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Migrates the project onto the WPILib 2027 alpha toolchain, including GradleRIO 2027 alpha, the updated Gradle wrapper, refreshed WPILib settings, and the SystemCore-era package/API changes throughout the robot code and tests. This also moves the robot entry point into the new `first` package shape expected by the importer. Updates the robot source tree for 2027-compatible WPILib, CTRE, REV, PathPlanner, PhotonVision, AdvantageKit, Autopilot, URCL, and CommandsV2 APIs. This includes broad import/package updates, motor/controller constructor changes, timer API updates, geometry/kinematics type changes, logging adjustments, and test fixes needed for the migrated APIs. Temporarily disables dependency paths that are not yet 2027/SystemCore compatible. Choreo, YAGSL, Studica/NavX, ReduxLib, ThriftyLib, Phoenix 5, and maple-sim vendordeps are removed, while their source integrations are stubbed or commented with TODOs so they can be restored once compatible vendor releases exist. Autopilot is kept via the forked 2027 vendordep. Removes the old YAGSL/Studica runtime dependency surface from active code, including the YAGSL constants parser, NavX IMU implementation, and Choreo auto controller/follower paths. `RobotConstants.kChassisMatter` is removed entirely because physics simulation will be revisited later with an appropriate 2027-compatible model. Adjusts field and vision support for the migrated WPILib layout classes by preserving the original AprilTag JSON text for PhotonVision instead of reserializing `AprilTagFieldLayout`. The drive, IMU, accelerometer, vision, flywheel example, utility, and generated tuner constants code paths are updated to compile and test against the 2027 alpha libraries. Refreshes tests for the new CTRE and WPILib APIs, including explicit default `CANBus` construction and `Timer.getTimestamp()`. The staged state was validated with `./gradlew build -Dorg.gradle.java.home=/Users/tbowers/wpilib/2027_alpha5/jdk`, which passes with 39 tests green. Adds 2027 season presentation assets and README updates, including CANOPY and FRC BIOCORE logos, BIOCORE VS Code theme installation instructions, and moving the AZ-FIRST logo into `assets/` so repository imagery is organized under the assets tree.
Preserve the raw gyro reference during pose-estimator resets while exposing the field-aligned estimator heading to callers. Track accepted vision timing so PathPlanner keeps a recently localized pose instead of unconditionally replacing it with the nominal starting pose. Co-authored-by: Codex <codex@openai.com>
Simplify drivetrain, vision, field-state, and registry decisions while replacing fixed module counts and repeated branches with clearer data-driven loops. Consolidate alert and odometry queue handling, eliminate unnecessary allocations, and cover HUB shift boundaries with focused tests. Co-authored-by: Codex <codex@openai.com>
Validate the selected PathPlannerAuto against its alliance-correct starting pose before scheduling it. Preserve fresh vision inside the 0.5 meter tolerance, reset an uninitialized or visionless estimator to the path start, and block drivetrain output with an alert when trusted vision places the robot elsewhere. Keep the pose estimator and external pose buffer advancing while disabled, and move accepted vision into a bounded queue owned by DriveOdometry. Apply no more than two estimates per loop, retain timestamped estimator history after the initial disabled localization snap, and log queue depth, drops, and processing. Replace the Phoenix and Spark sampling queues with overwrite-oldest buffers so overload retains current measurements. Refresh module CTRE telemetry in one drivetrain-wide operation and add sub-timers for bulk refresh, lock wait, module draining, estimator work, vision application, and total odometry cost. Process only the newest unread PhotonVision and Limelight result from each stream, reuse cached power-channel readings, and lower the PathPlanner strafe gain to 3.0. These changes bound stale work while preserving current sensor data and per-module connection diagnostics. Add tests for PathPlanner start decisions and overwrite-oldest queue ordering. The complete WPILib 2027 build passes all 43 tests, including the existing drivetrain, vision, simulation, and utility coverage. Co-authored-by: Codex <codex@openai.com>
Pass the current rotation directly into the alliance heading helper, keeping field-relative drive calculations explicit at both call sites. Co-authored-by: OpenAI Codex <noreply@openai.com>
Co-authored-by: Codex <codex@openai.com>
Co-authored-by: Codex <codex@openai.com>
Default the front modules, back modules, and Pigeon to separate native SystemCore buses while keeping each complete module and the IMU independently assignable. Map the historical RIO mechanism alias to can_s1 and remove the unused DriveTrain bus constant. Align generated Tuner examples and test fixtures with can_s* names. Document one-, two-, and three-bus wiring choices, the default front/back/IMU layout, and how teams configure other splits. Verify the targeted constants and utility tests with the bundled Java 25. Co-authored-by: Codex <codex@openai.com>
tbowers7
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Season Upgrade
Configure both CI jobs with Temurin 25 and align dependency submission with the 2027 Java target. Co-authored-by: Codex <codex@openai.com>
Replace the legacy roboRIO cross-build container so native WPILib test libraries can load with the required C++ runtime. Co-authored-by: Codex <codex@openai.com>
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Summary
Merge
sc2027intodevelopas the Commands V2 baseline for Az-RBSI’s 2027 releases. This branch does not implement Commands V3; that will be maintained separately.Changes
can_s2for front modules,can_s3for back modules,can_s4for the IMU, andcan_s1for mechanisms.Compatibility and follow-up
This branch currently uses GradleRIO 2027.0.0-alpha-6 and a Commands V2 vendordep. Choreo, YAGSL, NavX/Studica, and several other integrations are disabled pending compatible 2027 releases. Teams must verify CAN assignments and drive behavior on their hardware before deployment. The kickoff release will require a further dependency and API update.
Validation
The autonomous localization commit reports a passing build with 43 tests; the latest CAN-layout commit reports passing targeted constants and utility tests. I did not rerun the test suite while drafting this description.