2026 beta

.bazelversion

@@ -1 +1 @@
-7.2.0
+8.4.2

.github/workflows/bazel.yml

@@ -8,12 +8,9 @@ jobs:
       fail-fast: false
       matrix:
         include:
-          - { os: windows-latest, architecture: x64, config: "--noenable_bzlmod" }
-          - { os: windows-latest, architecture: x64, config: "--enable_bzlmod"   }
-          - { os: macos-latest,   architecture: x64, config: "--noenable_bzlmod" }
-          - { os: macos-latest,   architecture: x64, config: "--enable_bzlmod"   }
-          - { os: ubuntu-latest,  architecture: x64, config: "--noenable_bzlmod" }
-          - { os: ubuntu-latest,  architecture: x64, config: "--enable_bzlmod"   }
+          - { os: windows-latest, architecture: x64, config: "" }
+          - { os: macos-latest,   architecture: x64, config: "" }
+          - { os: ubuntu-latest,  architecture: x64, config: "" }
     name: "Build - ${{ matrix.os }} ${{ matrix.architecture }} ${{ matrix.config }}"
     runs-on: ${{ matrix.os }}
     steps:
@@ -42,8 +39,7 @@ jobs:
       fail-fast: false
       matrix:
         include:
-          - { os: ubuntu-latest, architecture: x64, config: "--config=for-roborio --noenable_bzlmod" }
-          - { os: ubuntu-latest, architecture: x64, config: "--config=for-roborio --enable_bzlmod" }
+          - { os: ubuntu-latest, architecture: x64, config: "--config=for-roborio" }
     name: "Build - ${{ matrix.os }} ${{ matrix.architecture }} ${{ matrix.config }}"
     runs-on: ${{ matrix.os }}
     steps:
@@ -63,7 +59,7 @@ jobs:
     steps:
       - uses: actions/checkout@v4
       - uses: bazelbuild/setup-bazelisk@v3
-      - run:  bazel run @unpinned_maven//:pin --noenable_bzlmod
+      - run:  REPIN=1 bazel run @maven//:pin
       - run:  git diff HEAD
       - uses: actions/upload-artifact@v4
         with:

.github/workflows/publish_examples.yml

@@ -8,7 +8,7 @@ jobs:
     runs-on: ubuntu-latest
     strategy:
       matrix:
-        python-version: [3.7]
+        python-version: ["3.10"]
 
     steps:
       - uses: actions/checkout@v4

.styleguide-license

@@ -1 +0,0 @@
-

MODULE.bazel

@@ -1,14 +1,14 @@
-bazel_dep(name = "rules_jvm_external", version = "6.1")
-bazel_dep(name = "rules_java", version = "7.6.5")
+bazel_dep(name = "rules_jvm_external", version = "6.3")
+bazel_dep(name = "rules_java", version = "8.14.0")
 bazel_dep(name = "rules_bazelrio", version = "0.0.14")
-bazel_dep(name = "rules_bzlmodrio_toolchains", version = "2025-1.bcr1")
-bazel_dep(name = "rules_bzlmodrio_jdk", version = "17.0.12-7")
-bazel_dep(name = "rules_pmd", version = "7.2.0")
-bazel_dep(name = "bzlmodrio-allwpilib", version = "2025.1.1")
-bazel_dep(name = "bzlmodrio-studica", version = "2025.1.1-beta-4")
-bazel_dep(name = "bzlmodrio-phoenix", version = "5.35.0")
-bazel_dep(name = "bzlmodrio-phoenix6", version = "25.1.0")
-bazel_dep(name = "bzlmodrio-revlib", version = "2025.0.0")
+bazel_dep(name = "rules_bzlmodrio_toolchains", version = "2025-1.bcr6")
+bazel_dep(name = "rules_bzlmodrio_jdk", version = "17.0.12-7.bcr1")
+bazel_dep(name = "rules_pmd", version = "7.2.0.bcr1")
+bazel_dep(name = "bzlmodrio-allwpilib", version = "2026.1.1-beta-1")
+bazel_dep(name = "bzlmodrio-studica", version = "2026.0.0-beta")
+bazel_dep(name = "bzlmodrio-phoenix", version = "5.36.0-beta-1")
+bazel_dep(name = "bzlmodrio-phoenix6", version = "26.0.0-beta-1")
+bazel_dep(name = "bzlmodrio-revlib", version = "2026.0.0-beta-1")
 
 archive_override(
     module_name = "rules_bzlmodrio_jdk",
@@ -17,13 +17,6 @@ archive_override(
     urls = ["https://github.com/wpilibsuite/rules_bzlmodRio_jdk/archive/4ecd4cbc97dfbfe2ceefa627de1228e2f2ca5773.tar.gz"],
 )
 
-archive_override(
-    module_name = "bzlmodrio-studica",
-    integrity = "sha256-Uw+1yI3vh/6G20kcjmH+c/tUNTMPgx05cjs3mBd3etY=",
-    strip_prefix = "bzlmodRio-studica-b190c1fcfaf6e2fd242e934c5109a1073ff84082",
-    urls = ["https://github.com/bzlmodrio/bzlmodRio-studica/archive/b190c1fcfaf6e2fd242e934c5109a1073ff84082.tar.gz"],
-)
-
 maven = use_extension("@rules_jvm_external//:extensions.bzl", "maven")
 maven.install(
     artifacts = [
@@ -37,6 +30,7 @@ maven.install(
         "org.junit.platform:junit-platform-suite-api:1.6.1",
     ],
     repositories = ["https://repo1.maven.org/maven2"],
+    lock_file = "//build_scripts/bazel/deps:maven_install.json",
 )
 use_repo(
     maven,

build_scripts/base_java.gradle

@@ -3,7 +3,7 @@ repositories {
     mavenLocal()
     maven { url "https://frcmaven.wpi.edu/artifactory/release/" }
     maven { url 'https://devsite.ctr-electronics.com/maven/release/' }
-    maven { url 'https://dev.studica.com/maven/release/2025/' }
+    maven { url 'https://dev.studica.com/maven/release/2026/' }
     maven { url 'https://maven.revrobotics.com/' }
 }
 
@@ -41,13 +41,15 @@ ext.getCurrentOs = {
 }
 
 ext {
-    wpiVersion = '2025.1.1'
+    wpiVersion = '2026.1.1-beta-1'
     opencvYear = '2025'
     opencvVersion = '4.10.0-3'
-    phoenix5Version = '5.35.0'
-    phoenix6Version = "25.1.0"
-    revVersion = '2025.0.0'
-    navxVersion = '2025.1.1-beta-4'
+    phoenix5Version = '5.36.0-beta-1'
+    phoenix6Version = "26.0.0-beta-1"
+    revVersion = '2026.0.0-beta-1'
+    navxVersion = '2026.0.0-beta'
+
+    jacksonVersion = '2.19.2'
 
     nativeOs = getCurrentOs() + getCurrentArch()
 }
@@ -59,6 +61,9 @@ configurations {
 }
 
 dependencies {
+    implementation group: "com.fasterxml.jackson.core", name: "jackson-annotations", version: jacksonVersion
+    implementation group: "com.fasterxml.jackson.core", name: "jackson-core", version: jacksonVersion
+    implementation group: "com.fasterxml.jackson.core", name: "jackson-databind", version: jacksonVersion
 
     nativeDesktopZip "edu.wpi.first.hal:hal-cpp:${wpiVersion}:${nativeOs}@zip"
     nativeDesktopZip "edu.wpi.first.ntcore:ntcore-cpp:${wpiVersion}:${nativeOs}@zip"
@@ -73,17 +78,21 @@ dependencies {
     nativeDesktopZip "com.ctre.phoenix.sim:cci-sim:${phoenix5Version}:${nativeOs}@zip"
 
     nativeDesktopZip "com.ctre.phoenix6.sim:api-cpp-sim:${phoenix6Version}:${nativeOs}@zip"
-    nativeDesktopZip "com.ctre.phoenix6.sim:simCANCoder:${phoenix6Version}:${nativeOs}@zip"
     nativeDesktopZip "com.ctre.phoenix6.sim:simProCANrange:${phoenix6Version}:${nativeOs}@zip"
+    nativeDesktopZip "com.ctre.phoenix6.sim:simProCANdi:${phoenix6Version}:${nativeOs}@zip"
+    nativeDesktopZip "com.ctre.phoenix6.sim:simProCANdle:${phoenix6Version}:${nativeOs}@zip"
     nativeDesktopZip "com.ctre.phoenix6.sim:simPigeonIMU:${phoenix6Version}:${nativeOs}@zip"
     nativeDesktopZip "com.ctre.phoenix6.sim:simProCANcoder:${phoenix6Version}:${nativeOs}@zip"
     nativeDesktopZip "com.ctre.phoenix6.sim:simProPigeon2:${phoenix6Version}:${nativeOs}@zip"
     nativeDesktopZip "com.ctre.phoenix6.sim:simProTalonFX:${phoenix6Version}:${nativeOs}@zip"
+    nativeDesktopZip "com.ctre.phoenix6.sim:simProTalonFXS:${phoenix6Version}:${nativeOs}@zip"
     nativeDesktopZip "com.ctre.phoenix6.sim:simTalonSRX:${phoenix6Version}:${nativeOs}@zip"
     nativeDesktopZip "com.ctre.phoenix6.sim:simVictorSPX:${phoenix6Version}:${nativeOs}@zip"
     nativeDesktopZip "com.ctre.phoenix6.sim:tools-sim:${phoenix6Version}:${nativeOs}@zip"
 
     nativeDesktopZip "com.revrobotics.frc:REVLib-driver:${revVersion}:${nativeOs}@zip"
+    nativeDesktopZip "com.revrobotics.frc:RevLibBackendDriver:${revVersion}:${nativeOs}@zip"
+    nativeDesktopZip "com.revrobotics.frc:RevLibWpiBackendDriver:${revVersion}:${nativeOs}@zip"
 }
 
 tasks.withType(JavaCompile) {

examples/create_standalone_projects.py

@@ -31,14 +31,6 @@ def run():
             "catchall", "Catchall", ["navx_frc.json", "REVLib.json", "Phoenix.json"]
         )
     )
-    projects.append(
-        ExampleConfig(
-            "phoenix5_swerve",
-            "Phoenix5Swerve",
-            ["Phoenix.json"],
-            "test_robot_base_swerve",
-        )
-    )
     projects.append(
         ExampleConfig(
             "rev_swerve",

examples/test_robot_catchall/src/main/java/org/snobotv2/examples/catchall/Robot.java

@@ -76,7 +76,7 @@ public void autonomousInit()
         // schedule the autonomous command (example)
         if (mAutonomousCommand != null)
         {
-            mAutonomousCommand.schedule();
+            CommandScheduler.getInstance().schedule(mAutonomousCommand);
         }
     }
 

examples/test_robot_catchall/src/main/java/org/snobotv2/examples/catchall/subsystems/CatchallSubsystem.java

@@ -21,29 +21,24 @@
 import edu.wpi.first.wpilibj.AnalogPotentiometer;
 import edu.wpi.first.wpilibj.Compressor;
 import edu.wpi.first.wpilibj.PneumaticsModuleType;
-import edu.wpi.first.wpilibj.motorcontrol.DMC60;
 import edu.wpi.first.wpilibj.DigitalInput;
 import edu.wpi.first.wpilibj.DigitalOutput;
 import edu.wpi.first.wpilibj.DoubleSolenoid;
 import edu.wpi.first.wpilibj.Encoder;
 import edu.wpi.first.wpilibj.I2C;
-import edu.wpi.first.wpilibj.motorcontrol.Jaguar;
-import edu.wpi.first.wpilibj.motorcontrol.NidecBrushless;
 import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
 import edu.wpi.first.wpilibj.motorcontrol.PWMTalonFX;
 import edu.wpi.first.wpilibj.motorcontrol.PWMTalonSRX;
 import edu.wpi.first.wpilibj.motorcontrol.PWMVenom;
 import edu.wpi.first.wpilibj.motorcontrol.PWMVictorSPX;
 import edu.wpi.first.wpilibj.PowerDistribution;
 import edu.wpi.first.wpilibj.Relay;
-import edu.wpi.first.wpilibj.motorcontrol.SD540;
 import edu.wpi.first.wpilibj.SPI;
 import edu.wpi.first.wpilibj.Servo;
 import edu.wpi.first.wpilibj.Solenoid;
 import edu.wpi.first.wpilibj.motorcontrol.Spark;
 import edu.wpi.first.wpilibj.motorcontrol.Talon;
 import edu.wpi.first.wpilibj.Ultrasonic;
-import edu.wpi.first.wpilibj.motorcontrol.Victor;
 import edu.wpi.first.wpilibj.motorcontrol.VictorSP;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
@@ -64,27 +59,22 @@ public class CatchallSubsystem extends SubsystemBase
     protected final Compressor mCompressor;
     protected final DigitalInput mDigitalInput;
     protected final DigitalOutput mDigitalOutput;
-    protected final DMC60 mDmc60;
     protected final DoubleSolenoid mDoubleSolenoid;
     protected final Encoder mEncoder;
     protected final I2C mCustomI2c;
-    protected final Jaguar mJaguar;
-    protected final NidecBrushless mNidec;
     protected final PowerDistribution mPdp;
     protected final PWMSparkMax mPwmSparkMax;
     protected final PWMTalonFX mPwmTalonFx;
     protected final PWMTalonSRX mPwmTalonSRX;
     protected final PWMVenom mVenom;
     protected final PWMVictorSPX mPwmVictorSPX;
     protected final Relay mRelay;
-    protected final SD540 mSd540;
     protected final Servo mServo;
     protected final Solenoid mSolenoid;
     protected final Spark mSpark;
     protected final SPI mCustomSpi;
     protected final Talon mTalon;
     protected final Ultrasonic mUltrasonic;
-    protected final Victor mVictor;
     protected final VictorSP mVictorSP;
 
     protected final AHRS mNavx;
@@ -124,17 +114,12 @@ public CatchallSubsystem()
         mServo = new Servo(1);
         mSpark = new Spark(2);
         mTalon = new Talon(3);
-        mVictor = new Victor(4);
         mVictorSP = new VictorSP(5);
-        mJaguar = new Jaguar(6);
         mPwmSparkMax = new PWMSparkMax(7);
         mPwmTalonFx = new PWMTalonFX(8);
         mPwmTalonSRX = new PWMTalonSRX(9);
-        mNidec = new NidecBrushless(15, 8);
-        mDmc60 = new DMC60(11);
         mVenom = new PWMVenom(12);
         mPwmVictorSPX = new PWMVictorSPX(13);
-        mSd540 = new SD540(14);
 
         mCanSparkMax = new SparkMax(15, SparkBase.MotorType.kBrushed);
         mCanSparkFlex = new SparkFlex(17, SparkLowLevel.MotorType.kBrushed);
@@ -149,17 +134,12 @@ public void simulationPeriodic()
         mServo.set(.25);
         mSpark.set(-0.9);
         mTalon.set(-0.8);
-        mVictor.set(-0.7);
         mVictorSP.set(-0.6);
-        mJaguar.set(-0.5);
         mPwmSparkMax.set(-0.4);
         mPwmTalonFx.set(-0.3);
         mPwmTalonSRX.set(-0.2);
-        mNidec.set(-0.1);
-        mDmc60.set(0.1);
         mVenom.set(0.2);
         mPwmVictorSPX.set(0.3);
-        mSd540.set(0.4);
 
         mCanSparkMax.set(0.5);
         mCanSparkFlex.set(0.5);

examples/test_robot_phoenix5/src/main/java/org/snobotv2/examples/phoenix5/Robot.java

@@ -79,7 +79,7 @@ public void autonomousInit()
         // schedule the autonomous command (example)
         if (mAutonomousCommand != null)
         {
-            mAutonomousCommand.schedule();
+            CommandScheduler.getInstance().schedule(mAutonomousCommand);
         }
     }