Merge main-2027-alpha2 into main-2027-alpha6#22
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…eps) Bumps GradleRIO to edu.wpi.first.GradleRIO2027 2027.0.0-alpha-2, swaps the RoboRIO deploy target for SystemCore, and updates settings.gradle/ wpilib_preferences.json to the "2027_alpha1" vendor tier. All vendordeps are bumped to their 2027_alpha1-tier builds (Phoenix6, REVLib, ReduxLib, PathPlannerLib, ChoreoLib, AdvantageKit, WPILibNewCommands). photonlib has no 2027_alpha1-tier release (jumped straight to a 2027_alpha5-tier alpha-2), so its frcYear field is patched to 2027_alpha1 as an unsupported workaround per user direction - the 2026 build appears ABI-compatible with this WPILib tier. No source package renames needed: alpha-2 still uses edu.wpi.first.* and edu.wpi.first.wpilibj2.command, matching the existing 2026 source tree. Plugin now applies and dependencies resolve cleanly. ~25 compile errors remain across drive/vision/util code from 2027 alpha-1 API breaking changes - tracked as follow-up.
javapoet (required by the akit-autolog annotation processor) is declared as runtime-only in its Gradle module metadata, so Gradle's annotationProcessor configuration (java-api usage) doesn't pull it in automatically. Explicitly adding it ensures the @autolog processor can instantiate correctly. Additionally, even with javapoet on the path, compile errors prevent the processor from writing its output before Gradle aborts. As a workaround, the *AutoLogged classes are pre-generated and checked in under build/generated/sources/annotationProcessor/java/main/, and that directory is explicitly added as a source directory so Gradle picks them up. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
SwerveModulePosition.distanceMeters → .distance (Drive.java) SwerveModuleState.speedMetersPerSecond → .speed (Module.java) Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
Static methods became instance methods: - ChassisSpeeds.discretize(speeds, dt) → speeds.discretize(dt) (Drive.java) - ChassisSpeeds.fromFieldRelativeSpeeds(speeds, rot) → speeds.toRobotRelative(rot) (Drive.java and 4 occurrences in DriveCommands.java) Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
FRCNetComm (tResourceType/tInstances) was removed in WPILib 2027. Replace HAL.report() with HAL.reportUsage() string-based API. The "RobotDrive"/"SwerveAdvantageKit" strings match the pattern established by WPILib's own drive classes in 2027. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
DCMotor.freeSpeedRadPerSec → .freeSpeed Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
k2026RebuiltAndymark no longer exists in 2027 alpha-2; the 2026 game field layout was not included. Use kDefaultField (currently k2025ReefscapeAndyMark) as a placeholder until a 2027 field is released. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
getStickPOV() now returns POVDirection enum instead of long/int.
Log direction name strings ("Up", "Down", "Center", etc.) which
are more readable than the old degree values in AKit log viewer.
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
LiveWindow and SmartDashboard were removed in WPILib 2027, so the call to suppress SmartDashboard overhead is no longer needed or valid. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
AddressableLED.start() no longer exists — LED output begins automatically when setData() is called. Remove start()/startAll() from LEDStrip and the corresponding startAll() call from LEDController. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
Replaces the single roboRIO CAN bus with two named SystemCore CAN buses: - SC0 (bus 0): low-speed bus for PD and gyro (replaces CAN2/roboRIO) - SC1 (bus 1): high-speed bus for TalonFX and CANcoders (replaces CANHD/canivore) Uses CANBus.systemCore(int) from Phoenix6 25.90.0-alpha-2 and adds NAME/BUS_ID constants to each class. Updates PowerDistribution and Compressor wrappers to accept busId as an explicit constructor parameter, matching the new 3-arg/2-arg WPILib 2027 constructors. CAN bus log keys now use the NAME constant (CANBus/SC0/..., CANBus/SC1/...) instead of the Phoenix-internal bus name. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
DCMotorSim getter renames in WPILib 2027: - getAngularPositionRad() → getAngularPosition() - getAngularVelocityRadPerSec() → getAngularVelocity() - getCurrentDrawAmps() → getCurrentDraw() Commands.waitSeconds(double) removed: - Commands.waitSeconds(1.0) → Commands.waitTime(Seconds.of(1.0)) Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
- Gradle wrapper: 8.11 → 9.4.1 (matches WPILib 2027_alpha5 toolchain) - google-java-format: unversioned → 1.28.0 (JDK 25 support) The ReduxLib 2027.0.0-alpha-2 vendordep is compiled for Java 21+, requiring a JDK newer than the WPILib 2026 bundle (JDK 17). The 2027_alpha5 WPILib install provides JDK 25. Gradle 8.11 does not support JDK 25; Gradle 9.4.1 does. The unversioned google-java-format bundled with spotless 7.0.2 uses an internal JDK API removed in JDK 25; version 1.28.0 resolves this. Build with: JAVA_HOME="C:/Users/Public/wpilib/2027_alpha5/jdk" ./gradlew compileJava Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
Command::schedule() is deprecated for removal in WPILib 2027. Replace with CommandScheduler.getInstance()::schedule(). Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
* Update CI workflows for WPILib 2027 alpha toolchain Switch build.yml to wpilib/roborio-cross-ubuntu:2027_alpha5-22.04 (JDK 25) and add required safe.directory git config step. Bump spotless.yml from JDK 17 to JDK 21 — required by google-java-format 1.28.0. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com> * Revert spotless.yml JDK bump — 17 is sufficient google-java-format 1.28.0 supports JDK 17; the JDK 25 issue was only with the default bundled version. Spotless CI was passing on 17. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com> * Bump GitHub Actions to v5 for Node.js 24 compatibility actions/checkout and actions/setup-java v4 use Node.js 20, which is removed from runners on September 16, 2026 (forced switch June 16). Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com> * Switch build CI to actions/setup-java JDK 21 (no 2027 container yet) wpilib/roborio-cross-ubuntu has no 2027 alpha image. Since this branch is sim-only (no roboRIO deployment), drop the container and use Temurin JDK 21, which satisfies the minimum required by ReduxLib 2027. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com> * Switch CI runner to ubuntu-24.04 for GLIBCXX_3.4.31 support WPILib 2027 JNI libs require GLIBCXX_3.4.31 (GCC 13+), which ships with Ubuntu 24.04. Ubuntu 22.04 only provides up to 3.4.30. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com> * Switch build CI to wpilib/systemcore-cross-ubuntu:2027-24.04 container Replaces the bare ubuntu-24.04 runner + setup-java step with the WPILib-provided cross-build container, which bundles the 2027 toolchain. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com> * Switch runner to ubuntu-latest; container provides the toolchain Since the job runs inside wpilib/systemcore-cross-ubuntu, the host runner version is irrelevant — ubuntu-latest is sufficient. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com> * Split CI into separate SystemCore and simulation workflows - Rename build.yml → build-systemcore.yml; switch to minimal container - Add build-simulation.yml using actions/setup-java for host-platform sim build Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com> * Fix simulation CI hanging by adding 30s timeout The sim runs indefinitely; timeout 30 kills it after startup and treat exit code 124 (timeout) as success. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com> * Fix simulation CI: grep for startup message instead of timeout; add Gradle cache Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com> * Skip spotless in systemcore build; spotless.yml handles formatting Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com> * Fix simulation CI hanging: kill process group after startup detected JVM ignores SIGPIPE so the pipe trick alone doesn't terminate it. Run Gradle in background, detect startup via tail+grep, then kill the entire process group. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com> * Print simulation log to CI output after startup Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com> * Fix simulation CI exit 143: use setsid to isolate Gradle process group setsid gives Gradle its own session/pgid so kill -- -$GRADLE_PID only terminates the sim, not the shell. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com> * Simplify simulation CI: assemble and test only, no sim execution Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com> --------- Co-authored-by: Claude Sonnet 4.6 <noreply@anthropic.com>
Resolved all import conflicts by keeping org.wpilib.* package paths (alpha6) while taking API fixes from alpha2: - Remove LiveWindow (removed in WPILib 2027) - Remove FRCNetComm imports; use HAL.reportUsage() - CAN bus renames: CAN2→SC0, CANHD→SC1 - AutoSelector: use CommandScheduler.getInstance()::schedule - All vendordep/build conflicts resolved in favour of alpha6 versions Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
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…tibility GradleRIO 2027-alpha-6 reads the wpilibYear field from vendordep JSON files to verify compatibility. ChoreoLib and ReduxLib were both using the old frcYear field name (a schema change between alpha releases), causing the build to fail at the configuration phase with "Vendor Dependency X has invalid year null" before any Java compilation could begin. Updated both files from frcYear to wpilibYear and set the value to 2027_alpha5. These libraries (ChoreoLib 2027.0.0-alpha-1 and ReduxLib 2027.0.0-alpha-2) do not yet have releases built against the WPILib 2027-alpha-6 org.wpilib.* package names, so Java compilation errors in code that imports them are expected and are tracked separately. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
The merge of main-2027-alpha2 into main-2027-alpha6 left AdvantageKit, PathplannerLib, Phoenix6, and REVLib vendordep files with 4-space indentation while the rest of the project uses 2-space. No functional content changed. Also fixes a minor comment alignment regression in build.gradle introduced during the merge. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
WPILib 2027-alpha-2 used intermediate package names that were reorganized again
in alpha-6. This commit updates all import-only changes where no method or type
names changed — only the package path the class lives in.
Key renames across files:
org.wpilib.wpilibj.* -> org.wpilib.hardware.*, org.wpilib.framework.*,
org.wpilib.system.*, org.wpilib.event.*,
org.wpilib.driverstation.*
org.wpilib.commandsv2.* -> org.wpilib.command2.*
org.wpilib.math.Matrix -> org.wpilib.math.linalg.Matrix
org.wpilib.math.MathUtil -> org.wpilib.math.util.MathUtil
org.wpilib.math.Pair -> org.wpilib.math.util.Pair
org.wpilib.math.system.plant.DCMotor -> org.wpilib.math.system.DCMotor
org.wpilib.apriltag.* -> org.wpilib.vision.apriltag.*
org.wpilib.wpilibj.Notifier -> org.wpilib.system.Notifier
org.wpilib.wpilibj.{AddressableLED,LEDPattern,...} -> org.wpilib.hardware.led.*
Files changed: CommandZorroController, ZorroController, LoggedCompressor,
LoggedPowerDistribution, AutoSelectorIO, AutoSelector, AutoOption,
KernelLogMonitor, VisionThread, DriveConstants, VisionConstants, VisionFilter,
LocalADStarAK, LEDGroup, LEDSeries, LEDStrip, AutoMode.
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
…State
WPILib 2027-alpha-6 removed most static utility methods from DriverStation and
split them across two new classes:
RobotState — robot operational state: isEnabled(), isDisabled(),
isAutonomous(), isFMSAttached(), isDSAttached()
MatchState — match-specific data: getAlliance(), getMatchTime(),
getMatchType(), getGameData() [returns Optional<String>]
DriverStationErrors — error/warning reporting previously on DriverStation:
DriverStation.reportError() -> DriverStationErrors.reportError()
Also updates the kJoystickPorts constant (removed from DriverStation) to the
hardcoded value of 6, which was its only defined value.
Also fixes Alliance and DoubleSolenoid.Value enum constants in these same files:
Alliance.Red / Alliance.Blue -> Alliance.RED / Alliance.BLUE
DoubleSolenoid.Value.kForward -> DoubleSolenoid.Value.FORWARD
DoubleSolenoid.Value.kReverse -> DoubleSolenoid.Value.REVERSE
GameState.getGameData() now calls MatchState.getGameData().orElse("") since
the return type changed from String to Optional<String>.
Files changed: GameState, AllianceSelectorIO, ControllerSelector,
PneumaticsSimulator, Vision, LEDController, PathCommands.
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
WPILib 2027-alpha-6 renamed the core swerve kinematics types to better reflect that they represent velocities rather than generic "states": ChassisSpeeds -> ChassisVelocities SwerveModuleState -> SwerveModuleVelocity Method renames on SwerveDriveKinematics: toSwerveModuleStates() -> toSwerveModuleVelocities() toChassisSpeeds() -> toChassisVelocities() desaturateWheelSpeeds() -> desaturateWheelVelocities() Behavioral change: desaturateWheelVelocities() now returns a new array instead of mutating the input in-place (annotated @NODISCARD). Both call sites in Drive.java now capture the return value. SwerveModuleVelocity field rename: .speedMetersPerSecond -> .velocity Method semantics change on SwerveModuleVelocity: optimize() and cosineScale() now return new instances rather than mutating in place. Module.runSetpoint() updated to chain: state = state.optimize(...); state = state.cosineScale(...). Also fixes the getRobotRelativeChassisSpeeds() method rename to getRobotRelativeChassisVelocities() that cascades from the type rename, and updates all Alliance/MatchState references in Drive.java that co-existed with the kinematics changes. Files changed: DriveCommands, Drive, Module. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
WPILib 2027-alpha-6 renamed enum constants from PascalCase / kPrefixed style
to SCREAMING_SNAKE_CASE:
Alliance.Red / Alliance.Blue -> Alliance.RED / Alliance.BLUE
Color.kBlue -> Color.BLUE
Color.kRed -> Color.RED
Also in LEDCustomPattern.java:
LEDPattern.scrollAtRelativeSpeed() -> scrollAtRelativeVelocity()
(method rename matching the velocity terminology adopted across the LED API)
Timer.getFPGATimestamp() -> Timer.getTimestamp()
(renamed in WPILib 2027 as part of FPGA abstraction cleanup)
Files changed: AllianceSelector, Util, LEDCustomPattern.
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
…anges
Several Robot class APIs changed in WPILib 2027-alpha-6:
1. "Test" mode renamed to "Utility" mode:
testInit() -> utilityInit()
testPeriodic() -> utilityPeriodic()
The override methods must match the new names or they are silently ignored.
2. CommandXboxController renamed:
CommandXboxController -> CommandNiDsXboxController
(reflects that it reads from the NI Driver Station, not a direct USB HID)
3. HID introspection methods removed from DriverStation and moved to GenericHID:
DriverStation.kJoystickPorts -> 6 (hardcoded; only value it had)
DriverStation.isJoystickConnected(port) -> new GenericHID(port).isConnected()
DriverStation.getJoystickName(port) -> hid.getName()
DriverStation.getStickAxisCount(port) -> hid.getAxesAvailable()
DriverStation.getStickAxis(port, i) -> hid.getRawAxis(i)
DriverStation.getStickButtonCount(port) -> hid.getButtonsMaximumIndex()
DriverStation.getStickButton(port, i+1) -> hid.getRawButton(i+1)
DriverStation.getStickPOVCount(port) -> hid.getPOVsAvailable()
DriverStation.getStickPOV(port, i) -> hid.getPOV(i)
logHIDs() was rewritten to create a GenericHID instance per port.
4. ModuleType enum constant renamed:
PowerDistribution.ModuleType.kRev -> ModuleType.REV
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
CANBus factory method case change (CTRE Phoenix6): CANBus.systemCore(id) -> CANBus.systemcore(id) Applied to both SC0 and SC1 bus definitions in Constants.java. RobotController timestamp method renamed: RobotController.getFPGATime() -> RobotController.getTime() The "FPGA" qualifier was dropped as the abstraction no longer implies FPGA hardware specifically. Applied in PhoenixOdometryThread and CanandgyroThread. Timer static method renamed: Timer.getFPGATimestamp() -> Timer.getTimestamp() Same rationale as above. Applied in ModuleIOSimWPI. LinearSystemId.createDCMotorSystem() removed: Replaced with Models.singleJointedArmFromPhysicalConstants(DCMotor, J, G). The new method is in org.wpilib.math.system.Models and returns the same LinearSystem<N2,N1,N2> used to construct DCMotorSim. Applied in ModuleIOSimWPI for both drive and turn motor sims. MathUtil.clamp() removed: Replaced with Math.max(min, Math.min(max, value)). MathUtil no longer includes a clamp overload; use java.lang.Math directly. Applied in ModuleIOSimWPI for clamping drive/turn applied voltage to bus voltage. Files changed: Constants, ModuleIOSimWPI, PhoenixOdometryThread, CanandgyroThread. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
…n types
REVLib 2027-alpha-4 changed several SparkBase and encoder methods from returning
primitive double to returning Signal<Double>. Signal is a value wrapper that
carries the value, a REVLibError, and a timestamp.
Methods now returning Signal<Double>:
SparkBase.getAppliedOutput()
SparkBase.getBusVoltage()
SparkBase.getOutputCurrent()
RelativeEncoder.getPosition() / getVelocity()
AbsoluteEncoder.getPosition() / getVelocity()
Changes:
- Direct double assignments now call .get(0.0) to unbox the value, using 0.0
as a default when the signal is not valid. getLastError() still exists and
is used for error detection as before.
- encoder::getPosition and encoder::getVelocity can no longer be used as
DoubleSupplier method references since they return Signal<Double>. Both
registerSpark() overloads (RelativeEncoder and AbsoluteEncoder) now pass
lambda wrappers: () -> encoder.getPosition().get(0.0).
Also updates RobotController.getFPGATime() -> RobotController.getTime() which
was a WPILib rename also affecting this file.
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
Google Java Format calls com.sun.tools.javac.util.Log$DeferredDiagnosticHandler
.getDiagnostics(), an internal javac API method that was removed in JDK 23. This
caused spotlessJavaApply to fail with NoSuchMethodError on every source file when
running under the WPILib 2027 JDK 25 toolchain.
Two changes:
1. Remove toggleOffOn() — this Spotless feature is a no-op here since no source
files use // spotless:off / // spotless:on markers, and it also triggered the
same NoSuchMethodError via a separate internal-API lint path.
2. Pin googleJavaFormat to '1.24.0' (already cached locally) and suppress the
google-java-format lint step via suppressLintsFor { setStep 'google-java-format' }.
The suppressLintsFor call skips the NeedsLintJavac validation that Spotless 7.x
added for GJF, which is what fires the NoSuchMethodError. The formatting itself
still runs; only the post-format javac lint check is suppressed.
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
GJF 1.24.0 (and 1.25.0, 1.26.0) crash with NoSuchMethodError on Log$DeferredDiagnosticHandler.getDiagnostics() because that internal javac API was removed in JDK 23. WPILib 2027 ships JDK 25.0.2, so GJF was silently broken on this project. GJF 1.35.0 no longer depends on that internal API and runs correctly on JDK 25. Also remove the suppressLintsFor block added as a workaround — it was masking the crash and causing spotlessJavaCheck to pass even on malformatted files.
Bulk reformat produced by `gradlew spotlessApply` after upgrading from GJF 1.24.0 to 1.35.0. Style changes are whitespace-only (import ordering, blank lines, line wrapping) — no logic changes.
GJF 1.35.0 (required for JDK 25 support) uses JCTree$JCAnyPattern, an internal javac class that was added in JDK 22. The Spotless workflow was pinned to JDK 17 and the simulation build to JDK 21, causing both to crash with NoClassDefFoundError on every Java file. WPILib 2027 targets JDK 25 (sourceCompatibility = VERSION_25), so all CI jobs that invoke the Java toolchain must use JDK 25. The SystemCore build job is unaffected — it uses the WPILib Docker container which already ships JDK 25.
MathUtil.clamp() was removed in WPILib 2027 (PR #8186). Replace the nested Math.max/min workaround with Java 21's Math.clamp(), which is the upstream-approved replacement. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
The previous implementation checked spark.getLastError() after calling encoder.getPosition().get(0.0) via a DoubleSupplier lambda. The Signal object was discarded before the error check, and getLastError() is not updated by Signal access. Switch position/velocity fields to Supplier<Signal<Double>> so the Signal is retained and checked via signal.isValid(). Apply the same pattern to the direct spark.getAppliedOutput/getBusVoltage/getOutputCurrent calls. Drop the getLastError() check on additionalSuppliers since no callers currently pass Signal-backed suppliers there. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
DriverStation.kJoystickPorts was removed in WPILib 2027. Replace the hardcoded literal with the equivalent constant from the new API. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
Timer.getTimestamp() returns seconds directly and is the idiomatic equivalent of the raw microsecond RobotController.getTime(). Consistent with how timestamps are read elsewhere in the codebase. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
- Use DriverStationBackend.JOYSTICK_PORTS instead of 6 in Robot.logHIDs() - Static import Units.Hertz in LEDCustomPattern to clean up inline FQN Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
ChassisVelocities uses velocity terminology; align local variables, fields, comments, and method names (getMaxLinearSpeedMetersPerSec -> getMaxLinearVelocityMetersPerSec, etc.) to match. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
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Summary
main-2027-alpha2Code fixes merged from alpha2
LiveWindow.disableAllTelemetry()(package removed in 2027)Command.schedule()deprecation inAutoSelector— now usesCommandScheduler.getInstance()::scheduleHAL.report(tResourceType, tInstances)→HAL.reportUsage("RobotDrive", "SwerveAdvantageKit")CAN2→SC0,CANHD→SC1inRobot,DriveConstants,GyroIOBoron,ModuleIOTalonFXDCMotorSimgetter renames andCommands.waitSecondsremovalAddressableLED.start()removal,DriverStation.getStickPOV()type changeAprilTagFields,DCMotor.freeSpeed,ChassisSpeeds,SwerveModuleAPI changesbuild-systemcore.yml@AutoLogcodegen Gradle issueTest plan
./gradlew buildpasses./gradlew spotlessCheckpasses🤖 Generated with Claude Code