Merge main-2027-alpha2 into main-2027-alpha6

.github/workflows/build-simulation.yml

@@ -0,0 +1,22 @@
+name: Build (Simulation)
+
+on:
+  push:
+
+jobs:
+  build:
+    name: Build (Simulation)
+    runs-on: ubuntu-latest
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@v5
+      - name: Set up JDK 25
+        uses: actions/setup-java@v5
+        with:
+          distribution: temurin
+          java-version: 25
+          cache: gradle
+      - name: Grant execute permission
+        run: chmod +x gradlew
+      - name: Build simulation
+        run: ./gradlew assemble test

.github/workflows/build.yml → .github/workflows/build-systemcore.yml

@@ -1,17 +1,17 @@
-name: Build
+name: Build (SystemCore)
 
 on:
   push:
 
 jobs:
   build:
-    name: Build
+    name: Build (SystemCore)
     runs-on: ubuntu-latest
-    container: wpilib/roborio-cross-ubuntu:2024-22.04
+    container: wpilib/systemcore-cross-ubuntu-minimal:2027-24.04
     steps:
       - name: Checkout repository
-        uses: actions/checkout@v4
+        uses: actions/checkout@v5
       - name: Grant execute permission
         run: chmod +x gradlew
       - name: Build robot code
-        run: ./gradlew build
+        run: ./gradlew assemble test

.github/workflows/spotless.yml

@@ -9,13 +9,13 @@ jobs:
     # Steps represent a sequence of tasks that will be executed as part of the job
     steps:
       # Checks-out your repository under $GITHUB_WORKSPACE, so your job can access it
-      - uses: actions/checkout@v4
+      - uses: actions/checkout@v5
         with:
           fetch-depth: 0
-      - uses: actions/setup-java@v4
+      - uses: actions/setup-java@v5
         with:
-          distribution: 'zulu'
-          java-version: 17
+          distribution: 'temurin'
+          java-version: 25
       - name: Change wrapper permissions
         run: chmod +x ./gradlew
       - run: ./gradlew spotlessCheck --stacktrace

build.gradle

@@ -40,7 +40,7 @@ deploy {
                     files = project.fileTree('src/main/deploy')
                     directory = '/home/systemcore/deploy'
                     deleteOldFiles = false // Change to true to delete files on systemcore that no
-                                           // longer exist in deploy directory of this project
+                    // longer exist in deploy directory of this project
                 }
             }
         }
@@ -194,8 +194,7 @@ spotless {
             include "**/*.java"
             exclude "**/build/**", "**/build-*/**"
         }
-        toggleOffOn()
-        googleJavaFormat()
+        googleJavaFormat('1.35.0')
         removeUnusedImports()
         trimTrailingWhitespace()
         endWithNewline()

src/main/java/frc/game/Field.java

@@ -2,13 +2,13 @@
 
 import static org.wpilib.units.Units.*;
 
+import java.util.List;
+import org.littletonrobotics.junction.Logger;
 import org.wpilib.math.geometry.Pose2d;
 import org.wpilib.math.geometry.Rectangle2d;
 import org.wpilib.math.geometry.Rotation2d;
 import org.wpilib.math.geometry.Translation2d;
 import org.wpilib.units.measure.Distance;
-import java.util.List;
-import org.littletonrobotics.junction.Logger;
 
 public class Field {
   // Measured

src/main/java/frc/game/GameState.java

@@ -1,11 +1,12 @@
 package frc.game;
 
-import org.wpilib.wpilibj.DriverStation;
-import org.wpilib.wpilibj.DriverStation.Alliance;
 import frc.robot.Robot;
 import java.util.List;
 import java.util.Optional;
 import org.littletonrobotics.junction.Logger;
+import org.wpilib.driverstation.Alliance;
+import org.wpilib.driverstation.MatchState;
+import org.wpilib.driverstation.RobotState;
 
 public class GameState {
 
@@ -43,10 +44,10 @@ private static int parseSeconds(String time) {
   private static Alliance myAlliance;
 
   public static GamePhase getCurrentPhase() {
-    if (!DriverStation.isDSAttached() && !DriverStation.isFMSAttached()) {
+    if (!RobotState.isDSAttached() && !RobotState.isFMSAttached()) {
       return GamePhase.None;
     }
-    if (DriverStation.isAutonomous()) {
+    if (RobotState.isAutonomous()) {
       return GamePhase.Autonomous;
     }
     // Must be in match and teleop
@@ -61,29 +62,29 @@ public static GamePhase getCurrentPhase() {
 
   public static Alliance getMyAlliance() {
     if (myAlliance == null) {
-      // myAlliance = DriverStation.getAlliance().orElse(null);
+      // myAlliance = MatchState.getAlliance().orElse(null);
       myAlliance = Robot.allianceSelector.getAllianceColor();
     }
     return myAlliance;
   }
 
   public static double getMatchTime() {
-    return DriverStation.getMatchTime();
+    return MatchState.getMatchTime();
   }
 
   public static Optional<Alliance> getAlliance() {
-    return DriverStation.getAlliance();
+    return MatchState.getAlliance();
   }
 
   public static void logValues() {
     getMyAlliance();
-    Logger.recordOutput("GameState/IsDSAttached", DriverStation.isDSAttached());
-    Logger.recordOutput("GameState/IsFMSAttached", DriverStation.isFMSAttached());
-    Logger.recordOutput("GameState/MatchType", DriverStation.getMatchType());
-    Logger.recordOutput("GameState/IsAutonomus", DriverStation.isAutonomous());
-    Logger.recordOutput("GameState/MatchTime", DriverStation.getMatchTime());
+    Logger.recordOutput("GameState/IsDSAttached", RobotState.isDSAttached());
+    Logger.recordOutput("GameState/IsFMSAttached", RobotState.isFMSAttached());
+    Logger.recordOutput("GameState/MatchType", MatchState.getMatchType());
+    Logger.recordOutput("GameState/IsAutonomus", RobotState.isAutonomous());
+    Logger.recordOutput("GameState/MatchTime", MatchState.getMatchTime());
     Logger.recordOutput("GameState/Alliance", myAlliance);
-    Logger.recordOutput("GameState/GameData", DriverStation.getGameSpecificMessage());
+    Logger.recordOutput("GameState/GameData", MatchState.getGameData().orElse(""));
     Logger.recordOutput("GameState/CurrentPhase", getCurrentPhase());
   }
 }

src/main/java/frc/lib/AllianceSelector.java

@@ -1,10 +1,10 @@
 package frc.lib;
 
-import org.wpilib.wpilibj.DriverStation.Alliance;
-import org.wpilib.wpilibj.event.BooleanEvent;
-import org.wpilib.wpilibj.event.EventLoop;
-import org.wpilib.commandsv2.button.Trigger;
 import org.littletonrobotics.junction.Logger;
+import org.wpilib.command2.button.Trigger;
+import org.wpilib.driverstation.Alliance;
+import org.wpilib.event.BooleanEvent;
+import org.wpilib.event.EventLoop;
 
 public class AllianceSelector {
 
@@ -26,7 +26,7 @@ public AllianceSelector(int port) {
    * @return Whether the field is rotated from the driver's perspective
    */
   public boolean fieldRotated() {
-    return inputs.allianceFromSwitch.equals(Alliance.Red);
+    return inputs.allianceFromSwitch.equals(Alliance.RED);
   }
 
   /**

src/main/java/frc/lib/AllianceSelectorIO.java

@@ -1,10 +1,10 @@
 package frc.lib;
 
-import org.wpilib.wpilibj.DigitalInput;
-import org.wpilib.wpilibj.DriverStation;
-import org.wpilib.wpilibj.DriverStation.Alliance;
 import java.util.Optional;
 import org.littletonrobotics.junction.AutoLog;
+import org.wpilib.driverstation.Alliance;
+import org.wpilib.driverstation.MatchState;
+import org.wpilib.hardware.discrete.DigitalInput;
 
 public class AllianceSelectorIO {
 
@@ -17,13 +17,13 @@ public AllianceSelectorIO(int port) {
 
   @AutoLog
   public static class AllianceSelectorIOInputs {
-    public Alliance allianceFromSwitch = Alliance.Red;
+    public Alliance allianceFromSwitch = Alliance.RED;
     public boolean agreementInAllianceInputs = false;
     public boolean allianceChanged = false;
   }
 
   public void updateInputs(AllianceSelectorIOInputs inputs) {
-    inputs.allianceFromSwitch = allianceSelectionSwitch.get() ? Alliance.Red : Alliance.Blue;
+    inputs.allianceFromSwitch = allianceSelectionSwitch.get() ? Alliance.RED : Alliance.BLUE;
     inputs.agreementInAllianceInputs = agreementInAllianceInputs(inputs);
     inputs.allianceChanged = changedAlliance(inputs);
   }
@@ -39,7 +39,7 @@ private boolean changedAlliance(AllianceSelectorIOInputs inputs) {
   }
 
   private boolean agreementInAllianceInputs(AllianceSelectorIOInputs inputs) {
-    Optional<Alliance> allianceFromFMS = DriverStation.getAlliance();
+    Optional<Alliance> allianceFromFMS = MatchState.getAlliance();
     if (allianceFromFMS.isPresent()) {
       return inputs.allianceFromSwitch.equals(allianceFromFMS.get());
     } else return false;

src/main/java/frc/lib/AutoOption.java

@@ -1,12 +1,12 @@
 package frc.lib;
 
 import choreo.trajectory.SwerveSample;
-import org.wpilib.math.geometry.Pose2d;
-import org.wpilib.wpilibj.DriverStation.Alliance;
-import org.wpilib.wpilibj.util.Color;
-import org.wpilib.commandsv2.Command;
 import frc.robot.auto.AutoMode;
 import java.util.Optional;
+import org.wpilib.command2.Command;
+import org.wpilib.driverstation.Alliance;
+import org.wpilib.math.geometry.Pose2d;
+import org.wpilib.util.Color;
 
 public class AutoOption {
   private final Alliance allianceColor;
@@ -61,7 +61,7 @@
    * @return The command which runs the selected autonomous mode
    */
   public synchronized Optional<Command> getAutoCommand() {
     return (autoMode == null) ? Optional.empty() : Optional.of(autoMode.getAutoRoutine().cmd());
   }
 
   public Optional<Pose2d> getInitialPose() {

src/main/java/frc/lib/AutoSelector.java

@@ -1,16 +1,17 @@
 package frc.lib;
 
-import org.wpilib.math.geometry.Pose2d;
-import org.wpilib.wpilibj.DriverStation.Alliance;
-import org.wpilib.wpilibj.event.BooleanEvent;
-import org.wpilib.wpilibj.event.EventLoop;
-import org.wpilib.commandsv2.Command;
-import org.wpilib.commandsv2.button.Trigger;
 import java.util.ArrayList;
 import java.util.List;
 import java.util.Optional;
 import java.util.function.Supplier;
 import org.littletonrobotics.junction.Logger;
+import org.wpilib.command2.Command;
+import org.wpilib.command2.CommandScheduler;
+import org.wpilib.command2.button.Trigger;
+import org.wpilib.driverstation.Alliance;
+import org.wpilib.event.BooleanEvent;
+import org.wpilib.event.EventLoop;
+import org.wpilib.math.geometry.Pose2d;
 
 public class AutoSelector implements Supplier<Optional<AutoOption>> {
 
@@ -72,8 +73,8 @@
 
   /** Schedules the command corresponding to the selected autonomous mode */
   public void scheduleAuto() {
-    // TODO: schedule() in Command has been deprecated and marked for removal
-    currentAutoOption.ifPresent(ao -> ao.getAutoCommand().ifPresent(Command::schedule));
+    currentAutoOption.ifPresent(
+        ao -> ao.getAutoCommand().ifPresent(CommandScheduler.getInstance()::schedule));
   }
 
   /** Deschedules the command corresponding to the selected autonomous mode */
@@ -93,7 +94,7 @@
             lastLoggedTrajectoryOption = ao;
             ao.getInitialTrajectory()
                 .ifPresent(
                     traj -> Logger.recordOutput("AutoSelector/AutonomousInitialTrajectory", traj));
           }
           ao.getInitialPose()
               .ifPresent(

src/main/java/frc/lib/AutoSelectorIO.java

@@ -1,7 +1,7 @@
 package frc.lib;
 
-import org.wpilib.wpilibj.DigitalInput;
 import org.littletonrobotics.junction.AutoLog;
+import org.wpilib.hardware.discrete.DigitalInput;
 
 public class AutoSelectorIO {
 

src/main/java/frc/lib/CommandZorroController.java

@@ -1,9 +1,9 @@
 package frc.lib;
 
-import org.wpilib.wpilibj.event.EventLoop;
-import org.wpilib.commandsv2.CommandScheduler;
-import org.wpilib.commandsv2.button.CommandGenericHID;
-import org.wpilib.commandsv2.button.Trigger;
+import org.wpilib.command2.CommandScheduler;
+import org.wpilib.command2.button.CommandGenericHID;
+import org.wpilib.command2.button.Trigger;
+import org.wpilib.event.EventLoop;
 
 /**
  * A version of {@link ZorroController} with {@link Trigger} factories for command-based.

src/main/java/frc/lib/ControllerSelector.java

@@ -1,13 +1,13 @@
 package frc.lib;
 
-import org.wpilib.wpilibj.DriverStation;
-import org.wpilib.wpilibj.GenericHID;
-import org.wpilib.commandsv2.CommandScheduler;
 import frc.robot.Constants;
 import frc.robot.Constants.Mode;
 import java.util.Objects;
 import java.util.Set;
 import org.littletonrobotics.junction.Logger;
+import org.wpilib.command2.CommandScheduler;
+import org.wpilib.driverstation.GenericHID;
+import org.wpilib.driverstation.internal.DriverStationBackend;
 
 /**
  * Manages the selection and binding of controllers for driver and operator roles as a singleton.
@@ -172,7 +172,7 @@ public OperatorConfig(
     }
   }
 
-  private static final int NUM_CONTROLLER_PORTS = DriverStation.kJoystickPorts;
+  private static final int NUM_CONTROLLER_PORTS = DriverStationBackend.JOYSTICK_PORTS;
 
   private final ControllerConfig[] controllerConfigs;
   private final GenericHID[] controllers;

src/main/java/frc/lib/LoggedCompressor.java

@@ -1,14 +1,21 @@
 package frc.lib;
 
-import org.wpilib.wpilibj.Compressor;
-import org.wpilib.wpilibj.PneumaticsModuleType;
 import org.littletonrobotics.junction.Logger;
+import org.wpilib.hardware.pneumatic.Compressor;
+import org.wpilib.hardware.pneumatic.PneumaticsModuleType;
 
 public class LoggedCompressor extends Compressor {
   private final String key;
 
-  public LoggedCompressor(PneumaticsModuleType moduleType, String logKey) {
-    super(moduleType);
+  /**
+   * Creates a logged compressor.
+   *
+   * @param busId the CAN bus ID (SystemCore transceiver number)
+   * @param moduleType the type of pneumatics module
+   * @param logKey the AdvantageKit log key prefix
+   */
+  public LoggedCompressor(int busId, PneumaticsModuleType moduleType, String logKey) {
+    super(busId, moduleType);
     this.key = logKey;
   }
 

src/main/java/frc/lib/LoggedPowerDistribution.java

@@ -1,13 +1,21 @@
 package frc.lib;
 
-import org.wpilib.wpilibj.PowerDistribution;
 import org.littletonrobotics.junction.Logger;
+import org.wpilib.hardware.power.PowerDistribution;
 
 public class LoggedPowerDistribution extends PowerDistribution {
   private final String key;
 
-  public LoggedPowerDistribution(int module, ModuleType moduleType, String logKey) {
-    super(module, moduleType);
+  /**
+   * Creates a logged power distribution module.
+   *
+   * @param busId the CAN bus ID (SystemCore transceiver number)
+   * @param module the CAN device ID of the power distribution module
+   * @param moduleType the type of power distribution module
+   * @param logKey the AdvantageKit log key prefix
+   */
+  public LoggedPowerDistribution(int busId, int module, ModuleType moduleType, String logKey) {
+    super(busId, module, moduleType);
     this.key = logKey;
   }