[wpimath] Add limit setters to SlewRateLimiter (#8581)

This is just #7793 with requested changes applied.

.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: wpilibsuite/docker-run-action@v4
         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: wpilibsuite/docker-run-action@v4
         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

.github/workflows/tools.yml

@@ -31,11 +31,11 @@ jobs:
           fetch-depth: 0
       - uses: gradle/actions/wrapper-validation@v4
       - name: Build WPILib with Gradle
-        uses: addnab/docker-run-action@v3
+        uses: wpilibsuite/docker-run-action@v4
         with:
           image: wpilib/roborio-cross-ubuntu:2025-22.04
           options: -v ${{ github.workspace }}:/work -w /work -e GITHUB_REF -e CI -e DISPLAY
-          run: df . && rm -f semicolon_delimited_script && ./gradlew :wpilibc:publish :wpilibj:publish :wpilibNewCommands:publish :hal:publish :cameraserver:publish :ntcore:publish :cscore:publish :wpimath:publish :wpinet:publish :wpiutil:publish :apriltag:publish :wpiunits:publish :simulation:halsim_gui:publish :simulation:halsim_ds_socket:publish :simulation:halsim_ws_server:publish :simulation:halsim_ws_client:publish :simulation:halsim_xrp:publish :fieldImages:publish :romiVendordep:publish :xrpVendordep:publish :epilogue-processor:publish :epilogue-runtime:publish :thirdparty:googletest:publish -x test -x Javadoc -x doxygen --build-cache && cp -r /root/releases/maven/development /work
+          run: df . && ./gradlew :wpilibc:publish :wpilibj:publish :wpilibNewCommands:publish :hal:publish :cameraserver:publish :ntcore:publish :cscore:publish :wpimath:publish :wpinet:publish :wpiutil:publish :apriltag:publish :wpiunits:publish :simulation:halsim_gui:publish :simulation:halsim_ds_socket:publish :simulation:halsim_ws_server:publish :simulation:halsim_ws_client:publish :simulation:halsim_xrp:publish :fieldImages:publish :romiVendordep:publish :xrpVendordep:publish :epilogue-processor:publish :epilogue-runtime:publish :thirdparty:googletest:publish -x test -x Javadoc -x doxygen --build-cache && cp -r /root/releases/maven/development /work
       - uses: actions/upload-artifact@v4
         with:
           name: MavenArtifacts

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

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

@@ -17,13 +17,17 @@ public enum AprilTagFields {
   /** 2025 Reefscape Welded (see TU 12). */
   k2025ReefscapeWelded("2025-reefscape-welded.json"),
   /** 2025 Reefscape AndyMark (see TU 12). */
-  k2025ReefscapeAndyMark("2025-reefscape-andymark.json");
+  k2025ReefscapeAndyMark("2025-reefscape-andymark.json"),
+  /** 2026 Rebuilt Welded. */
+  k2026RebuiltWelded("2026-rebuilt-welded.json"),
+  /** 2026 Rebuilt AndyMark. */
+  k2026RebuiltAndymark("2026-rebuilt-andymark.json");
 
   /** Base resource directory. */
   public static final String kBaseResourceDir = "/edu/wpi/first/apriltag/";
 
   /** Alias to the current game. */
-  public static final AprilTagFields kDefaultField = k2025ReefscapeWelded;
+  public static final AprilTagFields kDefaultField = k2026RebuiltWelded;
 
   /** Resource filename. */
   public final String m_resourceFile;

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

@@ -135,6 +135,8 @@ std::string_view GetResource_2023_chargedup_json();
 std::string_view GetResource_2024_crescendo_json();
 std::string_view GetResource_2025_reefscape_welded_json();
 std::string_view GetResource_2025_reefscape_andymark_json();
+std::string_view GetResource_2026_rebuilt_welded_json();
+std::string_view GetResource_2026_rebuilt_andymark_json();
 
 }  // namespace frc
 
@@ -156,6 +158,12 @@ AprilTagFieldLayout AprilTagFieldLayout::LoadField(AprilTagField field) {
     case AprilTagField::k2025ReefscapeAndyMark:
       fieldString = GetResource_2025_reefscape_andymark_json();
       break;
+    case AprilTagField::k2026RebuiltWelded:
+      fieldString = GetResource_2026_rebuilt_welded_json();
+      break;
+    case AprilTagField::k2026RebuiltAndyMark:
+      fieldString = GetResource_2026_rebuilt_andymark_json();
+      break;
     case AprilTagField::kNumFields:
       throw std::invalid_argument("Invalid Field");
   }

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

@@ -24,8 +24,12 @@ enum class AprilTagField {
   k2025ReefscapeAndyMark,
   /// 2025 Reefscape Welded (see TU12).
   k2025ReefscapeWelded,
+  /// 2026 Rebuilt Andymark.
+  k2026RebuiltAndyMark,
+  /// 2026 Rebuilt Welded.
+  k2026RebuiltWelded,
   /// Alias to the current game.
-  kDefaultField = k2025ReefscapeWelded,
+  kDefaultField = k2026RebuiltWelded,
 
   // 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/2026-rebuilt-andymark.csv

@@ -0,0 +1,33 @@
+ID,X,Y,Z,Z-Rotation,X-Rotation
+1,467.085,291.791,35,180,0
+2,468.559,182.077,44.25,90,0
+3,444.797,172.321,44.25,180,0
+4,444.797,158.321,44.25,180,0
+5,468.559,134.565,44.25,270,0
+6,467.085,24.851,35,180,0
+7,470.034,24.851,35,0,0
+8,482.559,134.565,44.25,270,0
+9,492.329,144.321,44.25,0,0
+10,492.329,158.321,44.25,0,0
+11,482.559,182.077,44.25,90,0
+12,470.034,291.791,35,0,0
+13,649.58,291.02,21.75,180,0
+14,649.58,274.02,21.75,180,0
+15,649.566,169.783,21.75,180,0
+16,649.566,152.783,21.75,180,0
+17,183.034,24.851,35,0,0
+18,181.559,134.565,44.25,270,0
+19,205.321,144.321,44.25,0,0
+20,205.321,158.321,44.25,0,0
+21,181.559,182.077,44.25,90,0
+22,183.034,291.791,35,0,0
+23,180.085,291.791,35,180,0
+24,167.559,182.077,44.25,90,0
+25,157.79,172.321,44.25,180,0
+26,157.79,158.321,44.25,180,0
+27,167.559,134.565,44.25,270,0
+28,180.085,24.851,35,180,0
+29,0.539,25.621,21.75,0,0
+30,0.539,42.621,21.75,0,0
+31,0.553,146.858,21.75,0,0
+32,0.553,163.858,21.75,0,0

apriltag/src/main/native/resources/edu/wpi/first/apriltag/2026-rebuilt-andymark.json

@@ -0,0 +1,584 @@
+{
+  "tags": [
+    {
+      "ID": 1,
+      "pose": {
+        "translation": {
+          "x": 11.863959,
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+          "z": 0.889
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+            "X": 0.0,
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+          }
+        }
+      }
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+}

apriltag/src/main/native/resources/edu/wpi/first/apriltag/2026-rebuilt-welded.csv

@@ -0,0 +1,33 @@
+ID,X,Y,Z,Z-Rotation,X-Rotation
+1,467.637,292.314,35,180,0
+2,469.111,182.6,44.25,90,0
+3,445.349,172.844,44.25,180,0
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+16,650.904,153.219,21.75,180,0
+17,183.586,25.374,35,0,0
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+19,205.873,144.844,44.25,0,0
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+22,183.586,292.314,35,0,0
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+25,158.341,172.844,44.25,180,0
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+27,168.111,135.088,44.25,270,0
+28,180.637,25.374,35,180,0
+29,0.305,26.219,21.75,0,0
+30,0.305,43.219,21.75,0,0
+31,0.318,147.469,21.75,0,0
+32,0.318,164.469,21.75,0,0

apriltag/src/main/native/resources/edu/wpi/first/apriltag/2026-rebuilt-welded.json

@@ -0,0 +1,584 @@
+{
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+    },
+    {
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+      "pose": {
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+          "x": 0.0077469999999999995,
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+    {
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+      "pose": {
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+          }
+        }
+      }
+    }
+  ],
+  "field": {
+    "length": 16.541,
+    "width": 8.069
+  }
+}

cscore/src/main/native/objcpp/UvcControlImpl.mm

@@ -484,7 +484,7 @@ const propertyInfo_t propertyInfo[] =
                 UVCERROR("USB control interface not found");
                 break;
             default:
-                UVCERROR("ControlRequest failed (KR=sys:sub:code) = {:02Xh}:{:03Xh}:{:04Xh}", 
+                UVCERROR("ControlRequest failed (KR=sys:sub:code) = {:02X}h:{:03X}h:{:04X}h", 
                     sys, sub, code);
                 break; 
         }

docs/build.gradle

@@ -152,7 +152,9 @@ configurations {
 task generateJavaDocs(type: Javadoc) {
     classpath += project(":wpilibj").sourceSets.main.compileClasspath
     options.links("https://docs.oracle.com/en/java/javase/17/docs/api/")
-    options.links("https://docs.opencv.org/4.x/javadoc/")
+    // workaround for opencv site blocking javadoc tool. If the link is changed,
+    // docs/opencv/element-list must be redownloaded
+    options.linksOffline("https://docs.opencv.org/4.10.0/javadoc/", "opencv")
     options.addStringOption("tag", "pre:a:Pre-Condition")
     options.addBooleanOption("Xdoclint/package:" +
             // TODO: v Document these, then remove them from the list

docs/opencv/element-list

@@ -0,0 +1,29 @@
+org.opencv.aruco
+org.opencv.bgsegm
+org.opencv.bioinspired
+org.opencv.calib3d
+org.opencv.core
+org.opencv.dnn
+org.opencv.dnn_superres
+org.opencv.face
+org.opencv.features2d
+org.opencv.highgui
+org.opencv.img_hash
+org.opencv.imgcodecs
+org.opencv.imgproc
+org.opencv.ml
+org.opencv.objdetect
+org.opencv.osgi
+org.opencv.phase_unwrapping
+org.opencv.photo
+org.opencv.plot
+org.opencv.structured_light
+org.opencv.text
+org.opencv.tracking
+org.opencv.utils
+org.opencv.video
+org.opencv.videoio
+org.opencv.wechat_qrcode
+org.opencv.xfeatures2d
+org.opencv.ximgproc
+org.opencv.xphoto

fieldImages/src/main/java/edu/wpi/first/fields/Fields.java

@@ -17,12 +17,13 @@ public enum Fields {
   k2022RapidReact("2022-rapidreact.json"),
   k2023ChargedUp("2023-chargedup.json"),
   k2024Crescendo("2024-crescendo.json"),
-  k2025Reefscape("2025-reefscape.json");
+  k2025Reefscape("2025-reefscape.json"),
+  k2026Rebuilt("2026-rebuilt.json");
 
   public static final String kBaseResourceDir = "/edu/wpi/first/fields/";
 
   /** Alias to the current game. */
-  public static final Fields kDefaultField = k2025Reefscape;
+  public static final Fields kDefaultField = k2026Rebuilt;
 
   public final String m_resourceFile;
 

fieldImages/src/main/native/cpp/fields.cpp

@@ -17,10 +17,12 @@
 #include "fields/2023-chargedup.h"
 #include "fields/2024-crescendo.h"
 #include "fields/2025-reefscape.h"
+#include "fields/2026-rebuilt.h"
 
 using namespace fields;
 
 static const Field kFields[] = {
+    {"2026 Rebuilt", GetResource_2026_rebuilt_json, GetResource_2026_field_png},
     {"2025 Reefscape", GetResource_2025_reefscape_json,
      GetResource_2025_field_png},
     {"2024 Crescendo", GetResource_2024_crescendo_json,

fieldImages/src/main/native/include/fields/2026-rebuilt.h

@@ -0,0 +1,12 @@
+// 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 <string_view>
+
+namespace fields {
+std::string_view GetResource_2026_rebuilt_json();
+std::string_view GetResource_2026_field_png();
+}  // namespace fields

fieldImages/src/main/native/resources/edu/wpi/first/fields/2026-rebuilt.json

@@ -0,0 +1,19 @@
+{
+  "game": "Rebuilt",
+  "field-image": "2026-field.png",
+  "field-corners": {
+    "top-left": [
+      245,
+      118
+    ],
+    "bottom-right": [
+      3942,
+      1914
+    ]
+  },
+  "field-size": [
+    54.269,
+    26.474
+  ],
+  "field-unit": "foot"
+}

glass/src/lib/native/cpp/other/FMS.cpp

@@ -71,11 +71,11 @@ void glass::DisplayFMS(FMSModel* model, bool editableDsAttached) {
     }
     ImGui::SameLine();
     if (ImGui::Button("Auto") && !enabled) {
-      model->SetMatchTime(15.0);
+      model->SetMatchTime(20.0);
     }
     ImGui::SameLine();
     if (ImGui::Button("Teleop") && !enabled) {
-      model->SetMatchTime(135.0);
+      model->SetMatchTime(140.0);
     }
   }
 

glass/src/lib/native/cpp/other/Field2D.cpp

@@ -343,7 +343,7 @@ static bool InputPose(frc::Pose2d* pose) {
 }
 
 FieldInfo::FieldInfo(Storage& storage)
-    : m_builtin{storage.GetString("builtin", "2025 Reefscape")},
+    : m_builtin{storage.GetString("builtin", "2026 Rebuilt")},
       m_filename{storage.GetString("image")},
       m_width{storage.GetFloat("width", kDefaultWidth.to<float>())},
       m_height{storage.GetFloat("height", kDefaultHeight.to<float>())},

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
@@ -35,6 +36,7 @@ kRobotDriveSwerve_YAGSL = 15
 kRobotDriveSwerve_CTRE = 16
 kRobotDriveSwerve_MaxSwerve = 17
 kRobotDriveSwerve_AdvantageKit = 18
+kRobotDriveSwerve_EasySwerve = 19
 kDriverStationCIO_Analog = 1
 kDriverStationCIO_DigitalIn = 2
 kDriverStationCIO_DigitalOut = 3
@@ -68,7 +70,7 @@ kDashboard_Shuffleboard = 4
 kDashboard_Elastic = 5
 kDashboard_LabVIEW = 6
 kDashboard_AdvantageScope = 7
-kDashboard_QFRCDashboard = 8
+kDashboard_QDash = 8
 kDashboard_FRCWebComponents = 9
 kDataLogLocation_Onboard = 1
 kDataLogLocation_USB = 2

hal/src/generate/ResourceType.txt

@@ -125,3 +125,13 @@ 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
+kResourceType_RevMAXSplineEncoder = 136

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

@@ -273,6 +273,26 @@ 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;
+    /** kResourceType_RevMAXSplineEncoder = 136. */
+    public static final int kResourceType_RevMAXSplineEncoder = 136;
   }
 
   /**
@@ -321,6 +341,8 @@ 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. */
@@ -357,6 +379,8 @@ public final class FRCNetComm {
     public static final int kRobotDriveSwerve_MaxSwerve = 17;
     /** kRobotDriveSwerve_AdvantageKit = 18. */
     public static final int kRobotDriveSwerve_AdvantageKit = 18;
+    /** kRobotDriveSwerve_EasySwerve = 19. */
+    public static final int kRobotDriveSwerve_EasySwerve = 19;
     /** kDriverStationCIO_Analog = 1. */
     public static final int kDriverStationCIO_Analog = 1;
     /** kDriverStationCIO_DigitalIn = 2. */
@@ -423,8 +447,8 @@ public final class FRCNetComm {
     public static final int kDashboard_LabVIEW = 6;
     /** kDashboard_AdvantageScope = 7. */
     public static final int kDashboard_AdvantageScope = 7;
-    /** kDashboard_QFRCDashboard = 8. */
-    public static final int kDashboard_QFRCDashboard = 8;
+    /** kDashboard_QDash = 8. */
+    public static final int kDashboard_QDash = 8;
     /** kDashboard_FRCWebComponents = 9. */
     public static final int kDashboard_FRCWebComponents = 9;
     /** kDataLogLocation_Onboard = 1. */

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

@@ -178,6 +178,16 @@ 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,
+    kResourceType_RevMAXSplineEncoder = 136,
   };
   enum tInstances : int32_t {
     kLanguage_LabVIEW = 1,
@@ -199,6 +209,7 @@ namespace HALUsageReporting {
     kFramework_MagicBot = 8,
     kFramework_KitBotTraditional = 9,
     kFramework_KitBotInline = 10,
+    kFramework_Everybot = 11,
     kRobotDrive_ArcadeStandard = 1,
     kRobotDrive_ArcadeButtonSpin = 2,
     kRobotDrive_ArcadeRatioCurve = 3,
@@ -217,6 +228,7 @@ namespace HALUsageReporting {
     kRobotDriveSwerve_CTRE = 16,
     kRobotDriveSwerve_MaxSwerve = 17,
     kRobotDriveSwerve_AdvantageKit = 18,
+    kRobotDriveSwerve_EasySwerve = 19,
     kDriverStationCIO_Analog = 1,
     kDriverStationCIO_DigitalIn = 2,
     kDriverStationCIO_DigitalOut = 3,
@@ -250,7 +262,7 @@ namespace HALUsageReporting {
     kDashboard_Elastic = 5,
     kDashboard_LabVIEW = 6,
     kDashboard_AdvantageScope = 7,
-    kDashboard_QFRCDashboard = 8,
+    kDashboard_QDash = 8,
     kDashboard_FRCWebComponents = 9,
     kDataLogLocation_Onboard = 1,
     kDataLogLocation_USB = 2,

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

@@ -147,6 +147,16 @@ 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_RevMAXSplineEncoder = 136,
 
 //    kResourceType_MaximumID = 255,
 } tResourceType;
@@ -172,6 +182,7 @@ typedef enum
     kFramework_MagicBot = 8,
     kFramework_KitBotTraditional = 9,
     kFramework_KitBotInline = 10,
+    kFramework_Everybot = 11,
     kRobotDrive_ArcadeStandard = 1,
     kRobotDrive_ArcadeButtonSpin = 2,
     kRobotDrive_ArcadeRatioCurve = 3,
@@ -190,6 +201,7 @@ typedef enum
     kRobotDriveSwerve_CTRE = 16,
     kRobotDriveSwerve_MaxSwerve = 17,
     kRobotDriveSwerve_AdvantageKit = 18,
+    kRobotDriveSwerve_EasySwerve = 19,
     kDriverStationCIO_Analog = 1,
     kDriverStationCIO_DigitalIn = 2,
     kDriverStationCIO_DigitalOut = 3,
@@ -223,7 +235,7 @@ typedef enum
     kDashboard_Elastic = 5,
     kDashboard_LabVIEW = 6,
     kDashboard_AdvantageScope = 7,
-    kDashboard_QFRCDashboard = 8,
+    kDashboard_QDash = 8,
     kDashboard_FRCWebComponents = 9,
     kDataLogLocation_Onboard = 1,
     kDataLogLocation_USB = 2,

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

@@ -308,16 +308,19 @@ public class DriverStationJNI extends JNIWrapper {
   public static native int getJoystickAxisType(byte joystickNum, byte axis);
 
   /**
-   * Returns the approximate match time.
+   * Return the approximate match time. The FMS does not send an official match time to the robots,
+   * but does send an approximate match time. The value will count down the time remaining in the
+   * current period (auto or teleop). Warning: This is not an official time (so it cannot be used to
+   * dispute ref calls or guarantee that a function will trigger before the match ends).
    *
-   * <p>The FMS does not send an official match time to the robots, but does send an approximate
-   * match time. The value will count down the time remaining in the current period (auto or
-   * teleop).
+   * <p>When connected to the real field, this number only changes in full integer increments, and
+   * always counts down.
    *
-   * <p>Warning: This is not an official time (so it cannot be used to dispute ref calls or
-   * guarantee that a function will trigger before the match ends).
+   * <p>When the DS is in practice mode, this number is a floating point number, and counts down.
    *
-   * <p>The Practice Match function of the DS approximates the behavior seen on the field.
+   * <p>When the DS is in teleop or autonomous mode, this number returns -1.0.
+   *
+   * <p>Simulation matches DS behavior without an FMS connected.
    *
    * @return time remaining in current match period (auto or teleop)
    * @see "HAL_GetMatchTime"

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

@@ -187,8 +187,7 @@ int32_t HAL_SetJoystickOutputs(int32_t joystickNum, int64_t outputs,
  * <p>When the DS is in practice mode, this number is a floating point number,
  * and counts down.
  *
- * <p>When the DS is in teleop or autonomous mode, this number is a floating
- * point number, and counts up.
+ * <p>When the DS is in teleop or autonomous mode, this number returns -1.0.
  *
  * <p>Simulation matches DS behavior without an FMS connected.
  *

ntcore/src/main/java/edu/wpi/first/networktables/Topic.java

@@ -330,8 +330,8 @@ public class Topic {
   }
 
   /** NetworkTables instance. */
-  protected NetworkTableInstance m_inst;
+  protected final NetworkTableInstance m_inst;
 
   /** NetworkTables handle. */
-  protected int m_handle;
+  protected final int m_handle;
 }

ntcore/src/main/native/cpp/NetworkServer.cpp

@@ -362,6 +362,21 @@ void NetworkServer::ProcessAllLocal() {
 }
 
 void NetworkServer::LoadPersistent() {
+  // check if SavePersistent was interrupted and left a backup file;
+  // if so, try to restore it
+  auto bak = fmt::format("{}.bck", m_persistentFilename);
+  if (!fs::exists(m_persistentFilename) && fs::exists(bak)) {
+    INFO(
+        "restoring persistent file from backup '{}', since original '{}' is "
+        "missing",
+        bak, m_persistentFilename);
+    std::error_code ec;
+    fs::rename(bak, m_persistentFilename, ec);
+    if (ec.value() != 0) {
+      INFO("failed to restore backup: {}", ec.message());
+    }
+  }
+
   auto fileBuffer = wpi::MemoryBuffer::GetFile(m_persistentFilename);
   if (!fileBuffer) {
     INFO(

ntcore/src/test/native/cpp/NetworkServerTest.cpp

@@ -0,0 +1,179 @@
+// 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.
+
+#include <chrono>
+#include <filesystem>
+#include <fstream>
+#include <string>
+#include <thread>
+
+#include <gtest/gtest.h>
+
+#include "networktables/IntegerTopic.h"
+#include "networktables/NetworkTableInstance.h"
+
+// Valid persistent JSON containing a single persistent integer topic.
+static constexpr const char* kPersistentJson = R"([
+  {
+    "name": "/test/persistent_value",
+    "type": "int",
+    "value": 42,
+    "properties": {"persistent": true}
+  }
+])";
+
+class NetworkServerPersistentTest : public ::testing::Test {
+ public:
+  NetworkServerPersistentTest() {
+    // Create a unique temp directory for each test
+    m_tempDir =
+        std::filesystem::temp_directory_path() /
+        ("ntcore_test_" +
+         std::to_string(
+             std::chrono::steady_clock::now().time_since_epoch().count()));
+    std::filesystem::create_directories(m_tempDir);
+    m_persistFile = (m_tempDir / "test_persistent.json").string();
+  }
+
+  ~NetworkServerPersistentTest() override {
+    std::error_code ec;
+    std::filesystem::remove_all(m_tempDir, ec);
+  }
+
+ protected:
+  // Write content to a file.
+  static void WriteFile(const std::string& path, const std::string& content) {
+    std::ofstream os{path};
+    ASSERT_TRUE(os.is_open()) << "Failed to create file: " << path;
+    os << content;
+  }
+
+  // Wait for the server to finish initializing.  Returns true if a topic with
+  // the given name was seen before the timeout expired.
+  bool WaitForTopic(
+      nt::NetworkTableInstance& inst, std::string_view name,
+      std::chrono::milliseconds timeout = std::chrono::milliseconds{3000}) {
+    auto deadline = std::chrono::steady_clock::now() + timeout;
+    while (std::chrono::steady_clock::now() < deadline) {
+      auto infos = inst.GetTopicInfo(name);
+      if (!infos.empty()) {
+        return true;
+      }
+      std::this_thread::sleep_for(std::chrono::milliseconds{50});
+    }
+    return false;
+  }
+
+  std::filesystem::path m_tempDir;
+  std::string m_persistFile;
+};
+
+// Verify that LoadPersistent restores from the .bck backup file when the
+// original persistent file is missing.  This simulates SavePersistent being
+// interrupted after renaming the original file to .bck but before the
+// temporary file has been renamed to the original filename.
+TEST_F(NetworkServerPersistentTest,
+       LoadPersistentRestoresFromBackupWhenOriginalMissing) {
+  // Set up "interrupted" state: only .bck file exists, no original.
+  std::string backupFile = m_persistFile + ".bck";
+  WriteFile(backupFile, kPersistentJson);
+  ASSERT_TRUE(std::filesystem::exists(backupFile));
+  ASSERT_FALSE(std::filesystem::exists(m_persistFile));
+
+  // Start a server that references the (missing) persistent file.
+  // Subscribe BEFORE starting the server so the server's local client has a
+  // matching subscriber when persistent topics are announced.
+  auto inst = nt::NetworkTableInstance::Create();
+  nt::IntegerSubscriber sub =
+      inst.GetIntegerTopic("/test/persistent_value").Subscribe(0);
+  inst.StartServer(m_persistFile, "127.0.0.1");
+
+  // Wait for the persistent topic to appear.
+  EXPECT_TRUE(WaitForTopic(inst, "/test/persistent_value"))
+      << "LoadPersistent did not restore from the .bck backup file";
+
+  // Also verify the value is correct.
+  EXPECT_EQ(sub.Get(), 42);
+
+  // The .bck should have been renamed to the original filename.
+  EXPECT_TRUE(std::filesystem::exists(m_persistFile));
+
+  inst.StopServer();
+  nt::NetworkTableInstance::Destroy(inst);
+}
+
+// Verify that LoadPersistent works normally when the original persistent file
+// is present (no interruption scenario).
+TEST_F(NetworkServerPersistentTest, LoadPersistentNormalLoad) {
+  // Write the persistent file directly (no backup).
+  WriteFile(m_persistFile, kPersistentJson);
+  ASSERT_TRUE(std::filesystem::exists(m_persistFile));
+
+  auto inst = nt::NetworkTableInstance::Create();
+  nt::IntegerSubscriber sub =
+      inst.GetIntegerTopic("/test/persistent_value").Subscribe(0);
+  inst.StartServer(m_persistFile, "127.0.0.1");
+
+  EXPECT_TRUE(WaitForTopic(inst, "/test/persistent_value"))
+      << "LoadPersistent did not load the persistent file";
+
+  EXPECT_EQ(sub.Get(), 42);
+
+  inst.StopServer();
+  nt::NetworkTableInstance::Destroy(inst);
+}
+
+// Verify that when both the original file and .bck exist, the original file
+// takes precedence (the backup is not used).
+TEST_F(NetworkServerPersistentTest, LoadPersistentPrefersOriginalOverBackup) {
+  // Original file with value 100.
+  static constexpr const char* kOriginalJson = R"([
+  {
+    "name": "/test/persistent_value",
+    "type": "int",
+    "value": 100,
+    "properties": {"persistent": true}
+  }
+])";
+
+  // Backup file with a different value (42).
+  WriteFile(m_persistFile, kOriginalJson);
+  WriteFile(m_persistFile + ".bck", kPersistentJson);
+  ASSERT_TRUE(std::filesystem::exists(m_persistFile));
+  ASSERT_TRUE(std::filesystem::exists(m_persistFile + ".bck"));
+
+  auto inst = nt::NetworkTableInstance::Create();
+  nt::IntegerSubscriber sub =
+      inst.GetIntegerTopic("/test/persistent_value").Subscribe(0);
+  inst.StartServer(m_persistFile, "127.0.0.1");
+
+  EXPECT_TRUE(WaitForTopic(inst, "/test/persistent_value"))
+      << "LoadPersistent did not load any persistent file";
+
+  // The value should come from the original (100), not the backup (42).
+  EXPECT_EQ(sub.Get(), 100);
+
+  inst.StopServer();
+  nt::NetworkTableInstance::Destroy(inst);
+}
+
+// Verify that LoadPersistent handles a missing persistent file and no backup
+// gracefully (no crash, no topics loaded).
+TEST_F(NetworkServerPersistentTest, LoadPersistentNoFile) {
+  ASSERT_FALSE(std::filesystem::exists(m_persistFile));
+  ASSERT_FALSE(std::filesystem::exists(m_persistFile + ".bck"));
+
+  auto inst = nt::NetworkTableInstance::Create();
+  inst.StartServer(m_persistFile, "127.0.0.1");
+
+  // Give the server time to initialize.
+  std::this_thread::sleep_for(std::chrono::milliseconds{500});
+
+  // No persistent topics should exist.
+  auto infos = inst.GetTopicInfo("/test/persistent_value");
+  EXPECT_TRUE(infos.empty());
+
+  inst.StopServer();
+  nt::NetworkTableInstance::Destroy(inst);
+}

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": [

sysid/src/main/native/cpp/analysis/AnalysisManager.cpp

@@ -57,7 +57,8 @@ static double Lerp(units::second_t time,
  */
 static std::vector<PreparedData> ConvertToPrepared(const MotorData& data) {
   std::vector<PreparedData> prepared;
-  // assume we've selected down to a single contiguous run by this point
+
+  // Assume we've selected down to a single contiguous run by this point
   auto run = data.runs[0];
 
   for (int i = 0; i < static_cast<int>(run.voltage.size()) - 1; ++i) {
@@ -101,7 +102,7 @@ static void CopyRawData(wpi::StringMap<MotorData>* dataset) {
 }
 
 /**
- * Assigns the combines the various datasets into a single one for analysis.
+ * Combines the various datasets into a single one for analysis.
  *
  * @param slowForward The slow forward dataset
  * @param slowBackward The slow backward dataset
@@ -127,6 +128,28 @@ void AnalysisManager::PrepareGeneralData() {
   // Convert data to PreparedData structs
   for (auto& it : m_data.motorData) {
     auto key = it.first;
+
+    // Assume we've selected down to a single contiguous run by this point
+    auto run = m_data.motorData[key].runs[0];
+
+    // Ensure data has at least two samples in it or linear interpolation within
+    // ConvertToPrepared() will fail
+    if (run.voltage.size() < 2) {
+      throw sysid::InvalidDataError(fmt::format(
+          "{} data has {} voltage samples and at least 2 are required.", key,
+          run.voltage.size()));
+    }
+    if (run.position.size() < 2) {
+      throw sysid::InvalidDataError(fmt::format(
+          "{} data has {} position samples and at least 2 are required.", key,
+          run.position.size()));
+    }
+    if (run.velocity.size() < 2) {
+      throw sysid::InvalidDataError(fmt::format(
+          "{} data has {} velocity samples and at least 2 are required.", key,
+          run.velocity.size()));
+    }
+
     preparedData[key] = ConvertToPrepared(m_data.motorData[key]);
     WPI_INFO(m_logger, "SAMPLES {}", preparedData[key].size());
   }

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": [

wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/WaitUntilCommand.java

@@ -34,10 +34,15 @@ public class WaitUntilCommand extends Command {
    * guarantee that the time at which the action is performed will be judged to be legal by the
    * referees. When in doubt, add a safety factor or time the action manually.
    *
+   * <p>The match time counts down when connected to FMS or the DS is in practice mode for the
+   * current mode. When the DS is not connected to FMS or in practice mode, the command will not
+   * wait.
+   *
    * @param time the match time after which to end, in seconds
+   * @see edu.wpi.first.wpilibj.DriverStation#getMatchTime()
    */
   public WaitUntilCommand(double time) {
-    this(() -> Timer.getMatchTime() - time > 0);
+    this(() -> Timer.getMatchTime() < time);
   }
 
   @Override

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

@@ -7,6 +7,7 @@ package edu.wpi.first.wpilibj2.command.button;
 import static edu.wpi.first.util.ErrorMessages.requireNonNullParam;
 
 import edu.wpi.first.math.filter.Debouncer;
+import edu.wpi.first.math.filter.EdgeCounterFilter;
 import edu.wpi.first.wpilibj.event.EventLoop;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.CommandScheduler;
@@ -287,4 +288,31 @@ public class Trigger implements BooleanSupplier {
           }
         });
   }
+
+  /**
+   * Creates a new multi-press trigger from this trigger - it will become active when this trigger
+   * has been activated the required number of times within the specified time window.
+   *
+   * <p>This is useful for implementing "double-click" style functionality.
+   *
+   * <p>Input for this must be stable, consider using a Debouncer before this to avoid counting
+   * noise as multiple presses.
+   *
+   * @param requiredPresses The number of presses required.
+   * @param windowTime The number of seconds in which the presses must occur.
+   * @return The multi-press trigger.
+   */
+  public Trigger multiPress(int requiredPresses, double windowTime) {
+    return new Trigger(
+        m_loop,
+        new BooleanSupplier() {
+          final EdgeCounterFilter m_edgeCounterFilter =
+              new EdgeCounterFilter(requiredPresses, windowTime);
+
+          @Override
+          public boolean getAsBoolean() {
+            return m_edgeCounterFilter.calculate(m_condition.getAsBoolean());
+          }
+        });
+  }
 }

wpilibNewCommands/src/main/native/cpp/frc2/command/WaitUntilCommand.cpp

@@ -14,7 +14,7 @@ WaitUntilCommand::WaitUntilCommand(std::function<bool()> condition)
     : m_condition{std::move(condition)} {}
 
 WaitUntilCommand::WaitUntilCommand(units::second_t time)
-    : m_condition{[=] { return frc::Timer::GetMatchTime() - time > 0_s; }} {}
+    : m_condition{[=] { return frc::Timer::GetMatchTime() < time; }} {}
 
 bool WaitUntilCommand::IsFinished() {
   return m_condition();

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

@@ -7,6 +7,7 @@
 #include <utility>
 
 #include <frc/filter/Debouncer.h>
+#include <frc/filter/EdgeCountFilter.h>
 
 #include "frc2/command/CommandPtr.h"
 
@@ -184,6 +185,14 @@ Trigger Trigger::Debounce(units::second_t debounceTime,
   });
 }
 
+Trigger Trigger::MultiPress(int requiredPresses, units::second_t windowTime) {
+  return Trigger(m_loop,
+                 [filter = frc::EdgeCounterFilter(requiredPresses, windowTime),
+                  condition = m_condition]() mutable {
+                   return filter.Calculate(condition());
+                 });
+}
+
 bool Trigger::Get() const {
   return m_condition();
 }

wpilibNewCommands/src/main/native/include/frc2/command/WaitUntilCommand.h

@@ -36,7 +36,12 @@ class WaitUntilCommand : public CommandHelper<Command, WaitUntilCommand> {
    * will be judged to be legal by the referees.  When in doubt, add a safety
    * factor or time the action manually.
    *
+   * The match time counts down when connected to FMS or the DS is in practice
+   * mode for the current mode. When the DS is not connected to FMS or in
+   * practice mode, the command will not wait.
+   *
    * @param time the match time after which to end, in seconds
+   * @see frc::DriverStation::GetMatchTime()
    */
   explicit WaitUntilCommand(units::second_t time);
 

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

@@ -284,6 +284,22 @@ class Trigger {
                    frc::Debouncer::DebounceType type =
                        frc::Debouncer::DebounceType::kRising);
 
+  /**
+   * Creates a new multi-press trigger from this trigger - it will become active
+   * when this trigger has been activated the required number of times within
+   * the specified time window.
+   *
+   * <p>This is useful for implementing "double-click" style functionality.
+   *
+   * <p>Input for this must be stable, consider using a Debouncer before this to
+   * avoid counting noise as multiple presses.
+   *
+   * @param requiredPresses The number of presses required.
+   * @param windowTime The time in which the presses must occur.
+   * @return The multi-press trigger.
+   */
+  Trigger MultiPress(int requiredPresses, units::second_t windowTime);
+
   /**
    * Returns the current state of this trigger.
    *

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;
     }
   }
 
@@ -290,10 +306,11 @@ RobotBase::RobotBase() {
         HAL_Report(HALUsageReporting::kResourceType_Dashboard,
                    HALUsageReporting::kDashboard_AdvantageScope);
         m_dashboardDetected = true;
-      } else if (event.GetConnectionInfo()->remote_id.starts_with(
+      } else if (event.GetConnectionInfo()->remote_id.starts_with("QDash") ||
+                 event.GetConnectionInfo()->remote_id.starts_with(
                      "QFRCDashboard")) {
         HAL_Report(HALUsageReporting::kResourceType_Dashboard,
-                   HALUsageReporting::kDashboard_QFRCDashboard);
+                   HALUsageReporting::kDashboard_QDash);
         m_dashboardDetected = true;
       } else if (event.GetConnectionInfo()->remote_id.starts_with(
                      "FRC Web Components")) {

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

@@ -339,8 +339,7 @@ class DriverStation final {
    * <p>When the DS is in practice mode, this number is a floating point number,
    * and counts down.
    *
-   * <p>When the DS is in teleop or autonomous mode, this number is a floating
-   * point number, and counts up.
+   * <p>When the DS is in teleop or autonomous mode, this number returns -1.0.
    *
    * <p>Simulation matches DS behavior without an FMS connected.
    *

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

@@ -65,7 +65,7 @@ class TimedRobot : public IterativeRobotBase {
   ~TimedRobot() override;
 
   /**
-   * Return the system clock time in micrseconds for the start of the current
+   * Return the system clock time in microseconds for the start of the current
    * periodic loop. This is in the same time base as Timer.GetFPGATimestamp(),
    * but is stable through a loop. It is updated at the beginning of every
    * periodic callback (including the normal periodic loop).

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

@@ -139,19 +139,23 @@ class Timer {
   static units::second_t GetFPGATimestamp();
 
   /**
-   * Return the approximate match time.
-   *
-   * The FMS does not send an official match time to the robots, but does send
-   * an approximate match time. The value will count down the time remaining in
-   * the current period (auto or teleop).
-   *
+   * Return the approximate match time. The FMS does not send an official match
+   * time to the robots, but does send an approximate match time. The value will
+   * count down the time remaining in the current period (auto or teleop).
    * Warning: This is not an official time (so it cannot be used to dispute ref
    * calls or guarantee that a function will trigger before the match ends).
    *
-   * The Practice Match function of the DS approximates the behavior seen on the
-   * field.
+   * <p>When connected to the real field, this number only changes in full
+   * integer increments, and always counts down.
    *
-   * @return Time remaining in current match period (auto or teleop)
+   * <p>When the DS is in practice mode, this number is a floating point number,
+   * and counts down.
+   *
+   * <p>When the DS is in teleop or autonomous mode, this number returns -1.0.
+   *
+   * <p>Simulation matches DS behavior without an FMS connected.
+   *
+   * @return Time remaining in current match period (auto or teleop) in seconds
    */
   static units::second_t GetMatchTime();
 

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.

wpilibc/src/main/native/include/frc/simulation/SingleJointedArmSim.h

@@ -30,10 +30,13 @@ class SingleJointedArmSim : public LinearSystemSim<2, 1, 2> {
    * @param gearing            The gear ratio of the arm (numbers greater than 1
    *                           represent reductions).
    * @param armLength          The length of the arm.
-   * @param minAngle           The minimum angle that the arm is capable of.
-   * @param maxAngle           The maximum angle that the arm is capable of.
+   * @param minAngle           The minimum angle that the arm is capable of,
+   *                           with 0 being horizontal.
+   * @param maxAngle           The maximum angle that the arm is capable of,
+   *                           with 0 being horizontal.
    * @param simulateGravity    Whether gravity should be simulated or not.
-   * @param startingAngle      The initial position of the arm.
+   * @param startingAngle      The initial position of the arm, with 0 being
+   *                           horizontal.
    * @param measurementStdDevs The standard deviations of the measurements.
    */
   SingleJointedArmSim(const LinearSystem<2, 1, 2>& system,
@@ -52,10 +55,13 @@ class SingleJointedArmSim : public LinearSystemSim<2, 1, 2> {
    * @param moi                The moment of inertia of the arm. This can be
    *                           calculated from CAD software.
    * @param armLength          The length of the arm.
-   * @param minAngle           The minimum angle that the arm is capable of.
-   * @param maxAngle           The maximum angle that the arm is capable of.
+   * @param minAngle           The minimum angle that the arm is capable of,
+   *                           with 0 being horizontal.
+   * @param maxAngle           The maximum angle that the arm is capable of,
+   *                           with 0 being horizontal.
    * @param simulateGravity    Whether gravity should be simulated or not.
-   * @param startingAngle      The initial position of the arm.
+   * @param startingAngle      The initial position of the arm, with 0 being
+   *                           horizontal.
    * @param measurementStdDevs The standard deviation of the measurement noise.
    */
   SingleJointedArmSim(const DCMotor& gearbox, double gearing,

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,

wpilibcExamples/src/main/cpp/examples/Xrptimed/cpp/Robot.cpp

@@ -0,0 +1,57 @@
+// 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.
+
+#include "Robot.h"
+
+Robot::Robot() {
+  wpi::SendableRegistry::AddChild(&m_drive, &m_leftMotor);
+  wpi::SendableRegistry::AddChild(&m_drive, &m_rightMotor);
+
+  // We need to invert one side of the drivetrain so that positive voltages
+  // result in both sides moving forward. Depending on how your robot's
+  // gearbox is constructed, you might have to invert the left side instead.
+  m_rightMotor.SetInverted(true);
+}
+
+/**
+ * This function is called every 20 ms, no matter the mode. Use
+ * this for items like diagnostics that you want ran during disabled,
+ * autonomous, teleoperated and test.
+ *
+ * <p> This runs after the mode specific periodic functions, but before
+ * LiveWindow and SmartDashboard integrated updating.
+ */
+void Robot::RobotPeriodic() {}
+
+// This function is only once each time Autonomous is enabled
+void Robot::AutonomousInit() {
+  m_timer.Restart();
+}
+
+// This function is called periodically during autonomous mode
+void Robot::AutonomousPeriodic() {
+  // Drive for 2 seconds
+  if (m_timer.Get() < 2_s) {
+    // Drive forwards half speed, make sure to turn input squaring off
+    m_drive.ArcadeDrive(0.5, 0.0, false);
+  } else {
+    // Stop robot
+    m_drive.ArcadeDrive(0.0, 0.0, false);
+  }
+}
+
+// This function is only once each time telop is enabled
+void Robot::TeleopInit() {}
+
+// This function is called periodically during teleop mode
+void Robot::TeleopPeriodic() {
+  m_drive.ArcadeDrive(-m_XboxController.GetLeftY(),
+                      -m_XboxController.GetRightX());
+}
+
+#ifndef RUNNING_FRC_TESTS
+int main() {
+  return frc::StartRobot<Robot>();
+}
+#endif

wpilibcExamples/src/main/cpp/examples/Xrptimed/include/Robot.h

@@ -0,0 +1,31 @@
+// 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 <frc/TimedRobot.h>
+#include <frc/Timer.h>
+#include <frc/XboxController.h>
+#include <frc/drive/DifferentialDrive.h>
+#include <frc/xrp/XRPMotor.h>
+
+class Robot : public frc::TimedRobot {
+ public:
+  Robot();
+  void RobotPeriodic() override;
+  void AutonomousInit() override;
+  void AutonomousPeriodic() override;
+  void TeleopInit() override;
+  void TeleopPeriodic() override;
+
+ private:
+  frc::XRPMotor m_leftMotor{0};
+  frc::XRPMotor m_rightMotor{1};
+  frc::XboxController m_XboxController{0};
+  frc::Timer m_timer;
+
+  frc::DifferentialDrive m_drive{
+      [&](double output) { m_leftMotor.Set(output); },
+      [&](double output) { m_rightMotor.Set(output); }};
+};

wpilibcExamples/src/main/cpp/examples/examples.json

@@ -609,6 +609,22 @@
       "xrp"
     ]
   },
+  {
+    "name": "XRP Timed",
+    "description": "An very basic timed robot program that can be used with the XRP reference robot design.",
+    "tags": [
+      "XRP",
+      "Differential Drive",
+      "XboxController"
+    ],
+    "foldername": "Xrptimed",
+    "gradlebase": "cppxrp",
+    "mainclass": "Main",
+    "commandversion": 2,
+    "extravendordeps": [
+      "xrp"
+    ]
+  },
   {
     "name": "StateSpaceFlywheel",
     "description": "Control a flywheel using a state-space model (based on values from CAD), with a Kalman Filter and LQR.",

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

@@ -1182,8 +1182,7 @@ public final class DriverStation {
    *
    * <p>When the DS is in practice mode, this number is a floating point number, and counts down.
    *
-   * <p>When the DS is in teleop or autonomous mode, this number is a floating point number, and
-   * counts up.
+   * <p>When the DS is in teleop or autonomous mode, this number returns -1.0.
    *
    * <p>Simulation matches DS behavior without an FMS connected.
    *

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/Preferences.java

@@ -83,6 +83,8 @@ public final class Preferences {
     if (m_listener != null) {
       m_listener.close();
     }
+
+    Topic typePublisherTopic = m_typePublisher.getTopic();
     m_listener =
         NetworkTableListener.createListener(
             m_tableSubscriber,
@@ -90,8 +92,8 @@ public final class Preferences {
             event -> {
               if (event.topicInfo != null) {
                 Topic topic = event.topicInfo.getTopic();
-                if (!topic.equals(m_typePublisher.getTopic())) {
-                  event.topicInfo.getTopic().setPersistent(true);
+                if (!topic.equals(typePublisherTopic)) {
+                  topic.setPersistent(true);
                 }
               }
             });

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
               }
@@ -201,9 +211,9 @@ public abstract class RobotBase implements AutoCloseable {
                   HAL.report(
                       tResourceType.kResourceType_Dashboard, tInstances.kDashboard_AdvantageScope);
                   m_dashboardDetected = true;
-                } else if (event.connInfo.remote_id.startsWith("QFRCDashboard")) {
-                  HAL.report(
-                      tResourceType.kResourceType_Dashboard, tInstances.kDashboard_QFRCDashboard);
+                } else if (event.connInfo.remote_id.startsWith("QDash")
+                    || event.connInfo.remote_id.startsWith("QFRCDashboard")) {
+                  HAL.report(tResourceType.kResourceType_Dashboard, tInstances.kDashboard_QDash);
                   m_dashboardDetected = true;
                 } else if (event.connInfo.remote_id.startsWith("FRC Web Components")) {
                   HAL.report(

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

@@ -181,9 +181,9 @@ public class TimedRobot extends IterativeRobotBase {
   }
 
   /**
-   * Return the system clock time in micrseconds for the start of the current periodic loop. This is
-   * in the same time base as Timer.getFPGATimestamp(), but is stable through a loop. It is updated
-   * at the beginning of every periodic callback (including the normal periodic loop).
+   * Return the system clock time in microseconds for the start of the current periodic loop. This
+   * is in the same time base as Timer.getFPGATimestamp(), but is stable through a loop. It is
+   * updated at the beginning of every periodic callback (including the normal periodic loop).
    *
    * @return Robot running time in microseconds, as of the start of the current periodic function.
    */

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

@@ -40,8 +40,16 @@ public class Timer {
    * Return the approximate match time. The FMS does not send an official match time to the robots,
    * but does send an approximate match time. The value will count down the time remaining in the
    * current period (auto or teleop). Warning: This is not an official time (so it cannot be used to
-   * dispute ref calls or guarantee that a function will trigger before the match ends) The Practice
-   * Match function of the DS approximates the behavior seen on the field.
+   * dispute ref calls or guarantee that a function will trigger before the match ends).
+   *
+   * <p>When connected to the real field, this number only changes in full integer increments, and
+   * always counts down.
+   *
+   * <p>When the DS is in practice mode, this number is a floating point number, and counts down.
+   *
+   * <p>When the DS is in teleop or autonomous mode, this number returns -1.0.
+   *
+   * <p>Simulation matches DS behavior without an FMS connected.
    *
    * @return Time remaining in current match period (auto or teleop) in seconds
    */

wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/SingleJointedArmSim.java

@@ -44,10 +44,13 @@ public class SingleJointedArmSim extends LinearSystemSim<N2, N1, N2> {
    * @param gearbox The type of and number of motors in the arm gearbox.
    * @param gearing The gearing of the arm (numbers greater than 1 represent reductions).
    * @param armLengthMeters The length of the arm.
-   * @param minAngleRads The minimum angle that the arm is capable of.
-   * @param maxAngleRads The maximum angle that the arm is capable of.
+   * @param minAngleRads The minimum angle that the arm is capable of, with 0 radians being
+   *     horizontal.
+   * @param maxAngleRads The maximum angle that the arm is capable of, with 0 radians being
+   *     horizontal.
    * @param simulateGravity Whether gravity should be simulated or not.
-   * @param startingAngleRads The initial position of the Arm simulation in radians.
+   * @param startingAngleRads The initial position of the Arm simulation in radians, with 0 radians
+   *     being horizontal.
    * @param measurementStdDevs The standard deviations of the measurements. Can be omitted if no
    *     noise is desired. If present must have 1 element for position.
    */
@@ -80,10 +83,13 @@ public class SingleJointedArmSim extends LinearSystemSim<N2, N1, N2> {
    * @param gearing The gearing of the arm (numbers greater than 1 represent reductions).
    * @param jKgMetersSquared The moment of inertia of the arm; can be calculated from CAD software.
    * @param armLengthMeters The length of the arm.
-   * @param minAngleRads The minimum angle that the arm is capable of.
-   * @param maxAngleRads The maximum angle that the arm is capable of.
+   * @param minAngleRads The minimum angle that the arm is capable of, with 0 radians being
+   *     horizontal.
+   * @param maxAngleRads The maximum angle that the arm is capable of, with 0 radians being
+   *     horizontal.
    * @param simulateGravity Whether gravity should be simulated or not.
-   * @param startingAngleRads The initial position of the Arm simulation in radians.
+   * @param startingAngleRads The initial position of the Arm simulation in radians, with 0 radians
+   *     being horizontal.
    * @param measurementStdDevs The standard deviations of the measurements. Can be omitted if no
    *     noise is desired. If present must have 1 element for position.
    */

wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/examples.json

@@ -812,6 +812,22 @@
       "xrp"
     ]
   },
+  {
+    "name": "XRP Timed",
+    "description": "An very basic timed robot program that can be used with the XRP reference robot design.",
+    "tags": [
+      "XRP",
+      "Differential Drive",
+      "XboxController"
+    ],
+    "foldername": "xrptimed",
+    "gradlebase": "javaxrp",
+    "mainclass": "Main",
+    "commandversion": 2,
+    "extravendordeps": [
+      "xrp"
+    ]
+  },
   {
     "name": "Digital Communication Sample",
     "description": "Communicates with external devices (such as an Arduino) using the roboRIO's DIO.",