2026 cleanup PR

LICENSE-Tagalong.md

@@ -1,4 +1,4 @@
-Copyright 2024 The Space Cookies : Girl Scout Troop #62868 and FRC Team #1868
+Copyright 2024-2026 The Space Cookies : Girl Scout Troop #62868 and FRC Team #1868
 
 Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
 

README.md

@@ -54,7 +54,6 @@ FUTURE DEV: List out microsystems and their specialized variants
 -->
 
 ### What functionalities are coming soon?
-- 2025 vendor package support
 - More included configurations for Microsystem subtypes
 - Pivot variant without a fused encoder or mechanically zeroed
 - Simulation based unit tests
@@ -79,4 +78,4 @@ Due to the required pairing of specific WPILib versions and other dependency ver
 
 > `(WPILibVersion in format YYYY.MajorMinor).MMDD`
 
-For example, a TagalongLib release on January 1st, 2025 using WPILib version 2024.1.0 would be version `2025.10.0101`.
+For example, a TagalongLib release on January 1st, 2026 using WPILib version 2026.1.0 would be version `2026.10.0101`.

TagalongLib.json

@@ -1,7 +1,7 @@
 {
   "fileName": "TagalongLib.json",
   "name": "TagalongLib",
-  "version": "2026.1",
+  "version": "2026.2",
   "frcYear": "2026",
   "uuid": "32b609c1-86c7-4c61-a0f7-7debd9d77017",
   "mavenUrls": ["https://maven.pkg.github.com/Team1868/TagalongLib"],
@@ -10,7 +10,7 @@
     {
       "groupId": "com.tagalong.lib",
       "artifactId": "tagalonglib-java",
-      "version": "2026.1"
+      "version": "2026.0201.0226"
     }
   ],
   "jniDependencies": [],

build.gradle

@@ -56,16 +56,16 @@ apply from: 'config.gradle'
 // Apply Java configuration
 dependencies {
     implementation group: 'com.ctre.phoenix6', name: 'wpiapi-java', version: '26.1.0'
-    implementation group: 'org.littletonrobotics.akit', name: 'akit-java', version: '4.0.0'
+    implementation group: 'org.littletonrobotics.akit', name: 'akit-java', version: '26.0.0'
     implementation group: 'com.google.code.gson', name: 'gson', version: '2.11.0'
     implementation group: 'edu.wpi.first.wpilibj', name: 'wpilibj-java', version: '2026.2.1'
     implementation group: 'edu.wpi.first.wpiutil', name: 'wpiutil-java', version: '2026.2.1'
     implementation group: 'edu.wpi.first.wpimath', name: 'wpimath-java', version: '2026.2.1'
     implementation group: 'edu.wpi.first.wpilibNewCommands', name: 'wpilibNewCommands-java', version: '2026.2.1'
     implementation group: 'edu.wpi.first.wpiunits', name: 'wpiunits-java', version: '2026.2.1'
-    implementation group: 'edu.wpi.first.ntcore', name: 'ntcore-java', version: '2026.1.1-beta-1'
+    implementation group: 'edu.wpi.first.ntcore', name: 'ntcore-java', version: '2026.2.1'
     implementation group: 'edu.wpi.first.ntcore', name: 'ntcore-jni', version: '2025.3.2'
-    implementation group: 'edu.wpi.first.cscore', name: 'cscore-java', version: '2026.1.1-beta-1'
+    implementation group: 'edu.wpi.first.cscore', name: 'cscore-java', version: '2026.1.1'
 
     implementation 'us.hebi.quickbuf:quickbuf-runtime:1.4'
 

publish.gradle

@@ -2,7 +2,7 @@ apply plugin: 'maven-publish'
 
 ext.licenseFile = files("$rootDir/LICENSE.txt")
 
-def pubVersion = '2026.1.00'
+def pubVersion = '2026.0201.0226'
 
 def outputsFolder = file("$buildDir/outputs")
 

scripts/auto-copyright.sh

@@ -1,6 +1,6 @@
 #!/bin/bash
 
-# Copyright 2024 The Space Cookies : Girl Scout Troop #62868 and FRC Team #1868
+# Copyright 2024-2026 The Space Cookies : Girl Scout Troop #62868 and FRC Team #1868
 # Open Source Software; you may modify and/or share it under the terms of
 # the 3-Clause BSD License found in the root directory of this project.
 

scripts/update-docs.sh

@@ -1,6 +1,6 @@
 #!/bin/bash
 
-# Copyright 2024 The Space Cookies : Girl Scout Troop #62868 and FRC Team #1868
+# Copyright 2024-2026 The Space Cookies : Girl Scout Troop #62868 and FRC Team #1868
 # Open Source Software; you may modify and/or share it under the terms of
 # the 3-Clause BSD License found in the root directory of this project.
 

src/main/java/tagalong/TagalongConfiguration.java

@@ -1,5 +1,5 @@
 /**
- * Copyright 2024 The Space Cookies : Girl Scout Troop #62868 and FRC Team #1868
+ * Copyright 2024-2026 The Space Cookies : Girl Scout Troop #62868 and FRC Team #1868
  * Open Source Software; you may modify and/or share it under the terms of
  * the 3-Clause BSD License found in the root directory of this project.
  */

src/main/java/tagalong/commands/TagalongCommand.java

@@ -1,5 +1,5 @@
 /**
- * Copyright 2024 The Space Cookies : Girl Scout Troop #62868 and FRC Team #1868
+ * Copyright 2024-2026 The Space Cookies : Girl Scout Troop #62868 and FRC Team #1868
  * Open Source Software; you may modify and/or share it under the terms of
  * the 3-Clause BSD License found in the root directory of this project.
  */

src/main/java/tagalong/commands/aim/PivotAimAtCmd.java

@@ -1,5 +1,5 @@
 /**
- * Copyright 2024 The Space Cookies : Girl Scout Troop #62868 and FRC Team #1868
+ * Copyright 2024-2026 The Space Cookies : Girl Scout Troop #62868 and FRC Team #1868
  * Open Source Software; you may modify and/or share it under the terms of
  * the 3-Clause BSD License found in the root directory of this project.
  */

src/main/java/tagalong/commands/aim/PivotAimAtYawCompCmd.java

@@ -1,5 +1,5 @@
 /**
- * Copyright 2024 The Space Cookies : Girl Scout Troop #62868 and FRC Team #1868
+ * Copyright 2024-2026 The Space Cookies : Girl Scout Troop #62868 and FRC Team #1868
  * Open Source Software; you may modify and/or share it under the terms of
  * the 3-Clause BSD License found in the root directory of this project.
  */

src/main/java/tagalong/commands/aim/RollerAimAtCmd.java

@@ -1,5 +1,5 @@
 /**
- * Copyright 2024 The Space Cookies : Girl Scout Troop #62868 and FRC Team #1868
+ * Copyright 2024-2026 The Space Cookies : Girl Scout Troop #62868 and FRC Team #1868
  * Open Source Software; you may modify and/or share it under the terms of
  * the 3-Clause BSD License found in the root directory of this project.
  */

src/main/java/tagalong/commands/aim/RollerAimAtYawCompCmd.java

@@ -1,5 +1,5 @@
 /**
- * Copyright 2024 The Space Cookies : Girl Scout Troop #62868 and FRC Team #1868
+ * Copyright 2024-2026 The Space Cookies : Girl Scout Troop #62868 and FRC Team #1868
  * Open Source Software; you may modify and/or share it under the terms of
  * the 3-Clause BSD License found in the root directory of this project.
  */

src/main/java/tagalong/commands/base/ElevateToCmd.java

@@ -1,5 +1,5 @@
 /**
- * Copyright 2024 The Space Cookies : Girl Scout Troop #62868 and FRC Team #1868
+ * Copyright 2024-2026 The Space Cookies : Girl Scout Troop #62868 and FRC Team #1868
  * Open Source Software; you may modify and/or share it under the terms of
  * the 3-Clause BSD License found in the root directory of this project.
  */

src/main/java/tagalong/commands/base/ElevateToDynamicCmd.java

@@ -1,5 +1,5 @@
 /**
- * Copyright 2024 The Space Cookies : Girl Scout Troop #62868 and FRC Team #1868
+ * Copyright 2024-2026 The Space Cookies : Girl Scout Troop #62868 and FRC Team #1868
  * Open Source Software; you may modify and/or share it under the terms of
  * the 3-Clause BSD License found in the root directory of this project.
  */

src/main/java/tagalong/commands/base/ElevateXCmd.java

@@ -1,5 +1,5 @@
 /**
- * Copyright 2024 The Space Cookies : Girl Scout Troop #62868 and FRC Team #1868
+ * Copyright 2024-2026 The Space Cookies : Girl Scout Troop #62868 and FRC Team #1868
  * Open Source Software; you may modify and/or share it under the terms of
  * the 3-Clause BSD License found in the root directory of this project.
  */

src/main/java/tagalong/commands/base/ElevatorZeroCmd.java

@@ -1,5 +1,5 @@
 /**
- * Copyright 2024 The Space Cookies : Girl Scout Troop #62868 and FRC Team #1868
+ * Copyright 2024-2026 The Space Cookies : Girl Scout Troop #62868 and FRC Team #1868
  * Open Source Software; you may modify and/or share it under the terms of
  * the 3-Clause BSD License found in the root directory of this project.
  */

src/main/java/tagalong/commands/base/PivotEncoderlessZeroCmd.java

@@ -0,0 +1,129 @@
+/**
+ * Copyright 2024-2026 The Space Cookies : Girl Scout Troop #62868 and FRC Team #1868
+ * Open Source Software; you may modify and/or share it under the terms of
+ * the 3-Clause BSD License found in the root directory of this project.
+ */
+package tagalong.commands.base;
+
+import edu.wpi.first.wpilibj.Timer;
+import tagalong.commands.TagalongCommand;
+import tagalong.subsystems.TagalongSubsystemBase;
+import tagalong.subsystems.micro.Pivot;
+import tagalong.subsystems.micro.augments.PivotAugment;
+
+/**
+ * Command that finds the elevator zero position and sets the encoder position
+ * to zero.
+ */
+public class PivotEncoderlessZeroCmd<T extends TagalongSubsystemBase & PivotAugment>
+    extends TagalongCommand {
+  /**
+   * Pivot subsystem.
+   */
+  private final Pivot _pivot;
+  /**
+   * Pivot zeroing power in volts
+   */
+  private final double _powerV;
+  /**
+   * Angular distance traveled where the mechanism is still considered stalled
+   */
+  private final double _stallToleranceRot;
+  /**
+   * Time stalled before the system is considered zeroed in seconds
+   */
+  private final double _zeroingDurationS;
+  /**
+   * The angle of the pivot when initialized, in rotations.
+   */
+  private double _prevAngleRot;
+  /**
+   * The angle of the pivot when against the hardstop
+   */
+  private double _endAngleRot;
+  /**
+   * Timer to track the stall duration to ensure a true bottom
+   */
+  private Timer stallTimer = new Timer();
+
+  /**
+   * Construct the command according to the below parameters.
+   *
+   * @param pivot the pivot subsystem
+   * @param hardstopPositionRot the angle of the pivot when against the hardstop
+   * @param powerV speed and direction to drive the pivot into the hardstop
+   * @param stallToleranceRot angular distance traveled where the mechanism is still considered
+   *     stalled
+   * @param stallDurationS time stalled before the system is considered zeroed in seconds
+   */
+  public PivotEncoderlessZeroCmd(
+      T pivot,
+      double hardstopPositionRot,
+      double powerV,
+      double stallToleranceRot,
+      double stallDurationS
+  ) {
+    _pivot = pivot.getPivot();
+    _powerV = powerV;
+    _stallToleranceRot = stallToleranceRot;
+    _zeroingDurationS = stallDurationS;
+    addRequirements(pivot);
+  }
+
+  /**
+   * Construct the command according to the below parameters.
+   *
+   * @param id       Integer ID of the elevator microsystem inside the Tagalong
+   *                 Subsystem
+   * @param pivot the pivot subsystem
+   * @param hardstopPositionRot the angle of the pivot when against the hardstop
+   * @param powerV speed and direction to drive the pivot into the hardstop
+   * @param stallToleranceRot angular distance traveled where the mechanism is still considered
+   *     stalled
+   * @param stallDurationS time stalled before the system is considered zeroed in seconds
+   */
+  public PivotEncoderlessZeroCmd(
+      int id,
+      T pivot,
+      double hardstopPositionRot,
+      double powerV,
+      double stallToleranceRot,
+      double stallDurationS
+  ) {
+    _pivot = pivot.getPivot(id);
+    _powerV = powerV;
+    _stallToleranceRot = stallToleranceRot;
+    _zeroingDurationS = stallDurationS;
+    addRequirements(pivot);
+  }
+
+  @Override
+  public void initialize() {
+    _pivot.setPrimaryVolts(_powerV);
+    _prevAngleRot = _pivot.getPivotPosition();
+    stallTimer.reset();
+  }
+
+  @Override
+  public void execute() {
+    double currentAngleRot = _pivot.getPivotPosition();
+    if (Math.abs(_prevAngleRot - currentAngleRot) > _stallToleranceRot) {
+      stallTimer.reset();
+    } else {
+      stallTimer.start();
+    }
+    _prevAngleRot = currentAngleRot;
+  }
+
+  @Override
+  public void end(boolean interrupted) {
+    _pivot.setPrimaryPower(0.0);
+    if (!interrupted)
+      _pivot.setPivotPosition(_endAngleRot);
+  }
+
+  @Override
+  public boolean isFinished() {
+    return stallTimer.hasElapsed(_zeroingDurationS);
+  }
+}

src/main/java/tagalong/commands/base/PivotToAbsoluteCmd.java

@@ -1,5 +1,5 @@
 /**
- * Copyright 2024 The Space Cookies : Girl Scout Troop #62868 and FRC Team #1868
+ * Copyright 2024-2026 The Space Cookies : Girl Scout Troop #62868 and FRC Team #1868
  * Open Source Software; you may modify and/or share it under the terms of
  * the 3-Clause BSD License found in the root directory of this project.
  */

src/main/java/tagalong/commands/base/PivotToCmd.java

@@ -1,5 +1,5 @@
 /**
- * Copyright 2024 The Space Cookies : Girl Scout Troop #62868 and FRC Team #1868
+ * Copyright 2024-2026 The Space Cookies : Girl Scout Troop #62868 and FRC Team #1868
  * Open Source Software; you may modify and/or share it under the terms of
  * the 3-Clause BSD License found in the root directory of this project.
  */
@@ -374,12 +374,12 @@ public PivotToCmd(
    *                                     command
    * @param maxAccelerationRPS2          The maximum acceleration of the pivot, in rotations per
    *                                     second squared, during this command
-   * @param upperToleranceRot            The number of rotations beyond the target
-   *                                     position the pivot can be
-   *                                     while still being considered in tolerance
    * @param lowerToleranceRot            The number of rotations short of the
    *                                     target position the pivot can be
    *                                     while still being considered in tolerance
+   * @param upperToleranceRot            The number of rotations beyond the target
+   *                                     position the pivot can be
+   *                                     while still being considered in tolerance
    * @param requiredInToleranceDurationS The number of seconds that being in
    *                                     tolerance is required for
    */
@@ -512,6 +512,8 @@ public PivotToCmd(
    * @param maxVelocityRPS               The maximum velocity of the pivot, in
    *                                     rotations per second, during this
    *                                     command
+   * @param maxAccelerationRPS2          The maximum acceleration of the pivot, in rotations per
+   *                                     second squared, during this command
    * @param lowerToleranceRot            The number of rotations short of the
    *                                     target position the pivot can be
    *                                     while still being considered in tolerance

src/main/java/tagalong/commands/base/PivotToDynamicAbsoluteCmd.java

@@ -1,5 +1,5 @@
 /**
- * Copyright 2024 The Space Cookies : Girl Scout Troop #62868 and FRC Team #1868
+ * Copyright 2024-2026 The Space Cookies : Girl Scout Troop #62868 and FRC Team #1868
  * Open Source Software; you may modify and/or share it under the terms of
  * the 3-Clause BSD License found in the root directory of this project.
  */

src/main/java/tagalong/commands/base/PivotToDynamicCmd.java

@@ -1,5 +1,5 @@
 /**
- * Copyright 2024 The Space Cookies : Girl Scout Troop #62868 and FRC Team #1868
+ * Copyright 2024-2026 The Space Cookies : Girl Scout Troop #62868 and FRC Team #1868
  * Open Source Software; you may modify and/or share it under the terms of
  * the 3-Clause BSD License found in the root directory of this project.
  */

src/main/java/tagalong/commands/base/PivotXCmd.java

@@ -1,5 +1,5 @@
 /**
- * Copyright 2024 The Space Cookies : Girl Scout Troop #62868 and FRC Team #1868
+ * Copyright 2024-2026 The Space Cookies : Girl Scout Troop #62868 and FRC Team #1868
  * Open Source Software; you may modify and/or share it under the terms of
  * the 3-Clause BSD License found in the root directory of this project.
  */

src/main/java/tagalong/commands/base/RollToCmd.java

@@ -1,5 +1,5 @@
 /**
- * Copyright 2024 The Space Cookies : Girl Scout Troop #62868 and FRC Team #1868
+ * Copyright 2024-2026 The Space Cookies : Girl Scout Troop #62868 and FRC Team #1868
  * Open Source Software; you may modify and/or share it under the terms of
  * the 3-Clause BSD License found in the root directory of this project.
  */

src/main/java/tagalong/commands/base/RollToDynamicCmd.java

@@ -1,5 +1,5 @@
 /**
- * Copyright 2024 The Space Cookies : Girl Scout Troop #62868 and FRC Team #1868
+ * Copyright 2024-2026 The Space Cookies : Girl Scout Troop #62868 and FRC Team #1868
  * Open Source Software; you may modify and/or share it under the terms of
  * the 3-Clause BSD License found in the root directory of this project.
  */

src/main/java/tagalong/commands/base/RollXCmd.java

@@ -1,5 +1,5 @@
 /**
- * Copyright 2024 The Space Cookies : Girl Scout Troop #62868 and FRC Team #1868
+ * Copyright 2024-2026 The Space Cookies : Girl Scout Troop #62868 and FRC Team #1868
  * Open Source Software; you may modify and/or share it under the terms of
  * the 3-Clause BSD License found in the root directory of this project.
  */

src/main/java/tagalong/controls/FeedforwardConstants.java

@@ -1,5 +1,5 @@
 /**
- * Copyright 2024 The Space Cookies : Girl Scout Troop #62868 and FRC Team #1868
+ * Copyright 2024-2026 The Space Cookies : Girl Scout Troop #62868 and FRC Team #1868
  * Open Source Software; you may modify and/or share it under the terms of
  * the 3-Clause BSD License found in the root directory of this project.
  */

src/main/java/tagalong/controls/PIDConstants.java

@@ -1,5 +1,5 @@
 /**
- * Copyright 2024 The Space Cookies : Girl Scout Troop #62868 and FRC Team #1868
+ * Copyright 2024-2026 The Space Cookies : Girl Scout Troop #62868 and FRC Team #1868
  * Open Source Software; you may modify and/or share it under the terms of
  * the 3-Clause BSD License found in the root directory of this project.
  */

src/main/java/tagalong/controls/PIDSGVAConstants.java

@@ -1,5 +1,5 @@
 /**
- * Copyright 2024 The Space Cookies : Girl Scout Troop #62868 and FRC Team #1868
+ * Copyright 2024-2026 The Space Cookies : Girl Scout Troop #62868 and FRC Team #1868
  * Open Source Software; you may modify and/or share it under the terms of
  * the 3-Clause BSD License found in the root directory of this project.
  */

src/main/java/tagalong/devices/CanDeviceInterface.java

@@ -1,5 +1,5 @@
 /**
- * Copyright 2024 The Space Cookies : Girl Scout Troop #62868 and FRC Team #1868
+ * Copyright 2024-2026 The Space Cookies : Girl Scout Troop #62868 and FRC Team #1868
  * Open Source Software; you may modify and/or share it under the terms of
  * the 3-Clause BSD License found in the root directory of this project.
  */

src/main/java/tagalong/devices/Encoders.java

@@ -1,5 +1,5 @@
 /**
- * Copyright 2024 The Space Cookies : Girl Scout Troop #62868 and FRC Team #1868
+ * Copyright 2024-2026 The Space Cookies : Girl Scout Troop #62868 and FRC Team #1868
  * Open Source Software; you may modify and/or share it under the terms of
  * the 3-Clause BSD License found in the root directory of this project.
  */