0, estimator.GetEstimatedPosition().Y().value());
+  EXPECT_DOUBLE_EQ(
+      0, estimator.GetEstimatedPosition().Rotation().Radians().value());
+
   // Test reset rotation
   estimator.ResetRotation(frc::Rotation2d{90_deg});
 
-  EXPECT_DOUBLE_EQ(2, estimator.GetEstimatedPosition().X().value());
+  EXPECT_DOUBLE_EQ(2.5, estimator.GetEstimatedPosition().X().value());
   EXPECT_DOUBLE_EQ(0, estimator.GetEstimatedPosition().Y().value());
   EXPECT_DOUBLE_EQ(
       std::numbers::pi / 2,
@@ -446,19 +455,30 @@ TEST(SwerveDrivePoseEstimatorTest, TestReset) {
                                          modulePosition, modulePosition});
   }
 
-  EXPECT_DOUBLE_EQ(2, estimator.GetEstimatedPosition().X().value());
+  EXPECT_DOUBLE_EQ(2.5, estimator.GetEstimatedPosition().X().value());
   EXPECT_DOUBLE_EQ(1, estimator.GetEstimatedPosition().Y().value());
   EXPECT_DOUBLE_EQ(
       std::numbers::pi / 2,
       estimator.GetEstimatedPosition().Rotation().Radians().value());
 
+  // Add a vision measurement with a different rotation
+  estimator.AddVisionMeasurement(
+      frc::Pose2d{2.5_m, 1_m, frc::Rotation2d{180_deg}},
+      wpi::math::MathSharedStore::GetTimestamp());
+
+  EXPECT_DOUBLE_EQ(2.5, estimator.GetEstimatedPosition().X().value());
+  EXPECT_DOUBLE_EQ(1, estimator.GetEstimatedPosition().Y().value());
+  EXPECT_DOUBLE_EQ(
+      std::numbers::pi * 3.0 / 4,
+      estimator.GetEstimatedPosition().Rotation().Radians().value());
+
   // Test reset translation
   estimator.ResetTranslation(frc::Translation2d{-1_m, -1_m});
 
   EXPECT_DOUBLE_EQ(-1, estimator.GetEstimatedPosition().X().value());
   EXPECT_DOUBLE_EQ(-1, estimator.GetEstimatedPosition().Y().value());
   EXPECT_DOUBLE_EQ(
-      std::numbers::pi / 2,
+      std::numbers::pi * 3.0 / 4,
       estimator.GetEstimatedPosition().Rotation().Radians().value());
 
   // Test reset pose

wpiunits/src/main/java/edu/wpi/first/units/AngularMomentumUnit.java

@@ -80,6 +80,16 @@ public final class AngularMomentumUnit extends MultUnit<LinearMomentumUnit, Dist
     return VelocityUnit.combine(this, time);
   }
 
+  /**
+   * Combines this angular momentum by an angular velocity to yield a unit of moment of inertia.
+   *
+   * @param omega the unit of angular velocity
+   * @return the moment of inertia unit
+   */
+  public MomentOfInertiaUnit per(AngularVelocityUnit omega) {
+    return MomentOfInertiaUnit.combine(this, omega);
+  }
+
   /**
    * Creates a ratio unit between this unit and an arbitrary other unit.
    *
@@ -101,14 +111,4 @@ public final class AngularMomentumUnit extends MultUnit<LinearMomentumUnit, Dist
   public double convertFrom(double magnitude, AngularMomentumUnit otherUnit) {
     return fromBaseUnits(otherUnit.toBaseUnits(magnitude));
   }
-
-  /**
-   * Multiplies this angular momentum by an angular velocity to yield a unit of moment of inertia.
-   *
-   * @param omega the unit of angular velocity
-   * @return the moment of inertia unit
-   */
-  public MomentOfInertiaUnit mult(AngularVelocityUnit omega) {
-    return MomentOfInertiaUnit.combine(this, omega);
-  }
 }

wpiunits/src/main/java/edu/wpi/first/units/Units.java

@@ -378,7 +378,7 @@ public final class Units {
 
   /** The standard SI unit for moment of inertia. */
   public static final MomentOfInertiaUnit KilogramSquareMeters =
-      KilogramMetersSquaredPerSecond.mult(RadiansPerSecond);
+      KilogramMetersSquaredPerSecond.per(RadiansPerSecond);
 
   // VoltageUnit
   /** The base unit of electric potential. */

wpiutil/src/main/native/thirdparty/llvm/cpp/llvm/MemoryBuffer.cpp

@@ -189,7 +189,7 @@ class MemoryBufferMMapFile : public MB {
   MappedFileRegion m_mfr;
 
   static uint64_t getLegalMapOffset(uint64_t offset) {
-    return offset & ~(MappedFileRegion::GetAlignment() - 1);
+    return offset & ~(static_cast<uint64_t>(MappedFileRegion::GetAlignment()) - 1);
   }
 
   static uint64_t getLegalMapSize(uint64_t len, uint64_t offset) {

wpiutil/src/main/native/thirdparty/llvm/include/wpi/EpochTracker.h

@@ -21,7 +21,7 @@
 
 namespace wpi {
 
-#ifndef NDEBUG //ifndef LLVM_ENABLE_ABI_BREAKING_CHECKS
+#if LLVM_ENABLE_ABI_BREAKING_CHECKS
 #define LLVM_DEBUGEPOCHBASE_HANDLEBASE_EMPTYBASE
 
 /// A base class for data structure classes wishing to make iterators

xrpVendordep/XRPVendordep.json

@@ -3,7 +3,7 @@
   "name": "XRP-Vendordep",
   "version": "1.0.0",
   "uuid": "1571a1a5-ed3f-4f07-b7eb-b2beb17394e0",
-  "frcYear": "2026beta",
+  "frcYear": "2026",
   "mavenUrls": [],
   "jsonUrl": "",
   "javaDependencies": [