Update to WPILib 2026

.vscode/settings.json

@@ -20,6 +20,7 @@
   ],
   "java.configuration.updateBuildConfiguration": "automatic",
   "java.debug.settings.onBuildFailureProceed": true,
+  "java.dependency.enableDependencyCheckup": false,
   "java.import.gradle.annotationProcessing.enabled": false,
   "java.inlayHints.parameterNames.enabled": "literals",
   "java.inlayHints.parameterNames.exclusions": [

.wpilib/wpilib_preferences.json

@@ -1,6 +1,6 @@
 {
   "enableCppIntellisense": false,
   "currentLanguage": "java",
-  "projectYear": "2025",
+  "projectYear": "2026",
   "teamNumber": 340
 }

LICENSE

@@ -1,6 +1,6 @@
 MIT License
 
-Copyright (c) 2025 Team 340
+Copyright (c) 2023-2026 Team 340
 
 Permission is hereby granted, free of charge, to any person obtaining a copy
 of this software and associated documentation files (the "Software"), to deal

README.md

@@ -26,7 +26,7 @@ A template repository for Java-based robots in the FIRST Robotics Competition.
 
 ### Prerequisites
 
-- [WPILib](https://github.com/wpilibsuite/allwpilib/releases) 2025.x
+- [WPILib](https://github.com/wpilibsuite/allwpilib/releases) 2026.x
 - [Node.js](https://nodejs.org/en/download) (v24 LTS Recommended)
 
 Node.js is required to support linting via [Spotless](https://github.com/diffplug/spotless), using the [Prettier](https://prettier.io) style guide. You can apply these rules by building, or by running `./gradlew spotlessApply`. Alternatively, if you wish to disable code formatting, you can do so with the following modifications to [build.gradle](build.gradle):
@@ -44,7 +44,7 @@ diff --git a/build.gradle b/build.gradle
 @@ -1,7 +1,6 @@
  plugins {
      id "java"
-     id "edu.wpi.first.GradleRIO" version "2025.3.2"
+     id "edu.wpi.first.GradleRIO" version "2026.1.1"
 -    id "com.diffplug.spotless" version "8.1.0"
  }
 
@@ -65,7 +65,7 @@ diff --git a/build.gradle b/build.gradle
 -        endWithNewline()
 -        removeUnusedImports()
 -        trimTrailingWhitespace()
--        prettier(['prettier': '3.7.4', 'prettier-plugin-java': '2.7.7'])
+-        prettier(['prettier': '3.7.4', 'prettier-plugin-java': '2.8.1'])
 -            .config([
 -                parser: 'java',
 -                plugins: ['prettier-plugin-java'],

WPILib-License.md

@@ -1,4 +1,4 @@
-Copyright (c) 2009-2024 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

build.gradle

@@ -1,6 +1,6 @@
 plugins {
     id "java"
-    id "edu.wpi.first.GradleRIO" version "2025.3.2"
+    id "edu.wpi.first.GradleRIO" version "2026.1.1"
     id "com.diffplug.spotless" version "8.1.0"
 }
 
@@ -60,7 +60,8 @@ deploy {
 
 def deployArtifact = deploy.targets.roborio.artifacts.frcJava
 
-// Set to true to use debug for JNI.
+// Set to true to use debug for all targets including
+// JNI, which will drastically impact performance.
 wpi.java.debugJni = false
 
 // Set this to true to enable desktop support.
@@ -103,7 +104,7 @@ spotless {
         endWithNewline()
         removeUnusedImports()
         trimTrailingWhitespace()
-        prettier(['prettier': '3.7.4', 'prettier-plugin-java': '2.7.7'])
+        prettier(['prettier': '3.7.4', 'prettier-plugin-java': '2.8.1'])
             .config([
                 parser: 'java',
                 plugins: ['prettier-plugin-java'],
@@ -131,7 +132,9 @@ wpi.sim.addDriverstation()
 // knows where to look for our Robot Class.
 jar {
     from { configurations.runtimeClasspath.collect { it.isDirectory() ? it : zipTree(it) } }
-    from sourceSets.main.allSource
+    from('src') { into 'backup/src' }
+    from('vendordeps') { into 'backup/vendordeps' }
+    from('build.gradle') { into 'backup' }
     manifest edu.wpi.first.gradlerio.GradleRIOPlugin.javaManifest(ROBOT_MAIN_CLASS)
     duplicatesStrategy = DuplicatesStrategy.INCLUDE
 }

settings.gradle

@@ -4,7 +4,7 @@ pluginManagement {
     repositories {
         mavenLocal()
         gradlePluginPortal()
-        String frcYear = '2025'
+        String frcYear = '2026'
         File frcHome
         if (OperatingSystem.current().isWindows()) {
             String publicFolder = System.getenv('PUBLIC')

src/main/java/org/team340/lib/logging/LoggedRobot.java

@@ -3,14 +3,12 @@
 import edu.wpi.first.epilogue.logging.EpilogueBackend;
 import edu.wpi.first.hal.DriverStationJNI;
 import edu.wpi.first.hal.NotifierJNI;
-import edu.wpi.first.networktables.NetworkTableInstance;
 import edu.wpi.first.wpilibj.DataLogManager;
 import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj.IterativeRobotBase;
 import edu.wpi.first.wpilibj.RobotController;
 import edu.wpi.first.wpilibj.Threads;
 import java.util.function.Consumer;
-import org.team340.lib.logging.shim.NTEpilogueBackend;
 import org.team340.lib.tunable.Tunables;
 import org.team340.lib.tunable.Tunables.Tunable;
 import org.team340.lib.util.DisableWatchdog;
@@ -59,9 +57,6 @@ protected LoggedRobot(double period) {
         DriverStation.startDataLog(DataLogManager.getLog());
         DriverStation.silenceJoystickConnectionWarning(true);
 
-        // TODO Remove for 2026
-        EpilogueProxy.getConfig().backend = new NTEpilogueBackend(NetworkTableInstance.getDefault());
-
         EpilogueProxy.getConfig().root = "/Telemetry";
         logger = EpilogueProxy.getLogger(this);
 

src/main/java/org/team340/lib/logging/revlib/structs/SparkBaseStruct.java

@@ -1,6 +1,5 @@
 package org.team340.lib.logging.revlib.structs;
 
-import com.revrobotics.RelativeEncoder;
 import com.revrobotics.spark.SparkBase;
 import edu.wpi.first.util.struct.Struct;
 import java.nio.ByteBuffer;
@@ -9,14 +8,15 @@ public abstract class SparkBaseStruct<T extends SparkBase> implements Struct<T>
 
     @Override
     public int getSize() {
-        return kSizeDouble * 6 + SparkFaultsStruct.struct.getSize() * 2 + SparkWarningsStruct.struct.getSize() * 2;
+        return kSizeDouble * 7 + SparkFaultsStruct.struct.getSize() * 2 + SparkWarningsStruct.struct.getSize() * 2;
     }
 
     @Override
     public String getSchema() {
         return (
             "double appliedOutput; "
             + "double appliedVoltage; "
+            + "double closedLoopSetpoint; "
             + "double motorTemperature; "
             + "double outputCurrent; "
             + "double position; "
@@ -44,10 +44,12 @@ public T unpack(ByteBuffer bb) {
     @Override
     public void pack(ByteBuffer bb, T value) {
         double appliedOutput = value.getAppliedOutput();
-        RelativeEncoder encoder = value.getEncoder();
+        var closedLoopController = value.getClosedLoopController();
+        var encoder = value.getEncoder();
 
         bb.putDouble(appliedOutput);
         bb.putDouble(appliedOutput * value.getBusVoltage());
+        bb.putDouble(closedLoopController.getSetpoint());
         bb.putDouble(value.getMotorTemperature());
         bb.putDouble(value.getOutputCurrent());
         bb.putDouble(encoder.getPosition());