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

This is just #7793 with requested changes applied.
[wpilib] Make Preferences Listener not depend on mutable fields (#8607 )
2026-06-24 01:31:46 +00:00 · 2026-02-27 12:53:18 -08:00 · 2026-02-27 12:42:40 -08:00 · 2026-02-27 12:39:05 -08:00 · 2026-02-23 17:11:59 -08:00 · 2026-02-23 16:32:28 -08:00
239 changed files with 4386 additions and 1814 deletions
--- a/.github/workflows/bazel.yml
+++ b/.github/workflows/bazel.yml
@@ -37,7 +37,7 @@ jobs:

  build-mac:
    name: "Mac"
-    runs-on: macos-14
+    runs-on: macOS-15
    steps:
      - uses: actions/checkout@v4
        with: { fetch-depth: 0 }
--- a/.github/workflows/cmake-android.yml
+++ b/.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
--- a/.github/workflows/cmake.yml
+++ b/.github/workflows/cmake.yml
@@ -20,7 +20,7 @@ jobs:
            name: Linux
            container: wpilib/roborio-cross-ubuntu:2025-22.04
            flags: "--preset with-java-and-sccache -DCMAKE_BUILD_TYPE=Release -DWITH_EXAMPLES=ON"
-          - os: macOS-14
+          - os: macOS-15
            name: macOS
            container: ""
            env: ""
@@ -59,7 +59,7 @@ jobs:
        uses: lukka/run-vcpkg@v11.5
        with:
          vcpkgDirectory: ${{ runner.workspace }}/vcpkg
-          vcpkgGitCommitId: 37c3e63a1306562f7f59c4c3c8892ddd50fdf992 # HEAD on 2024-02-24
+          vcpkgGitCommitId: 74e6536215718009aae747d86d84b78376bf9e09 # HEAD on 2025-10-17

      - name: configure
        run: cmake ${{ matrix.flags }}
--- a/.github/workflows/gradle.yml
+++ b/.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 }}
@@ -98,7 +98,7 @@ jobs:
            build-options: "-PciReleaseOnly -Pbuildwinarm64 -Ponlywindowsarm64"
            task: "copyAllOutputs"
            outputs: "build/allOutputs"
-          - os: macOS-14
+          - os: macOS-15
            artifact-name: macOS
            architecture: aarch64
            task: "build"
@@ -153,7 +153,7 @@ jobs:
        if: matrix.os == 'windows-2022'
      - name: Check disk free space pre-cleanup (macOS)
        run: df -h .
-        if: matrix.os == 'macOS-14'
+        if: matrix.os == 'macOS-15'
      - name: Cleanup disk space
        # CodeQL: 5G
        # go: 748M
@@ -162,10 +162,10 @@ jobs:
          rm -rf /Users/runner/hostedtoolcache/CodeQL
          rm -rf /Users/runner/hostedtoolcache/go
          rm -rf /Users/runner/Library/Android
-        if: matrix.os == 'macOS-14'
+        if: matrix.os == 'macOS-15'
      - name: Check disk free space post-cleanup (macOS)
        run: df -h .
-        if: matrix.os == 'macOS-14'
+        if: matrix.os == 'macOS-15'
      - name: Build with Gradle
        run: ./gradlew ${{ matrix.task }} --build-cache -PbuildServer -PskipJavaFormat ${{ matrix.build-options }} ${{ env.EXTRA_GRADLE_ARGS }}
        env:
@@ -181,7 +181,7 @@ jobs:
        if: matrix.os == 'windows-2022'
      - name: Check disk free space (macOS)
        run: df -h .
-        if: matrix.os == 'macOS-14'
+        if: matrix.os == 'macOS-15'
      - uses: actions/upload-artifact@v4
        with:
          name: ${{ matrix.artifact-name }}
--- a/.github/workflows/lint-format.yml
+++ b/.github/workflows/lint-format.yml
@@ -36,7 +36,7 @@ jobs:
      - name: Install wpiformat
        run: |
          python -m venv ${{ runner.temp }}/wpiformat
-          ${{ runner.temp }}/wpiformat/bin/pip3 install wpiformat==2025.34
+          ${{ runner.temp }}/wpiformat/bin/pip3 install wpiformat==2025.36
      - name: Run
        run: ${{ runner.temp }}/wpiformat/bin/wpiformat
      - name: Check output
@@ -78,7 +78,7 @@ jobs:
      - name: Install wpiformat
        run: |
          python -m venv ${{ runner.temp }}/wpiformat
-          ${{ runner.temp }}/wpiformat/bin/pip3 install wpiformat==2025.34
+          ${{ runner.temp }}/wpiformat/bin/pip3 install wpiformat==2025.36
      - name: Create compile_commands.json
        run: |
          ./gradlew generateCompileCommands -Ptoolchain-optional-roboRio
--- a/.github/workflows/sentinel-build.yml
+++ b/.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
@@ -97,7 +97,7 @@ jobs:
            build-options: "-PciReleaseOnly -Pbuildwinarm64 -Ponlywindowsarm64"
            task: "copyAllOutputs"
            outputs: "build/allOutputs"
-          - os: macOS-14
+          - os: macOS-15
            artifact-name: macOS
            architecture: aarch64
            task: "build"
@@ -146,7 +146,7 @@ jobs:
        if: matrix.os == 'windows-2022'
      - name: Check disk free space pre-cleanup (macOS)
        run: df -h .
-        if: matrix.os == 'macOS-14'
+        if: matrix.os == 'macOS-15'
      - name: Cleanup disk space
        # CodeQL: 5G
        # go: 748M
@@ -155,10 +155,10 @@ jobs:
          rm -rf /Users/runner/hostedtoolcache/CodeQL
          rm -rf /Users/runner/hostedtoolcache/go
          rm -rf /Users/runner/Library/Android
-        if: matrix.os == 'macOS-14'
+        if: matrix.os == 'macOS-15'
      - name: Check disk free space post-cleanup (macOS)
        run: df -h .
-        if: matrix.os == 'macOS-14'
+        if: matrix.os == 'macOS-15'
      - name: Build with Gradle
        run: ./gradlew ${{ matrix.task }} -PbuildServer -PskipJavaFormat ${{ matrix.build-options }}
      - name: Sign Libraries with Developer ID
@@ -170,7 +170,7 @@ jobs:
        if: matrix.os == 'windows-2022'
      - name: Check disk free space (macOS)
        run: df -h .
-        if: matrix.os == 'macOS-14'
+        if: matrix.os == 'macOS-15'
      - uses: actions/upload-artifact@v4
        with:
          name: ${{ matrix.artifact-name }}
--- a/.github/workflows/tools.yml
+++ b/.github/workflows/tools.yml
@@ -7,7 +7,7 @@ concurrency:
  cancel-in-progress: true

 env:
-  YEAR: 2025
+  YEAR: 2026

 jobs:
  build-artifacts:
@@ -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
--- a/CMakeLists.txt
+++ b/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)
--- a/DevelopmentBuilds.md
+++ b/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
--- a/LICENSE.md
+++ b/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
--- a/README.md
+++ b/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
--- a/apriltag/src/main/java/edu/wpi/first/apriltag/AprilTagFields.java
+++ b/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;
--- a/apriltag/src/main/native/cpp/AprilTagFieldLayout.cpp
+++ b/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");
  }
--- a/apriltag/src/main/native/include/frc/apriltag/AprilTagFields.h
+++ b/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
--- a/apriltag/src/main/native/resources/edu/wpi/first/apriltag/2026-rebuilt-andymark.csv
+++ b/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
--- a/apriltag/src/main/native/resources/edu/wpi/first/apriltag/2026-rebuilt-andymark.json
+++ b/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,
+          "y": 7.411491399999999,
+          "z": 0.889
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 6.123233995736766e-17,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 1.0
+          }
+        }
+      }
+    },
+    {
+      "ID": 2,
+      "pose": {
+        "translation": {
+          "x": 11.9013986,
+          "y": 4.6247558,
+          "z": 1.12395
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 0.7071067811865476,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 0.7071067811865476
+          }
+        }
+      }
+    },
+    {
+      "ID": 3,
+      "pose": {
+        "translation": {
+          "x": 11.2978438,
+          "y": 4.3769534,
+          "z": 1.12395
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 6.123233995736766e-17,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 1.0
+          }
+        }
+      }
+    },
+    {
+      "ID": 4,
+      "pose": {
+        "translation": {
+          "x": 11.2978438,
+          "y": 4.0213534,
+          "z": 1.12395
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 6.123233995736766e-17,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 1.0
+          }
+        }
+      }
+    },
+    {
+      "ID": 5,
+      "pose": {
+        "translation": {
+          "x": 11.9013986,
+          "y": 3.417951,
+          "z": 1.12395
+        },
+        "rotation": {
+          "quaternion": {
+            "W": -0.7071067811865475,
+            "X": -0.0,
+            "Y": 0.0,
+            "Z": 0.7071067811865476
+          }
+        }
+      }
+    },
+    {
+      "ID": 6,
+      "pose": {
+        "translation": {
+          "x": 11.863959,
+          "y": 0.6312154,
+          "z": 0.889
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 6.123233995736766e-17,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 1.0
+          }
+        }
+      }
+    },
+    {
+      "ID": 7,
+      "pose": {
+        "translation": {
+          "x": 11.9388636,
+          "y": 0.6312154,
+          "z": 0.889
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 1.0,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 0.0
+          }
+        }
+      }
+    },
+    {
+      "ID": 8,
+      "pose": {
+        "translation": {
+          "x": 12.2569986,
+          "y": 3.417951,
+          "z": 1.12395
+        },
+        "rotation": {
+          "quaternion": {
+            "W": -0.7071067811865475,
+            "X": -0.0,
+            "Y": 0.0,
+            "Z": 0.7071067811865476
+          }
+        }
+      }
+    },
+    {
+      "ID": 9,
+      "pose": {
+        "translation": {
+          "x": 12.5051566,
+          "y": 3.6657534,
+          "z": 1.12395
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 1.0,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 0.0
+          }
+        }
+      }
+    },
+    {
+      "ID": 10,
+      "pose": {
+        "translation": {
+          "x": 12.5051566,
+          "y": 4.0213534,
+          "z": 1.12395
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 1.0,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 0.0
+          }
+        }
+      }
+    },
+    {
+      "ID": 11,
+      "pose": {
+        "translation": {
+          "x": 12.2569986,
+          "y": 4.6247558,
+          "z": 1.12395
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 0.7071067811865476,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 0.7071067811865476
+          }
+        }
+      }
+    },
+    {
+      "ID": 12,
+      "pose": {
+        "translation": {
+          "x": 11.9388636,
+          "y": 7.411491399999999,
+          "z": 0.889
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 1.0,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 0.0
+          }
+        }
+      }
+    },
+    {
+      "ID": 13,
+      "pose": {
+        "translation": {
+          "x": 16.499332,
+          "y": 7.391907999999999,
+          "z": 0.55245
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 6.123233995736766e-17,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 1.0
+          }
+        }
+      }
+    },
+    {
+      "ID": 14,
+      "pose": {
+        "translation": {
+          "x": 16.499332,
+          "y": 6.960107999999999,
+          "z": 0.55245
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 6.123233995736766e-17,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 1.0
+          }
+        }
+      }
+    },
+    {
+      "ID": 15,
+      "pose": {
+        "translation": {
+          "x": 16.4989764,
+          "y": 4.3124882,
+          "z": 0.55245
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 6.123233995736766e-17,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 1.0
+          }
+        }
+      }
+    },
+    {
+      "ID": 16,
+      "pose": {
+        "translation": {
+          "x": 16.4989764,
+          "y": 3.8806881999999994,
+          "z": 0.55245
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 6.123233995736766e-17,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 1.0
+          }
+        }
+      }
+    },
+    {
+      "ID": 17,
+      "pose": {
+        "translation": {
+          "x": 4.6490636,
+          "y": 0.6312154,
+          "z": 0.889
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 1.0,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 0.0
+          }
+        }
+      }
+    },
+    {
+      "ID": 18,
+      "pose": {
+        "translation": {
+          "x": 4.6115986,
+          "y": 3.417951,
+          "z": 1.12395
+        },
+        "rotation": {
+          "quaternion": {
+            "W": -0.7071067811865475,
+            "X": -0.0,
+            "Y": 0.0,
+            "Z": 0.7071067811865476
+          }
+        }
+      }
+    },
+    {
+      "ID": 19,
+      "pose": {
+        "translation": {
+          "x": 5.2151534,
+          "y": 3.6657534,
+          "z": 1.12395
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 1.0,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 0.0
+          }
+        }
+      }
+    },
+    {
+      "ID": 20,
+      "pose": {
+        "translation": {
+          "x": 5.2151534,
+          "y": 4.0213534,
+          "z": 1.12395
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 1.0,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 0.0
+          }
+        }
+      }
+    },
+    {
+      "ID": 21,
+      "pose": {
+        "translation": {
+          "x": 4.6115986,
+          "y": 4.6247558,
+          "z": 1.12395
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 0.7071067811865476,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 0.7071067811865476
+          }
+        }
+      }
+    },
+    {
+      "ID": 22,
+      "pose": {
+        "translation": {
+          "x": 4.6490636,
+          "y": 7.411491399999999,
+          "z": 0.889
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 1.0,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 0.0
+          }
+        }
+      }
+    },
+    {
+      "ID": 23,
+      "pose": {
+        "translation": {
+          "x": 4.574159,
+          "y": 7.411491399999999,
+          "z": 0.889
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 6.123233995736766e-17,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 1.0
+          }
+        }
+      }
+    },
+    {
+      "ID": 24,
+      "pose": {
+        "translation": {
+          "x": 4.2559986,
+          "y": 4.6247558,
+          "z": 1.12395
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 0.7071067811865476,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 0.7071067811865476
+          }
+        }
+      }
+    },
+    {
+      "ID": 25,
+      "pose": {
+        "translation": {
+          "x": 4.007866,
+          "y": 4.3769534,
+          "z": 1.12395
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 6.123233995736766e-17,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 1.0
+          }
+        }
+      }
+    },
+    {
+      "ID": 26,
+      "pose": {
+        "translation": {
+          "x": 4.007866,
+          "y": 4.0213534,
+          "z": 1.12395
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 6.123233995736766e-17,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 1.0
+          }
+        }
+      }
+    },
+    {
+      "ID": 27,
+      "pose": {
+        "translation": {
+          "x": 4.2559986,
+          "y": 3.417951,
+          "z": 1.12395
+        },
+        "rotation": {
+          "quaternion": {
+            "W": -0.7071067811865475,
+            "X": -0.0,
+            "Y": 0.0,
+            "Z": 0.7071067811865476
+          }
+        }
+      }
+    },
+    {
+      "ID": 28,
+      "pose": {
+        "translation": {
+          "x": 4.574159,
+          "y": 0.6312154,
+          "z": 0.889
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 6.123233995736766e-17,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 1.0
+          }
+        }
+      }
+    },
+    {
+      "ID": 29,
+      "pose": {
+        "translation": {
+          "x": 0.0136906,
+          "y": 0.6507734,
+          "z": 0.55245
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 1.0,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 0.0
+          }
+        }
+      }
+    },
+    {
+      "ID": 30,
+      "pose": {
+        "translation": {
+          "x": 0.0136906,
+          "y": 1.0825734,
+          "z": 0.55245
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 1.0,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 0.0
+          }
+        }
+      }
+    },
+    {
+      "ID": 31,
+      "pose": {
+        "translation": {
+          "x": 0.0140462,
+          "y": 3.7301932,
+          "z": 0.55245
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 1.0,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 0.0
+          }
+        }
+      }
+    },
+    {
+      "ID": 32,
+      "pose": {
+        "translation": {
+          "x": 0.0140462,
+          "y": 4.1619931999999995,
+          "z": 0.55245
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 1.0,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 0.0
+          }
+        }
+      }
+    }
+  ],
+  "field": {
+    "length": 16.518,
+    "width": 8.043
+  }
+}
--- a/apriltag/src/main/native/resources/edu/wpi/first/apriltag/2026-rebuilt-welded.csv
+++ b/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
+4,445.349,158.844,44.25,180,0
+5,469.111,135.088,44.25,270,0
+6,467.637,25.374,35,180,0
+7,470.586,25.374,35,0,0
+8,483.111,135.088,44.25,270,0
+9,492.881,144.844,44.25,0,0
+10,492.881,158.844,44.25,0,0
+11,483.111,182.6,44.25,90,0
+12,470.586,292.314,35,0,0
+13,650.918,291.469,21.75,180,0
+14,650.918,274.469,21.75,180,0
+15,650.904,170.219,21.75,180,0
+16,650.904,153.219,21.75,180,0
+17,183.586,25.374,35,0,0
+18,182.111,135.088,44.25,270,0
+19,205.873,144.844,44.25,0,0
+20,205.873,158.844,44.25,0,0
+21,182.111,182.6,44.25,90,0
+22,183.586,292.314,35,0,0
+23,180.637,292.314,35,180,0
+24,168.111,182.6,44.25,90,0
+25,158.341,172.844,44.25,180,0
+26,158.341,158.844,44.25,180,0
+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
--- a/apriltag/src/main/native/resources/edu/wpi/first/apriltag/2026-rebuilt-welded.json
+++ b/apriltag/src/main/native/resources/edu/wpi/first/apriltag/2026-rebuilt-welded.json
@@ -0,0 +1,584 @@
+{
+  "tags": [
+    {
+      "ID": 1,
+      "pose": {
+        "translation": {
+          "x": 11.8779798,
+          "y": 7.4247756,
+          "z": 0.889
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 6.123233995736766e-17,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 1.0
+          }
+        }
+      }
+    },
+    {
+      "ID": 2,
+      "pose": {
+        "translation": {
+          "x": 11.9154194,
+          "y": 4.638039999999999,
+          "z": 1.12395
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 0.7071067811865476,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 0.7071067811865476
+          }
+        }
+      }
+    },
+    {
+      "ID": 3,
+      "pose": {
+        "translation": {
+          "x": 11.3118646,
+          "y": 4.3902376,
+          "z": 1.12395
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 6.123233995736766e-17,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 1.0
+          }
+        }
+      }
+    },
+    {
+      "ID": 4,
+      "pose": {
+        "translation": {
+          "x": 11.3118646,
+          "y": 4.0346376,
+          "z": 1.12395
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 6.123233995736766e-17,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 1.0
+          }
+        }
+      }
+    },
+    {
+      "ID": 5,
+      "pose": {
+        "translation": {
+          "x": 11.9154194,
+          "y": 3.4312351999999997,
+          "z": 1.12395
+        },
+        "rotation": {
+          "quaternion": {
+            "W": -0.7071067811865475,
+            "X": -0.0,
+            "Y": 0.0,
+            "Z": 0.7071067811865476
+          }
+        }
+      }
+    },
+    {
+      "ID": 6,
+      "pose": {
+        "translation": {
+          "x": 11.8779798,
+          "y": 0.6444996,
+          "z": 0.889
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 6.123233995736766e-17,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 1.0
+          }
+        }
+      }
+    },
+    {
+      "ID": 7,
+      "pose": {
+        "translation": {
+          "x": 11.9528844,
+          "y": 0.6444996,
+          "z": 0.889
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 1.0,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 0.0
+          }
+        }
+      }
+    },
+    {
+      "ID": 8,
+      "pose": {
+        "translation": {
+          "x": 12.2710194,
+          "y": 3.4312351999999997,
+          "z": 1.12395
+        },
+        "rotation": {
+          "quaternion": {
+            "W": -0.7071067811865475,
+            "X": -0.0,
+            "Y": 0.0,
+            "Z": 0.7071067811865476
+          }
+        }
+      }
+    },
+    {
+      "ID": 9,
+      "pose": {
+        "translation": {
+          "x": 12.519177399999998,
+          "y": 3.6790375999999996,
+          "z": 1.12395
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 1.0,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 0.0
+          }
+        }
+      }
+    },
+    {
+      "ID": 10,
+      "pose": {
+        "translation": {
+          "x": 12.519177399999998,
+          "y": 4.0346376,
+          "z": 1.12395
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 1.0,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 0.0
+          }
+        }
+      }
+    },
+    {
+      "ID": 11,
+      "pose": {
+        "translation": {
+          "x": 12.2710194,
+          "y": 4.638039999999999,
+          "z": 1.12395
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 0.7071067811865476,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 0.7071067811865476
+          }
+        }
+      }
+    },
+    {
+      "ID": 12,
+      "pose": {
+        "translation": {
+          "x": 11.9528844,
+          "y": 7.4247756,
+          "z": 0.889
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 1.0,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 0.0
+          }
+        }
+      }
+    },
+    {
+      "ID": 13,
+      "pose": {
+        "translation": {
+          "x": 16.5333172,
+          "y": 7.4033126,
+          "z": 0.55245
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 6.123233995736766e-17,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 1.0
+          }
+        }
+      }
+    },
+    {
+      "ID": 14,
+      "pose": {
+        "translation": {
+          "x": 16.5333172,
+          "y": 6.9715126,
+          "z": 0.55245
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 6.123233995736766e-17,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 1.0
+          }
+        }
+      }
+    },
+    {
+      "ID": 15,
+      "pose": {
+        "translation": {
+          "x": 16.5329616,
+          "y": 4.3235626,
+          "z": 0.55245
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 6.123233995736766e-17,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 1.0
+          }
+        }
+      }
+    },
+    {
+      "ID": 16,
+      "pose": {
+        "translation": {
+          "x": 16.5329616,
+          "y": 3.8917626,
+          "z": 0.55245
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 6.123233995736766e-17,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 1.0
+          }
+        }
+      }
+    },
+    {
+      "ID": 17,
+      "pose": {
+        "translation": {
+          "x": 4.6630844,
+          "y": 0.6444996,
+          "z": 0.889
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 1.0,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 0.0
+          }
+        }
+      }
+    },
+    {
+      "ID": 18,
+      "pose": {
+        "translation": {
+          "x": 4.6256194,
+          "y": 3.4312351999999997,
+          "z": 1.12395
+        },
+        "rotation": {
+          "quaternion": {
+            "W": -0.7071067811865475,
+            "X": -0.0,
+            "Y": 0.0,
+            "Z": 0.7071067811865476
+          }
+        }
+      }
+    },
+    {
+      "ID": 19,
+      "pose": {
+        "translation": {
+          "x": 5.229174199999999,
+          "y": 3.6790375999999996,
+          "z": 1.12395
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 1.0,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 0.0
+          }
+        }
+      }
+    },
+    {
+      "ID": 20,
+      "pose": {
+        "translation": {
+          "x": 5.229174199999999,
+          "y": 4.0346376,
+          "z": 1.12395
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 1.0,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 0.0
+          }
+        }
+      }
+    },
+    {
+      "ID": 21,
+      "pose": {
+        "translation": {
+          "x": 4.6256194,
+          "y": 4.638039999999999,
+          "z": 1.12395
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 0.7071067811865476,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 0.7071067811865476
+          }
+        }
+      }
+    },
+    {
+      "ID": 22,
+      "pose": {
+        "translation": {
+          "x": 4.6630844,
+          "y": 7.4247756,
+          "z": 0.889
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 1.0,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 0.0
+          }
+        }
+      }
+    },
+    {
+      "ID": 23,
+      "pose": {
+        "translation": {
+          "x": 4.5881798,
+          "y": 7.4247756,
+          "z": 0.889
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 6.123233995736766e-17,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 1.0
+          }
+        }
+      }
+    },
+    {
+      "ID": 24,
+      "pose": {
+        "translation": {
+          "x": 4.2700194,
+          "y": 4.638039999999999,
+          "z": 1.12395
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 0.7071067811865476,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 0.7071067811865476
+          }
+        }
+      }
+    },
+    {
+      "ID": 25,
+      "pose": {
+        "translation": {
+          "x": 4.0218614,
+          "y": 4.3902376,
+          "z": 1.12395
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 6.123233995736766e-17,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 1.0
+          }
+        }
+      }
+    },
+    {
+      "ID": 26,
+      "pose": {
+        "translation": {
+          "x": 4.0218614,
+          "y": 4.0346376,
+          "z": 1.12395
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 6.123233995736766e-17,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 1.0
+          }
+        }
+      }
+    },
+    {
+      "ID": 27,
+      "pose": {
+        "translation": {
+          "x": 4.2700194,
+          "y": 3.4312351999999997,
+          "z": 1.12395
+        },
+        "rotation": {
+          "quaternion": {
+            "W": -0.7071067811865475,
+            "X": -0.0,
+            "Y": 0.0,
+            "Z": 0.7071067811865476
+          }
+        }
+      }
+    },
+    {
+      "ID": 28,
+      "pose": {
+        "translation": {
+          "x": 4.5881798,
+          "y": 0.6444996,
+          "z": 0.889
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 6.123233995736766e-17,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 1.0
+          }
+        }
+      }
+    },
+    {
+      "ID": 29,
+      "pose": {
+        "translation": {
+          "x": 0.0077469999999999995,
+          "y": 0.6659626,
+          "z": 0.55245
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 1.0,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 0.0
+          }
+        }
+      }
+    },
+    {
+      "ID": 30,
+      "pose": {
+        "translation": {
+          "x": 0.0077469999999999995,
+          "y": 1.0977626,
+          "z": 0.55245
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 1.0,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 0.0
+          }
+        }
+      }
+    },
+    {
+      "ID": 31,
+      "pose": {
+        "translation": {
+          "x": 0.0080772,
+          "y": 3.7457125999999996,
+          "z": 0.55245
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 1.0,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 0.0
+          }
+        }
+      }
+    },
+    {
+      "ID": 32,
+      "pose": {
+        "translation": {
+          "x": 0.0080772,
+          "y": 4.1775126,
+          "z": 0.55245
+        },
+        "rotation": {
+          "quaternion": {
+            "W": 1.0,
+            "X": 0.0,
+            "Y": 0.0,
+            "Z": 0.0
+          }
+        }
+      }
+    }
+  ],
+  "field": {
+    "length": 16.541,
+    "width": 8.069
+  }
+}
--- a/cscore/src/main/native/objcpp/UvcControlImpl.mm
+++ b/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; 
        }
--- a/cscore/src/main/native/windows/UsbCameraImpl.cpp
+++ b/cscore/src/main/native/windows/UsbCameraImpl.cpp
@@ -255,8 +255,9 @@ bool UsbCameraImpl::CheckDeviceChange(WPARAM wParam, DEV_BROADCAST_HDR* pHdr,
 }

 void UsbCameraImpl::DeviceDisconnect() {
-  if (m_connectVerbose)
+  if (m_connectVerbose) {
    SINFO("Disconnected from {}", m_path);
+  }
  m_sourceReader.Reset();
  m_mediaSource.Reset();
  if (m_imageCallback) {
@@ -655,8 +656,9 @@ void UsbCameraImpl::DeviceCacheProperty(
    rawProp->valueStr = perProp->valueStr;  // copy
  } else {
    // Read current raw value and set percentage from it
-    if (!rawProp->DeviceGet(lock, pProcAmp))
+    if (!rawProp->DeviceGet(lock, pProcAmp)) {
      SWARNING("failed to get property {}", rawProp->name);
+    }

    if (perProp) {
      perProp->SetValue(RawToPercentage(*rawProp, rawProp->value));
@@ -666,8 +668,9 @@ void UsbCameraImpl::DeviceCacheProperty(

  // Set value on device if user-configured
  if (rawProp->valueSet) {
-    if (!rawProp->DeviceSet(lock, pProcAmp))
+    if (!rawProp->DeviceSet(lock, pProcAmp)) {
      SWARNING("failed to set property {}", rawProp->name);
+    }
  }

  // Update pointers since we released the lock
--- a/docs/build.gradle
+++ b/docs/build.gradle
@@ -47,20 +47,29 @@ cppProjectZips.add(project(':romiVendordep').cppHeadersZip)
 cppProjectZips.add(project(':xrpVendordep').cppHeadersZip)

 doxygen {
-    // Doxygen binaries are only provided for x86_64 platforms
-    // Other platforms will need to provide doxygen via their system
-    // See below maven and https://doxygen.nl/download.html for provided binaries
-    // Ensure theme.css (from https://github.com/jothepro/doxygen-awesome-css) is compatible with
-    // doxygen version when updating
+    // Doxygen binaries are only provided for x86_64 platforms. Other platforms
+    // will need to use a local Doxygen install.
+    //
+    // executeByVersion() fetches Doxygen binaries from
+    // https://frcmaven.wpi.edu/ui/native/generic-release-mirror/doxygen/, which
+    // is a mirror of binaries from https://doxygen.nl/download.html.
+    //
+    // To mirror a new Doxygen version, retrigger the GitHub Actions workflow in
+    // https://github.com/wpilibsuite/doxygen-mirror with the desired version
+    // number as an input.
+    //
+    // Ensure theme.css (from https://github.com/jothepro/doxygen-awesome-css)
+    // is compatible with Doxygen version when updating.
    executables {
        doxygen {
-            // Note: has no effect if not on an x86_64 platform - you need to have a global install available on your
-            // PATH for the doxygen plugin to run
+            // Note: has no effect if not on an x86_64 platform - you need to
+            // have a global install available on your PATH for the Doxygen
+            // plugin to run.
            executableByVersion('1.12.0')

            String arch = System.getProperty("os.arch");
            if (!(arch.equals("x86_64") || arch.equals("amd64"))) {
-                // Search for a local doxygen install
+                // Search for a local Doxygen install
                executableBySearchPath('doxygen')
            }
        }
@@ -143,7 +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
--- a/docs/opencv/element-list
+++ b/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
--- a/fieldImages/src/main/java/edu/wpi/first/fields/Fields.java
+++ b/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;

--- a/fieldImages/src/main/native/cpp/fields.cpp
+++ b/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,
--- a/fieldImages/src/main/native/include/fields/2026-rebuilt.h
+++ b/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
--- a/fieldImages/src/main/native/resources/edu/wpi/first/fields/2026-field.png
+++ b/fieldImages/src/main/native/resources/edu/wpi/first/fields/2026-field.png
--- a/fieldImages/src/main/native/resources/edu/wpi/first/fields/2026-rebuilt.json
+++ b/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"
+}
--- a/glass/src/lib/native/cpp/other/FMS.cpp
+++ b/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);
    }
  }

--- a/glass/src/lib/native/cpp/other/Field2D.cpp
+++ b/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>())},
--- a/hal/src/generate/Instances.txt
+++ b/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
--- a/hal/src/generate/ResourceType.txt
+++ b/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
--- a/hal/src/generated/main/java/edu/wpi/first/hal/FRCNetComm.java
+++ b/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. */
--- a/hal/src/generated/main/native/include/hal/FRCUsageReporting.h
+++ b/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,
--- a/hal/src/generated/main/native/include/hal/UsageReporting.h
+++ b/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,
--- a/hal/src/main/java/edu/wpi/first/hal/DriverStationJNI.java
+++ b/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"
--- a/hal/src/main/native/include/hal/DriverStation.h
+++ b/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.
 *
--- a/ntcore/src/main/java/edu/wpi/first/networktables/Topic.java
+++ b/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;
 }
--- a/ntcore/src/main/native/cpp/NetworkServer.cpp
+++ b/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(
--- a/ntcore/src/test/native/cpp/NetworkServerTest.cpp
+++ b/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);
+}
--- a/romiVendordep/RomiVendordep.json
+++ b/romiVendordep/RomiVendordep.json
@@ -3,7 +3,7 @@
  "name": "Romi-Vendordep",
  "version": "1.0.0",
  "uuid": "1010372a-b446-46f4-b229-61e53a26a7dc",
-  "frcYear": "2026beta",
+  "frcYear": "2026",
  "mavenUrls": [],
  "jsonUrl": "",
  "javaDependencies": [
--- a/shared/config.gradle
+++ b/shared/config.gradle
@@ -14,7 +14,7 @@ nativeUtils {
    wpi {
        configureDependencies {
            opencvYear = "frc2025"
-            niLibVersion = "2025.2.0"
+            niLibVersion = "2026.1.0"
            opencvVersion = "4.10.0-3"
        }
    }
--- a/simulation/halsim_ds_socket/src/main/native/cpp/main.cpp
+++ b/simulation/halsim_ds_socket/src/main/native/cpp/main.cpp
@@ -186,7 +186,7 @@ extern "C" {
 #if defined(WIN32) || defined(_WIN32)
 __declspec(dllexport)
 #endif
-    int HALSIM_InitExtension(void) {
+int HALSIM_InitExtension(void) {
  static bool once = false;

  if (once) {
--- a/simulation/halsim_gui/src/main/native/cpp/main.cpp
+++ b/simulation/halsim_gui/src/main/native/cpp/main.cpp
@@ -45,7 +45,7 @@ extern "C" {
 #if defined(WIN32) || defined(_WIN32)
 __declspec(dllexport)
 #endif
-    int HALSIM_InitExtension(void) {
+int HALSIM_InitExtension(void) {
  std::puts("Simulator GUI Initializing.");

  gui::CreateContext();
--- a/simulation/halsim_gui/src/main/native/include/HALDataSource.h
+++ b/simulation/halsim_gui/src/main/native/include/HALDataSource.h
@@ -57,13 +57,9 @@
        HALSIM_Cancel##cbname##Callback(m_index, m_callback);                 \
    }                                                                         \
                                                                              \
-    int32_t GetIndex() const {                                                \
-      return m_index;                                                         \
-    }                                                                         \
+    int32_t GetIndex() const { return m_index; }                              \
                                                                              \
-    int GetChannel() const {                                                  \
-      return m_channel;                                                       \
-    }                                                                         \
+    int GetChannel() const { return m_channel; }                              \
                                                                              \
   private:                                                                   \
    static void CallbackFunc(const char*, void* param,                        \
@@ -100,13 +96,9 @@
        HALSIM_Cancel##cbname##Callback(m_index, m_channel, m_callback);      \
    }                                                                         \
                                                                              \
-    int32_t GetIndex() const {                                                \
-      return m_index;                                                         \
-    }                                                                         \
+    int32_t GetIndex() const { return m_index; }                              \
                                                                              \
-    int32_t GetChannel() const {                                              \
-      return m_channel;                                                       \
-    }                                                                         \
+    int32_t GetChannel() const { return m_channel; }                          \
                                                                              \
   private:                                                                   \
    static void CallbackFunc(const char*, void* param,                        \
--- a/simulation/halsim_ws_client/src/main/native/cpp/main.cpp
+++ b/simulation/halsim_ws_client/src/main/native/cpp/main.cpp
@@ -18,7 +18,7 @@ extern "C" {
 __declspec(dllexport)
 #endif

-    int HALSIM_InitExtension(void) {
+int HALSIM_InitExtension(void) {
  std::puts("HALSim WS Client Extension Initializing");

  HAL_OnShutdown(nullptr, [](void*) { gClient.reset(); });
--- a/simulation/halsim_ws_server/src/main/native/cpp/main.cpp
+++ b/simulation/halsim_ws_server/src/main/native/cpp/main.cpp
@@ -18,7 +18,7 @@ extern "C" {
 #if defined(WIN32) || defined(_WIN32)
 __declspec(dllexport)
 #endif
-    int HALSIM_InitExtension(void) {
+int HALSIM_InitExtension(void) {
  std::puts("Websocket WS Server Initializing.");

  HAL_OnShutdown(nullptr, [](void*) { gServer.reset(); });
--- a/simulation/halsim_xrp/src/main/native/cpp/main.cpp
+++ b/simulation/halsim_xrp/src/main/native/cpp/main.cpp
@@ -25,7 +25,7 @@ extern "C" {
 __declspec(dllexport)
 #endif

-    int HALSIM_InitExtension(void) {
+int HALSIM_InitExtension(void) {
  std::puts("HALSim XRP Extension Initializing");

  HAL_OnShutdown(nullptr, [](void*) { gClient.reset(); });
--- a/styleguide/spotbugs-exclude.xml
+++ b/styleguide/spotbugs-exclude.xml
@@ -2,49 +2,32 @@
 <FindBugsFilter>
  <Match>
    <Bug pattern="AT_NONATOMIC_64BIT_PRIMITIVE" />
-    <Class name="edu.wpi.first.wpilibj.DriverStation" />
-  </Match>
-  <Match>
-    <Bug pattern="AT_NONATOMIC_64BIT_PRIMITIVE" />
-    <Class name="edu.wpi.first.wpilibj.Ultrasonic" />
-  </Match>
-  <Match>
-    <Bug pattern="AT_NONATOMIC_64BIT_PRIMITIVE" />
-    <Class name="edu.wpi.first.wpilibj.Watchdog" />
+    <Or>
+      <Class name="edu.wpi.first.wpilibj.DriverStation" />
+      <Class name="edu.wpi.first.wpilibj.Ultrasonic" />
+      <Class name="edu.wpi.first.wpilibj.Watchdog" />
+    </Or>
  </Match>
  <Match>
    <Bug pattern="AT_STALE_THREAD_WRITE_OF_PRIMITIVE" />
-    <Class name="edu.wpi.first.wpilibj.ADIS16448_IMU" />
-  </Match>
-  <Match>
-    <Bug pattern="AT_STALE_THREAD_WRITE_OF_PRIMITIVE" />
-    <Class name="edu.wpi.first.wpilibj.ADIS16470_IMU" />
-  </Match>
-  <Match>
-    <Bug pattern="AT_STALE_THREAD_WRITE_OF_PRIMITIVE" />
-    <Class name="edu.wpi.first.wpilibj.DriverStation" />
-  </Match>
-  <Match>
-    <Bug pattern="AT_STALE_THREAD_WRITE_OF_PRIMITIVE" />
-    <Class name="edu.wpi.first.wpilibj.GenericHID" />
-  </Match>
-  <Match>
-    <Bug pattern="AT_STALE_THREAD_WRITE_OF_PRIMITIVE" />
-    <Class name="edu.wpi.first.wpilibj.Ultrasonic" />
-  </Match>
-  <Match>
-    <Bug pattern="AT_STALE_THREAD_WRITE_OF_PRIMITIVE" />
-    <Class name="edu.wpi.first.wpilibj.motorcontrol.NidecBrushless" />
-  </Match>
-  <Match>
-    <Bug pattern="AT_STALE_THREAD_WRITE_OF_PRIMITIVE" />
-    <Class name="edu.wpi.first.wpilibj2.command.CommandScheduler" />
+    <Or>
+      <Class name="edu.wpi.first.wpilibj.ADIS16448_IMU" />
+      <Class name="edu.wpi.first.wpilibj.ADIS16470_IMU" />
+      <Class name="edu.wpi.first.wpilibj.DriverStation" />
+      <Class name="edu.wpi.first.wpilibj.GenericHID" />
+      <Class name="edu.wpi.first.wpilibj.Ultrasonic" />
+      <Class name="edu.wpi.first.wpilibj2.command.CommandScheduler" />
+    </Or>
  </Match>
  <Match>
    <Bug pattern="CT_CONSTRUCTOR_THROW" />
  </Match>
  <Match>
-    <Bug pattern="DCN_NULLPOINTER_EXCEPTION" />
+    <Or>
+      <Bug pattern="DCN_NULLPOINTER_EXCEPTION" />
+      <Bug pattern="SING_SINGLETON_GETTER_NOT_SYNCHRONIZED" />
+      <Bug pattern="SING_SINGLETON_HAS_NONPRIVATE_CONSTRUCTOR" />
+    </Or>
    <Class name="edu.wpi.first.wpilibj.test.TestSuite" />
  </Match>
  <Match>
@@ -53,16 +36,32 @@
  </Match>
  <Match>
    <Bug pattern="DM_DEFAULT_ENCODING" />
+    <Or>
+      <Class name="edu.wpi.first.epilogue.processor.EpilogueGenerator" />
+      <Class name="edu.wpi.first.wpilibj.examples.i2ccommunication.I2CCommunicationTest" />
+      <Class name="edu.wpi.first.wpilibj2.command.PrintCommandTest" />
+    </Or>
  </Match>
  <Match>
    <Bug pattern="DMI_HARDCODED_ABSOLUTE_FILENAME" />
+    <Or>
+      <Class name="edu.wpi.first.wpilibj.Filesystem" />
+      <Class name="edu.wpi.first.wpilibj.DataLogManager" />
+      <Class name="edu.wpi.first.util.CombinedRuntimeLoader" />
+      <Class name="edu.wpi.first.util.RuntimeDetector" />
+    </Or>
  </Match>
  <Match>
+    <!--
+    These are false positives where the Random instance is used multiple times in a loop. Futhermore, high randomness is not a
+    high priority because these are tests- In fact, the odometry tests seed the Random instance to guarantee repeatability.
+    -->
    <Bug pattern="DMI_RANDOM_USED_ONLY_ONCE" />
-  </Match>
-  <Match>
-    <Bug pattern="EC_BAD_ARRAY_COMPARE" />
-    <Class name="edu.wpi.first.math.estimator.SwerveDrivePoseEstimator$InterpolationRecord" />
+    <Or>
+      <Class name="edu.wpi.first.math.kinematics.SwerveDriveOdometry3dTest" />
+      <Class name="edu.wpi.first.math.kinematics.SwerveDriveOdometryTest" />
+      <Class name="edu.wpi.first.math.filter.LinearFilterTest" />
+    </Or>
  </Match>
  <Match>
    <Bug pattern="EI_EXPOSE_REP" />
@@ -81,15 +80,24 @@
  </Match>
  <Match>
    <Bug pattern="FL_FLOATS_AS_LOOP_COUNTERS" />
+    <Or>
+      <Class name="edu.wpi.first.math.controller.DifferentialDriveAccelerationLimiterTest" />
+      <Class name="edu.wpi.first.math.controller.ImplicitModelFollowerTest" />
+      <Class name="edu.wpi.first.math.controller.LinearSystemLoopTest" />
+      <Class name="~edu\.wpi\.first\.math\.estimator\.[^.]*PoseEstimator(3d)?Test" />
+      <Class name="edu.wpi.first.math.filter.LinearFilterTest" />
+      <Class name="edu.wpi.first.math.kinematics.ChassisSpeedsTest" />
+      <Class name="edu.wpi.first.wpilibj.AnalogPotentiometerTest" />
+      <Class name="edu.wpi.first.wpilibj.DMATest" />
+      <Class name="edu.wpi.first.wpilibj.LEDPatternTest" />
+      <Class name="edu.wpi.first.wpilibj.simulation.AnalogInputSimTest" />
+      <Class name="edu.wpi.first.wpilibj.simulation.AnalogOutputSimTest" />
+    </Or>
  </Match>
  <Match>
    <Bug pattern="IS2_INCONSISTENT_SYNC" />
    <Class name="edu.wpi.first.wpilibj.smartdashboard.MechanismLigament2d" />
  </Match>
-  <Match>
-    <Bug pattern="MS_CANNOT_BE_FINAL" />
-    <Class name="edu.wpi.first.wpilibj.examples.pacgoat.Robot" />
-  </Match>
  <Match>
    <Bug pattern="MS_EXPOSE_REP" />
  </Match>
@@ -98,46 +106,33 @@
  </Match>
  <Match>
    <Bug pattern="NM_CLASS_NAMING_CONVENTION" />
-    <Class name="edu.wpi.first.hal.FRCNetComm$tInstances" />
-  </Match>
-  <Match>
-    <Bug pattern="NM_CLASS_NAMING_CONVENTION" />
-    <Class name="edu.wpi.first.hal.FRCNetComm$tResourceType" />
+    <Or>
+      <Class name="edu.wpi.first.hal.FRCNetComm$tInstances" />
+      <Class name="edu.wpi.first.hal.FRCNetComm$tResourceType" />
+    </Or>
  </Match>
  <Match>
+    <!--
+    This seems to be a false positive from the &= used by these command compositions to determine runsWhenDisabled
+    -->
    <Bug pattern="NS_DANGEROUS_NON_SHORT_CIRCUIT" />
-    <Class name="edu.wpi.first.wpilibj2.command.ParallelCommandGroup" />
-  </Match>
-  <Match>
-    <Bug pattern="NS_DANGEROUS_NON_SHORT_CIRCUIT" />
-    <Class name="edu.wpi.first.wpilibj2.command.ParallelDeadlineGroup" />
-  </Match>
-  <Match>
-    <Bug pattern="NS_DANGEROUS_NON_SHORT_CIRCUIT" />
-    <Class name="edu.wpi.first.wpilibj2.command.ParallelRaceGroup" />
-  </Match>
-  <Match>
-    <Bug pattern="NS_DANGEROUS_NON_SHORT_CIRCUIT" />
-    <Class name="edu.wpi.first.wpilibj2.command.ProxyScheduleCommand" />
-  </Match>
-  <Match>
-    <Bug pattern="NS_DANGEROUS_NON_SHORT_CIRCUIT" />
-    <Class name="edu.wpi.first.wpilibj2.command.SequentialCommandGroup" />
-  </Match>
-  <Match>
-    <Bug pattern="NS_DANGEROUS_NON_SHORT_CIRCUIT" />
-    <Class name="edu.wpi.first.wpilibj2.command.SelectCommand" />
+    <Or>
+      <Class name="edu.wpi.first.wpilibj2.command.ParallelCommandGroup" />
+      <Class name="edu.wpi.first.wpilibj2.command.ParallelDeadlineGroup" />
+      <Class name="edu.wpi.first.wpilibj2.command.ParallelRaceGroup" />
+      <Class name="edu.wpi.first.wpilibj2.command.SequentialCommandGroup" />
+      <Class name="edu.wpi.first.wpilibj2.command.SelectCommand" />
+    </Or>
  </Match>
  <Match>
    <Bug pattern="PA_PUBLIC_PRIMITIVE_ATTRIBUTE" />
  </Match>
  <Match>
    <Bug pattern="RV_RETURN_VALUE_IGNORED_BAD_PRACTICE" />
-    <Class name="edu.wpi.first.wpilibj.test.AntJunitLauncher" />
-  </Match>
-  <Match>
-    <Bug pattern="RV_RETURN_VALUE_IGNORED_BAD_PRACTICE" />
-    <Class name="edu.wpi.first.util.CombinedRuntimeLoader" />
+    <Or>
+      <Class name="edu.wpi.first.wpilibj.test.AntJunitLauncher" />
+      <Class name="edu.wpi.first.util.CombinedRuntimeLoader" />
+    </Or>
  </Match>
  <Match>
    <Bug pattern="RV_RETURN_VALUE_OF_PUTIFABSENT_IGNORED" />
@@ -145,78 +140,49 @@
  </Match>
  <Match>
    <Bug pattern="SC_START_IN_CTOR" />
+    <Class name="edu.wpi.first.wpilibj.MotorSafety" />
  </Match>
  <Match>
    <Bug pattern="SF_SWITCH_FALLTHROUGH" />
    <Class name="edu.wpi.first.cameraserver.CameraServer$PropertyPublisher" />
  </Match>
-  <Match>
-    <Bug pattern="SING_SINGLETON_GETTER_NOT_SYNCHRONIZED" />
-    <Class name="edu.wpi.first.wpilibj.test.TestSuite" />
-  </Match>
  <Match>
    <Bug pattern="SING_SINGLETON_HAS_NONPRIVATE_CONSTRUCTOR" />
-    <Class name="edu.wpi.first.wpilibj.test.TestSuite" />
-  </Match>
-  <Match>
-    <Bug pattern="SING_SINGLETON_HAS_NONPRIVATE_CONSTRUCTOR" />
-    <Class name="edu.wpi.first.wpilibj2.command.CommandScheduler" />
-  </Match>
-  <Match>
-    <Bug pattern="SING_SINGLETON_HAS_NONPRIVATE_CONSTRUCTOR" />
-    <Class name="edu.wpi.first.math.geometry.CoordinateAxis" />
-  </Match>
-  <Match>
-    <Bug pattern="SING_SINGLETON_HAS_NONPRIVATE_CONSTRUCTOR" />
-    <Class name="edu.wpi.first.math.geometry.CoordinateSystem" />
+    <Or>
+      <Class name="edu.wpi.first.wpilibj2.command.CommandScheduler" />
+      <Class name="edu.wpi.first.math.geometry.CoordinateAxis" />
+      <Class name="edu.wpi.first.math.geometry.CoordinateSystem" />
+    </Or>
  </Match>
  <Match>
    <Bug pattern="SSD_DO_NOT_USE_INSTANCE_LOCK_ON_SHARED_STATIC_DATA" />
    <Class name="edu.wpi.first.wpilibj.Ultrasonic" />
  </Match>
  <Match>
+    <!--
+    Many false positives from instance reporting.
+    -->
    <Bug pattern="ST_WRITE_TO_STATIC_FROM_INSTANCE_METHOD" />
  </Match>
  <Match>
-    <Bug pattern="THROWS_METHOD_THROWS_CLAUSE_BASIC_EXCEPTION" />
-  </Match>
-  <Match>
-    <Bug pattern="THROWS_METHOD_THROWS_CLAUSE_THROWABLE" />
-  </Match>
-  <Match>
-    <Bug pattern="THROWS_METHOD_THROWS_RUNTIMEEXCEPTION" />
-  </Match>
-  <Match>
+    <!--
+    False positives because the users are supposed to fill in the code.
+    -->
    <Bug pattern="UC_USELESS_VOID_METHOD" />
-    <Class name="edu.wpi.first.wpilibj.templates.romitimed.Robot" />
-  </Match>
-  <Match>
-    <Bug pattern="UC_USELESS_VOID_METHOD" />
-    <Class name="edu.wpi.first.wpilibj.templates.xrptimed.Robot" />
-  </Match>
-  <Match>
-    <Bug pattern="UC_USELESS_VOID_METHOD" />
-    <Class name="edu.wpi.first.wpilibj.templates.timed.Robot" />
-  </Match>
-  <Match>
-    <Bug pattern="UC_USELESS_VOID_METHOD" />
-    <Class name="edu.wpi.first.wpilibj.templates.timeslice.Robot" />
-  </Match>
-  <Match>
-    <Bug pattern="UC_USELESS_VOID_METHOD" />
-    <Class name="edu.wpi.first.wpilibj.templates.timesliceskeleton.Robot" />
+    <Or>
+      <Class name="edu.wpi.first.wpilibj.templates.romitimed.Robot" />
+      <Class name="edu.wpi.first.wpilibj.templates.xrptimed.Robot" />
+      <Class name="edu.wpi.first.wpilibj.templates.timed.Robot" />
+      <Class name="edu.wpi.first.wpilibj.templates.timeslice.Robot" />
+      <Class name="edu.wpi.first.wpilibj.templates.timesliceskeleton.Robot" />
+    </Or>
  </Match>
  <Match>
    <Bug pattern="URF_UNREAD_FIELD" />
-    <Class name="edu.wpi.first.wpilibj.ADIS16448_IMU" />
-  </Match>
-  <Match>
-    <Bug pattern="URF_UNREAD_FIELD" />
-    <Class name="edu.wpi.first.wpilibj.ADIS16470_IMU" />
-  </Match>
-  <Match>
-    <Bug pattern="URF_UNREAD_FIELD" />
-    <Class name="edu.wpi.first.wpilibj.AnalogTrigger" />
+    <Or>
+      <Class name="edu.wpi.first.wpilibj.ADIS16448_IMU" />
+      <Class name="edu.wpi.first.wpilibj.ADIS16470_IMU" />
+    </Or>
  </Match>
  <Match>
    <Bug pattern="URF_UNREAD_PUBLIC_OR_PROTECTED_FIELD" />
@@ -227,5 +193,14 @@
  </Match>
  <Match>
    <Bug pattern="VA_FORMAT_STRING_USES_NEWLINE" />
+    <Or>
+      <Class name="edu.wpi.first.epilogue.processor.LoggableHandler" />
+      <Class name="edu.wpi.first.util.MsvcRuntimeException" />
+      <Class name="edu.wpi.first.util.RuntimeLoader" />
+      <Class name="edu.wpi.first.wpilibj.Tracer" />
+      <Class name="edu.wpi.first.wpilibj.Watchdog" />
+      <Class name="edu.wpi.first.math.system.LinearSystem" />
+      <Class name="edu.wpi.first.math.trajectory.Trajectory" />
+    </Or>
  </Match>
 </FindBugsFilter>
--- a/sysid/src/main/native/cpp/analysis/AnalysisManager.cpp
+++ b/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());
  }
--- a/sysid/src/main/native/cpp/analysis/FeedforwardAnalysis.cpp
+++ b/sysid/src/main/native/cpp/analysis/FeedforwardAnalysis.cpp
@@ -251,17 +251,17 @@ OLSResult CalculateFeedforwardGains(const Storage& data,

    if (type == analysis::kArm) {
      // dx/dt = -Kv/Ka x + 1/Ka u - Ks/Ka sgn(x)
-      //           - Kg/Ka cos(offset) cos(angle)                   NOLINT
-      //           + Kg/Ka sin(offset) sin(angle)                   NOLINT
-      // dx/dt = αx + βu + γ sgn(x) + δ cos(angle) + ε sin(angle)   NOLINT
+      //           - Kg/Ka cos(offset) cos(angle)
+      //           + Kg/Ka sin(offset) sin(angle)
+      // dx/dt = αx + βu + γ sgn(x) + δ cos(angle) + ε sin(angle)

      // δ = -Kg/Ka cos(offset)
      // ε = Kg/Ka sin(offset)
      double δ = ols.coeffs[3];
      double ε = ols.coeffs[4];

-      // Kg = hypot(δ, ε)/β      NOLINT
-      // offset = atan2(ε, -δ)   NOLINT
+      // Kg = hypot(δ, ε)/β
+      // offset = atan2(ε, -δ)
      gains.emplace_back(std::hypot(δ, ε) / β);
      gains.emplace_back(std::atan2(ε, -δ));
    }
--- a/sysid/src/main/native/include/sysid/view/Analyzer.h
+++ b/sysid/src/main/native/include/sysid/view/Analyzer.h
@@ -55,7 +55,6 @@ class Analyzer : public glass::View {
   */
  static constexpr const char* kPresetNames[] = {"Default",
                                                 "WPILib",
-                                                 "CTRE Phoenix 5 CANcoder",
                                                 "CTRE Phoenix 5",
                                                 "CTRE Phoenix 6",
                                                 "REV Brushless Encoder Port",
--- a/upstream_utils/llvm_patches/0001-Remove-StringRef-ArrayRef-and-Optional.patch
+++ b/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 -
--- a/upstream_utils/llvm_patches/0002-Wrap-std-min-max-calls-in-parens-for-Windows-warning.patch
+++ b/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 ++--
--- a/upstream_utils/llvm_patches/0003-Change-unique_function-storage-size.patch
+++ b/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 ++--
--- a/upstream_utils/llvm_patches/0004-Threading-updates.patch
+++ b/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
--- a/upstream_utils/llvm_patches/0005-ifdef-guard-safety.patch
+++ b/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
 ---
--- a/upstream_utils/llvm_patches/0006-Explicitly-use-std.patch
+++ b/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 +-
--- a/upstream_utils/llvm_patches/0007-Remove-format_provider.patch
+++ b/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 ------------------------
--- a/upstream_utils/llvm_patches/0008-Add-compiler-warning-pragmas.patch
+++ b/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 +++++++++++
--- a/upstream_utils/llvm_patches/0009-Remove-unused-functions.patch
+++ b/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 ------
--- a/upstream_utils/llvm_patches/0010-Detemplatize-SmallVectorBase.patch
+++ b/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 ++++++++++-----------------
--- a/upstream_utils/llvm_patches/0011-Add-vectors-to-raw_ostream.patch
+++ b/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 ++++++++++++++++++++++++
--- a/upstream_utils/llvm_patches/0012-Extra-collections-features.patch
+++ b/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 ++++++++
--- a/upstream_utils/llvm_patches/0013-Delete-numbers-from-MathExtras.patch
+++ b/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 --------------------------
--- a/upstream_utils/llvm_patches/0013-EpochTracker-ABI-macro.patch
+++ b/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
--- a/upstream_utils/llvm_patches/0014-Add-lerp-and-sgn.patch
+++ b/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 +++++++++++++++++++++
--- a/upstream_utils/llvm_patches/0015-Fixup-includes.patch
+++ b/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 +
--- a/upstream_utils/llvm_patches/0016-Use-std-is_trivially_copy_constructible.patch
+++ b/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 ----------------
--- a/upstream_utils/llvm_patches/0017-Windows-support.patch
+++ b/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 +++++----
--- a/upstream_utils/llvm_patches/0018-Remove-call-to-RtlGetLastNtStatus.patch
+++ b/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 -----------------------
--- a/upstream_utils/llvm_patches/0019-Prefer-fmtlib.patch
+++ b/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 ++++++--------------
--- a/upstream_utils/llvm_patches/0020-Prefer-wpi-s-fs.h.patch
+++ b/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 ++-----
--- a/upstream_utils/llvm_patches/0021-Remove-unused-functions.patch
+++ b/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 +-
--- a/upstream_utils/llvm_patches/0022-OS-specific-changes.patch
+++ b/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 +++++++---------
--- a/upstream_utils/llvm_patches/0023-Use-SmallVector-for-UTF-conversion.patch
+++ b/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 +++---
--- a/upstream_utils/llvm_patches/0024-Prefer-to-use-static-pointers-in-raw_ostream.patch
+++ b/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
 ---
--- a/upstream_utils/llvm_patches/0025-constexpr-endian-byte-swap.patch
+++ b/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 +++-
--- a/upstream_utils/llvm_patches/0026-Copy-type-traits-from-STLExtras.h-into-PointerUnion..patch
+++ b/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 ++++++++++++++++++++++++++++
--- a/upstream_utils/llvm_patches/0027-Unused-variable-in-release-mode.patch
+++ b/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 +-
--- a/upstream_utils/llvm_patches/0028-Use-C-20-bit-header.patch
+++ b/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 +-
--- a/upstream_utils/llvm_patches/0029-Remove-DenseMap-GTest-printer-test.patch
+++ b/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.
 ---
--- a/upstream_utils/llvm_patches/0030-raw_ostream-Add-SetNumBytesInBuffer.patch
+++ b/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 +++++
--- a/upstream_utils/llvm_patches/0031-raw_ostream-Replace-errnoAsErrorCode.patch
+++ b/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 ++--
--- a/upstream_utils/llvm_patches/0032-type_traits.h-Add-is_constexpr.patch
+++ b/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 +++++
--- a/upstream_utils/llvm_patches/0033-Remove-auto-conversion-from-raw_ostream.patch
+++ b/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 +----------
--- a/upstream_utils/llvm_patches/0034-Add-SmallVector-erase_if.patch
+++ b/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 ++++++++
--- a/upstream_utils/llvm_patches/0035-Fix-AlignedCharArrayUnion-for-C-23.patch
+++ b/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 +++++---------
--- a/upstream_utils/llvm_patches/0036-Fix-minIntN-and-maxIntN-assertions.patch
+++ b/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 ++--
--- a/upstream_utils/sleipnir.py
+++ b/upstream_utils/sleipnir.py
@@ -19,10 +19,7 @@ def copy_upstream_src(wpilib_root: Path):
    # Copy Sleipnir files into allwpilib
    walk_cwd_and_copy_if(
        lambda dp, f: (has_prefix(dp, Path("include")) or has_prefix(dp, Path("src")))
-        or f == ".clang-format"
-        or f == ".clang-tidy"
-        or f == ".styleguide"
-        or f == ".styleguide-license",
+        and f not in [".styleguide", ".styleguide-license"],
        wpimath / "src/main/native/thirdparty/sleipnir",
    )

--- a/vcpkg.json
+++ b/vcpkg.json
@@ -8,5 +8,5 @@
    "protobuf",
    "libssh"
  ],
-  "builtin-baseline": "37c3e63a1306562f7f59c4c3c8892ddd50fdf992"
+  "builtin-baseline": "74e6536215718009aae747d86d84b78376bf9e09"
 }
--- a/wpilibNewCommands/WPILibNewCommands.json
+++ b/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": [
--- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/WaitUntilCommand.java
+++ b/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
--- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/button/Trigger.java
+++ b/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());
+          }
+        });
+  }
 }
--- a/wpilibNewCommands/src/main/native/cpp/frc2/command/WaitUntilCommand.cpp
+++ b/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();
--- a/wpilibNewCommands/src/main/native/cpp/frc2/command/button/Trigger.cpp
+++ b/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();
 }
--- a/wpilibNewCommands/src/main/native/include/frc2/command/CommandPtr.h
+++ b/wpilibNewCommands/src/main/native/include/frc2/command/CommandPtr.h
@@ -25,8 +25,7 @@ namespace frc2 {
 * std::unique_ptr<Command>, use CommandPtr::Unwrap to convert.
 * CommandPtr::UnwrapVector does the same for vectors.
 */
-class [[nodiscard]]
-CommandPtr final {
+class [[nodiscard]] CommandPtr final {
 public:
  explicit CommandPtr(std::unique_ptr<Command>&& command);

--- a/wpilibNewCommands/src/main/native/include/frc2/command/WaitUntilCommand.h
+++ b/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);

--- a/wpilibNewCommands/src/main/native/include/frc2/command/button/Trigger.h
+++ b/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.
   *
--- a/wpilibc/src/generated/main/native/cpp/motorcontrol/DMC60.cpp
+++ b/wpilibc/src/generated/main/native/cpp/motorcontrol/DMC60.cpp
@@ -1,20 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-// THIS FILE WAS AUTO-GENERATED BY ./wpilibc/generate_pwm_motor_controllers.py. DO NOT MODIFY
-
-#include "frc/motorcontrol/DMC60.h"
-
-#include <hal/FRCUsageReporting.h>
-
-using namespace frc;
-
-DMC60::DMC60(int channel) : PWMMotorController("DMC60", channel) {
-  m_pwm.SetBounds(2.004_ms, 1.52_ms, 1.5_ms, 1.48_ms, 0.997_ms);
-  m_pwm.SetPeriodMultiplier(PWM::kPeriodMultiplier_1X);
-  m_pwm.SetSpeed(0.0);
-  m_pwm.SetZeroLatch();
-
-  HAL_Report(HALUsageReporting::kResourceType_DigilentDMC60, GetChannel() + 1);
-}
--- a/wpilibc/src/generated/main/native/cpp/motorcontrol/Jaguar.cpp
+++ b/wpilibc/src/generated/main/native/cpp/motorcontrol/Jaguar.cpp
@@ -1,20 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-// THIS FILE WAS AUTO-GENERATED BY ./wpilibc/generate_pwm_motor_controllers.py. DO NOT MODIFY
-
-#include "frc/motorcontrol/Jaguar.h"
-
-#include <hal/FRCUsageReporting.h>
-
-using namespace frc;
-
-Jaguar::Jaguar(int channel) : PWMMotorController("Jaguar", channel) {
-  m_pwm.SetBounds(2.31_ms, 1.55_ms, 1.507_ms, 1.454_ms, 0.697_ms);
-  m_pwm.SetPeriodMultiplier(PWM::kPeriodMultiplier_1X);
-  m_pwm.SetSpeed(0.0);
-  m_pwm.SetZeroLatch();
-
-  HAL_Report(HALUsageReporting::kResourceType_Jaguar, GetChannel() + 1);
-}
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
amsam0	7ca35e5678	[wpimath] Add limit setters to SlewRateLimiter (#8581 ) This is just #7793 with requested changes applied.	2026-02-27 12:53:18 -08:00
Kevin Cooney	613bd88548	[wpilib] Make Preferences Listener not depend on mutable fields (#8607 ) The Listener installed by Preferences was referencing m_typePublisher which could be modified by a future call to setNetworkTableInstance(). Instead, reference a local. Also made Topic.m_handle final, to guarantee that Topic.equals() is thread-safe, and still work after the publisher has been closed.	2026-02-27 12:42:40 -08:00
Stephen Just	e311722637	[ntcore] Handle interrupted save in NetworkServer (#8630 ) In NetworkServer::SavePersistent, if the save is interrupted (by robot power loss, etc), the networktables.json file may be left in an unhandled state where the file consumed by NetworkServer::LoadPersistent is not found, but the backup file exists. In this case, we should attempt to recover the backup file to avoid losing all persistent data.	2026-02-27 12:39:05 -08:00
sciencewhiz	ae43b8b6dd	[cmd] Fix WaitUntilCommand for match time counting down (#8632 ) Fixes #8631 Documents that it will return immediately if FMS isn't attached or DS isn't in practice mode. Related to change in DS match time behavior that was documented in #8606	2026-02-23 17:11:59 -08:00
sciencewhiz	5ae8ee06dd	[build] use local opencv docs element-list (#8633 ) Fixes opencv cloudflare blocking gradle javadoc builds	2026-02-23 16:32:28 -08:00
DeltaDizzy	d9eba4bb22	[wpilib] Document zero angle in SingleJointedArmSim (NFC) (#7756 ) Fixes #7752 --------- Co-authored-by: sciencewhiz <sciencewhiz@users.noreply.github.com> Co-authored-by: Tyler Veness <calcmogul@gmail.com>	2026-02-21 14:36:36 -08:00
Jordan Powers	9cd933fa14	[wpiunits] Fix incorrect magnitudes in some MutableMeasure mutations (#8620 ) This PR fixes the magnitude units in `MutableMeasure#mut_acc` and `MutableMeasure#mut_plus`. Previously, both `mut_acc` and `mut_plus` were setting the base magnitude using the unit-ed magnitude value. While this would work fine for base units where `magnitude == baseUnitMagnitude`, this was creating issues with derived units. This PR also adds missing tests for the `MutableMeasure` class.	2026-02-20 15:29:53 -08:00
sciencewhiz	77dfad97c6	[ci] Use wpilib docker-run-action fork (#8615 )	2026-02-14 11:32:57 -08:00
sciencewhiz	7ac0612397	[hal,wpilib] Update MatchTime docs for teleop and auto mode (NFC) (#8606 ) Update Timer and JNI MatchTime functions to latest docs	2026-02-09 17:14:42 -08:00
Tyler Veness	2c5529d714	[wpimath] Speed up pose estimator correction computation (#8574 ) In C++, we use a diagonal matrix to avoid an expensive matrix multiplication. EJML doesn't have a diagonal matrix type, so in Java, we use a double array and implement the multiplication manually.	2026-02-06 21:47:49 -08:00
Gavin P	7cd3790c7c	[wpiunits] Make RPM an alias of RotationsPerMinute (#8595 ) Currently the only name for this unit is `RPM`. This caused a bit of confusion for a couple of my team members when we failed to find an RPM unit, assuming it would be named `RotationsPerMinute` as is the standard for almost all other units, such as `RotationsPerSecond`. No corresponding changes have been made to wpilibc as it seems to already work this way, with `rpm` being the abbreviation for `revolutions_per_minute`.	2026-02-06 21:47:08 -08:00
NotTacos	664484306c	[glass] Change match times for rebuilt (#8575 ) The timer has changed for rebuilt's auto and teleop.	2026-02-06 21:39:12 -08:00
jpokornyiii	0a37317467	[examples] Adding XRP java and cpp examples for Timed Robot (#8599 ) Adding an example (one C++ and one Java) for using TimedRobot with the XRP.	2026-02-06 21:36:35 -08:00
FirstFox3	6b225bb1f1	[wpilib] Fix typo in TimedRobot.getLoopStartTime() docs (#8590 ) Fixed a typo in the description of the getLoopStartTime function in both C++ and Java TimedRobot class. --------- Co-authored-by: Tyler Veness <calcmogul@gmail.com>	2026-02-05 18:57:49 -07:00
Vasista Vovveti	3d92547d62	[cscore] Fix format specifier on Mac (#8602 )	2026-02-05 18:56:52 -07:00
crueter	c89401250f	[hal, wpilib] Usage Reporting: QFRCDashboard -> QDash (#8571 )	2026-01-15 19:55:55 -07:00
Tyler Veness	8be7720a68	[sysid] Fix crash on partially empty raw data (#8572 ) Fixes #8570.	2026-01-15 18:57:38 -07:00
Michael Lesirge	21b5389bbe	[wpimath,cmd] Add multi tap boolean stream filter and multi tap trigger modifier (double tap detector) (#8307 ) Add a simple tap counting filter for boolean streams. The filter activates when the input has risen (transitioned from false to true, like when a button is tapped) the required number of times within the time window after the first rising edge. Once activated, the output remains true as long as the input is true. The tap count resets when the time window expires or when the input goes false after activation. Example usage: ```java xbox.a() .multiPress(2, 0.2) // Detect a double tap within 0.2 seconds .onTrue(Commands.print("Double tapped A button")); xbox.y() .multiPress(2, 0.5) // Detect a double tap within 0.5 seconds .whileTrue(Commands.print("Y held after tap").repeatedly()); ``` This is not a noise reduction and/or input smoothing filter, but it is similar in usage to debounce, so I believe it could be considered a filter, but am open to a better location. I believe this would be a useful addition, as double/triple tapping a button is a common control option in games, yet is not often utilized by newer FRC teams. I believe adding it to WPILib in a standard way will allow more teams to make the most out of their controls.	2026-01-14 20:22:07 -08:00
Joseph Eng	9e1258440b	[wpimath] Fix Rotation3d interpolation and document extrinsic vs intrinsic (#8544 ) Documents the extrinsic vs intrinsic semantics of `plus()` and `minus()`. (`rotateBy()` was documented in [a previous PR](https://github.com/wpilibsuite/allwpilib/pull/5508)) Fixes usage of `plus()` and `minus()` in `Rotation3d.interpolate()`. (Fixes #8523) Fixes incorrect usages of `plus()`, `minus()`, and `rotateBy()` throughout `Odometry3d`. Adds explanatory comments for some `plus()`, `minus()`, and `rotateBy()` operations. Fixes `TimeInterpolatableBuffer` not using twists for `Pose3d` (this was just because I happened to notice it, it isn't really related to the PR) To check all of our usages of `plus()`, `minus()`, and `rotateBy()`, I marked them as deprecated, checked compile errors from `./gradlew compileJava`, and then undeprecated them. You can see all of the spots that showed up (at least on the Java side) by viewing the diff for 241109c. I wanted to present this alternative to #8526 because the change has its own quirks, there's little time before kickoff, and there would be no code-side warning to teams (and mentors) already used to the current behavior.	2026-01-14 20:16:24 -08:00
Dave Oleksy	812a1b8e1a	[hal] Add 2026 REV products for usage reporting (#8567 ) Adding REV Easy Swerve and MAXSpline Encoder to usage reporting. Co-authored-by: Dave Oleksy <dave.oleksy@revrobotics.com>	2026-01-14 20:14:20 -08:00
Kevin-OConnor	18249badc0	Add 2026 game specifics (#8558 ) Co-authored-by: Peter Johnson <johnson.peter@gmail.com> Co-authored-by: Gold856 <117957790+Gold856@users.noreply.github.com>	2026-01-12 19:07:51 -08:00
sciencewhiz	b82d204525	Update vendordep frcYear to 2026 (#8552 )	2026-01-06 16:29:45 -08:00
PJ Reiniger	ccb3266753	[upstream_utils] Remove patch that results in building with NDEBUG causing ODR issues (#8540 )	2026-01-03 13:31:26 -08:00
sciencewhiz	71a788e20b	[docs] Update references to 2026 (#8534 )	2026-01-02 08:46:22 -08:00
Charlotte Wilson	f395954d3c	[ci] Update Android NDK version to R27D in CMake workflow (#8525 ) https://github.com/android/ndk/wiki#release-schedule	2025-12-31 09:08:33 -08:00
Bryce Roethel	ab3af00d07	[wpimath] TrapezoidProfile.State implement StructSerializable (#8499 ) Seems like this was missed in #8163	2025-12-21 10:08:32 -06:00
Tyler Veness	1b2f051b4b	[docs] Replace instance of PWMSpeedController (#8478 )	2025-12-14 08:06:02 -08:00
Benjamin Hall	3dc334c1ee	[wpimath] Fix `ResetTranslation` and `ResetRotation` in `PoseEstimator` and `PoseEstimator3d` causing the robot to teleport (#8285 ) Fixes https://github.com/wpilibsuite/allwpilib/issues/8284. If we have vision updates at the time of the `Reset*` call, we can correct the translation/rotation of the new odometry pose by adding a new vision update where: - `ResetTranslation`: the translation is hard-coded to the new translation, and the rotation components are set to those of the latest vision update (prior to clearing the map). - `ResetRotation`: the rotation is hard-coded to the new rotation, and the translation components are set to those of the latest vision update (prior to clearing the map).	2025-12-13 15:53:53 -08:00
Peter Johnson	baa6379267	[wpimath] Add usage reporting for state-space classes (#8453 ) - LinearQuadraticRegulator - Kalman filters - Pose estimators - LinearSystemLoop Fixes #2925.	2025-12-06 09:17:02 -08:00
Peter Johnson	0d1dd84e86	[wpilib] LEDPattern: Add usage reporting (#8452 )	2025-12-06 09:16:45 -08:00
Levi	a61866912b	[hal] Rename Lumen to Lumyn in usage reporting (#8455 )	2025-12-05 19:13:39 -08:00
Peter Johnson	57c40a3dfc	[hal] Add more usage reporting constants (#8451 ) Fixes #7234 Fixes #6919 Supports #2925 Supersedes #8212 Supersedes #7708	2025-12-05 15:20:49 -08:00
Peter Johnson	6f86f533e5	[wpiutil] MemoryBuffer: Fix zero extending size_t warning on Win32 (#8450 )	2025-12-05 10:55:28 -08:00
Ryan Blue	ded6790bcd	[cmake] Only add wpilibj to generated config if Java is enabled (#8434 ) Fixes #8422	2025-11-29 20:44:02 -08:00
Keagan Kautzer	769ce5e9fa	[wpiunits] Rename `AngularMomentumUnit.mult` to `per` (#8409 ) Fixes #8408	2025-11-23 14:40:30 -08:00
Ryan Blue	f6b4ad575b	[ci] Pin docker-run-action and remove rm command (#8415 ) The fix was made but has not been tagged.	2025-11-22 07:55:44 -08:00
Gold856	7cd0ef5bd9	[docs] Revert "Update readme to say Xcode is required" (#8397 ) This reverts commit `49b4b064cf` (#7892).	2025-11-18 17:14:01 -08:00
Warren Reynolds	bd7a88a6d0	[examples] Fix order of Swerve Modules in Odometry Update (#8396 ) The order of the Swerve Modules in the m_odometry.Update call needs to match the order they are defined in the creation of the kDriveKinematics object.	2025-11-18 17:13:27 -08:00
Benjamin Hall	95cb38e6df	[wpimath] Fix `ElevatorSim::GetCurrentDraw()` in C++ (#8370 ) The Kv calculation in C++ was missing a negative sign compared to the Java implementation.	2025-11-13 11:48:43 -07:00
Joseph Eng	b8d6bc2eb1	[wpimath] Scale transforms instead of twists in PoseEstimator (#8333 ) The spiraling issue occurs when the vision rotation standard deviation is very high relative to the odometry rotation standard deviation and the vision measurements have a large rotation error. (Scaling the rotation component of a twist without scaling the translation component causes the direction of overall translation to change, leading to spiraling around (either towards or away) the vision measurement instead of moving towards it.) Using a transform instead of a twist avoids this issue. In general, scaling twist components is more mathematically correct than scaling transform components. However, although twists are correct for modeling uncertainty in an odometry-only pose estimate, they are not correct for the difference between the odometry-only pose estimate and a vision measurement. Since neither twists nor transforms are completely correct (and the pose estimator as a whole is not mathematically correct), but using transforms can guarantee that the pose estimate approaches the vision measurement (instead of potentially spiraling away), they are the least bad option.	2025-11-07 18:07:43 -08:00
Peter Johnson	688535298b	[cscore] Add braces to match styleguide (NFC) (#8339 )	2025-11-07 18:07:05 -08:00
Thad House	02252b58d7	[build] Update to 2026 Beta 1 (#8337 )	2025-11-07 18:06:39 -08:00
Joseph Eng	e207ca4880	[build] Clean up spotbugs excludes (#8332 )	2025-11-07 10:07:56 -08:00
Tyler Veness	f4db88da9a	[build] Document how to mirror new Doxygen versions (#8327 )	2025-11-01 14:45:53 -07:00
Jade	e45aadc851	[sysid] Remove Phoenix5 CANcoder preset (#8316 ) Signed-off-by: Jade Turner <spacey-sooty@proton.me>	2025-11-01 09:19:52 -07:00
Dalton Smith	fea6883d98	[wpimath] DCMotor: Add X44 and Minion (#8319 )	2025-11-01 09:19:36 -07:00
Tyler Veness	b7fe5ef833	[build] Fix up grammar in docs/build.gradle (#8317 )	2025-11-01 09:18:50 -07:00
Tyler Veness	cd237e57d4	[ci] Upgrade to macOS 15 runner image (#8321 ) This fixes a compiler bug (rejecting out-of-line definitions of constrained members) newer versions of Sleipnir were encountering.	2025-11-01 09:17:09 -07:00
Murat65536	8b99ad82c3	[wpilib] Add a few unit overloads (#8231 ) Co-authored-by: Sam Carlberg <sam@slfc.dev> Co-authored-by: Joseph Eng <91924258+KangarooKoala@users.noreply.github.com> Co-authored-by: Tyler Veness <calcmogul@gmail.com>	2025-10-28 20:18:55 -07:00
Thad House	58ba536351	[wpilib] Remove Jaguar (and other) motor controllers (#8298 ) https://community.firstinspires.org/2025-robot-rules-preview-for-2026	2025-10-28 20:18:02 -07:00
Tyler Veness	4aef52a117	[ci] Upgrade to wpiformat 2025.36 (#8308 ) clang-format 21 made some formatting changes. Since wpiformat's stdlib task was removed, I removed NOLINT comments for it and removed some std:: prefixes it added to comments.	2025-10-28 20:17:04 -07:00
Jason Daming	a6a4912a80	[snippets] Add ProfiledPIDController with feedforward snippets (#8280 ) Adds snippets demonstrating ProfiledPIDController usage with SimpleMotorFeedforward using the two-parameter calculate() method (currentVelocity, nextVelocity). These snippets will be used in frc-docs to document the recommended feedforward pattern with ProfiledPIDController. Co-authored-by: sciencewhiz <sciencewhiz@users.noreply.github.com>	2025-10-27 20:49:16 -06:00
Ryan Blue	873e960e93	[ci] Update tools workflow for 2026 (#8301 )	2025-10-25 17:23:12 -07:00
Gold856	4f133c6aa1	[build][ci] Update vcpkg baseline (#8300 )	2025-10-25 10:28:39 -07:00