Port Az-RBSI to WPILib 2027 and SystemCore with Commands V2

.github/workflows/ci.yaml

@@ -10,13 +10,18 @@ jobs:
   # ------------------------------------------------------------
   build:
     runs-on: ubuntu-latest
-    container: wpilib/roborio-cross-ubuntu:2024-22.04
     if: ${{ github.event_name != 'pull_request' || github.event.pull_request == null }}
 
     steps:
       - name: Checkout repository
         uses: actions/checkout@v7
 
+      - name: Set up Java 25
+        uses: actions/setup-java@v6.0.1
+        with:
+          distribution: temurin
+          java-version: '25'
+
       - name: Mark repo as safe for git
         run: git config --global --add safe.directory $GITHUB_WORKSPACE
 
@@ -34,13 +39,18 @@ jobs:
   # ------------------------------------------------------------
   spotless:
     runs-on: ubuntu-latest
-    container: wpilib/roborio-cross-ubuntu:2024-22.04
     # Only run for PRs or pushes targeting main/develop
     if: github.base_ref == 'main' || github.base_ref == 'develop' || github.ref == 'refs/heads/main' || github.ref == 'refs/heads/develop'
     steps:
       - name: Checkout repository
         uses: actions/checkout@v7
 
+      - name: Set up Java 25
+        uses: actions/setup-java@v6.0.1
+        with:
+          distribution: temurin
+          java-version: '25'
+
       - name: Grant execute permission for gradlew
         run: chmod +x gradlew
 

.github/workflows/dependency-submission.yml

@@ -21,6 +21,6 @@ jobs:
       uses: actions/setup-java@v6.0.1
       with:
         distribution: 'temurin'
-        java-version: 17
+        java-version: '25'
     - name: Generate and submit dependency graph
       uses: gradle/actions/dependency-submission@v6

.vscode/launch.json

@@ -5,7 +5,7 @@
       "type": "java",
       "name": "Main",
       "request": "launch",
-      "mainClass": "frc.robot.Main",
+      "mainClass": "first.Main",
       "projectName": "Az-RBSI"
     },
     {

.vscode/settings.json

@@ -46,7 +46,7 @@
     "org.mockito.Mockito.*",
     "org.mockito.ArgumentMatchers.*",
     "org.mockito.Answers.*",
-    "edu.wpi.first.units.Units.*"
+    "org.wpilib.units.Units.*"
   ],
   "java.completion.filteredTypes": [
     "java.awt.*",
@@ -62,9 +62,9 @@
     "javax.swing.*",
     "javax.management.*",
     "javax.smartcardio.*",
-    "edu.wpi.first.math.proto.*",
-    "edu.wpi.first.math.**.proto.*",
-    "edu.wpi.first.math.**.struct.*",
+    "org.wpilib.math.proto.*",
+    "org.wpilib.math.**.proto.*",
+    "org.wpilib.math.**.struct.*",
     null
   ],
   "editor.defaultFormatter": "richardwillis.vscode-spotless-gradle",

.wpilib/wpilib_preferences.json

@@ -1,6 +1,6 @@
 {
   "enableCppIntellisense": false,
   "currentLanguage": "java",
-  "projectYear": "2026",
+  "projectYear": "2027_alpha5",
   "teamNumber": 9986
 }

README.md

@@ -1,6 +1,6 @@
 [![CI](https://github.com/AZ-First/Az-RBSI/actions/workflows/ci.yaml/badge.svg)](https://github.com/AZ-First/Az-RBSI/actions/workflows/ci.yaml)
 
-![AzFIRST Logo](https://github.com/AZ-First/Az-RBSI/blob/main/AZ-First-logo.png?raw=true)
+![AzFIRST Logo](assets/AZ-First-logo.png)
 
 # Az-RBSI
 
@@ -11,6 +11,22 @@ Az-RBSI is a robot-code template for teams that want a reliable swerve,
 odometry, vision, autonomous, logging, and tuning baseline without starting from
 an empty project.
 
+## 2027 CANOPY/BIOCORE
+
+<p>
+  <img src="assets/season-2027/first-canopy-logo.png" alt="FIRST CANOPY logo" width="260">
+  <img src="assets/season-2027/first-biocore-frc-lockup.png" alt="FRC BIOCORE logo" width="300">
+</p>
+
+To use the BIOCORE VS Code theme:
+
+1. Open the Extensions view in VS Code.
+2. Select `...` > `Install from VSIX...`.
+3. Install
+   [`themes/frc-biocore-high-contrast-theme-1.0.1.vsix`](themes/frc-biocore-high-contrast-theme-1.0.1.vsix).
+4. Run `Preferences: Color Theme` from the command palette and select
+   `FRC BIOCORE High Contrast`.
+
 ## Documentation
 
 Start with the full documentation index:

build.gradle

@@ -1,15 +1,16 @@
 plugins {
     id "java"
-    id "edu.wpi.first.GradleRIO" version "2026.2.1"
+    id "org.wpilib.GradleRIO" version "2027.0.0-alpha-6"
+    id "com.gradleup.shadow" version "9.3.0"
     id "com.peterabeles.gversion" version "1.11.0"
     id "com.diffplug.spotless" version "8.10.4"
     id "io.freefair.lombok" version "9.8.2"
     id "com.google.protobuf" version "0.10.0"
 }
 
 java {
-    sourceCompatibility = JavaVersion.VERSION_17
-    targetCompatibility = JavaVersion.VERSION_17
+    sourceCompatibility = JavaVersion.VERSION_25
+    targetCompatibility = JavaVersion.VERSION_25
 }
 
 sourceSets {
@@ -20,52 +21,43 @@ sourceSets {
     }
 }
 
-def ROBOT_MAIN_CLASS = "frc.robot.Main"
+def ROBOT_MAIN_CLASS = "first.Main"
 
-// Define my targets (RoboRIO) and artifacts (deployable files)
+// Define my targets (SystemCore) and artifacts (deployable files)
 // This is added by GradleRIO's backing project DeployUtils.
 deploy {
     targets {
-        roborio(getTargetTypeClass('RoboRIO')) {
+        systemcore(getTargetTypeClass('SystemCore')) {
             // Team number is loaded either from the .wpilib/wpilib_preferences.json
             // or from command line. If not found an exception will be thrown.
             // You can use getTeamOrDefault(team) instead of getTeamNumber if you
             // want to store a team number in this file.
-            team = project.frc.getTeamNumber()
-            debug = project.frc.getDebugOrDefault(false)
+            team = project.wpilib.getTeamNumber()
+            // Use the default systemcore host name. This must be called after setting team
+            // as happens on the line above
+            useDefaultSystemcoreHostName()
+            debug = project.wpilib.getDebugOrDefault(false)
 
             artifacts {
                 // First part is artifact name, 2nd is artifact type
                 // getTargetTypeClass is a shortcut to get the class type using a string
 
-                frcJava(getArtifactTypeClass('FRCJavaArtifact')) {
-                    jvmArgs.add("-XX:+UnlockExperimentalVMOptions")
-                    jvmArgs.add("-XX:GCTimeRatio=5")
-                    jvmArgs.add("-XX:+UseSerialGC")
-                    jvmArgs.add("-XX:MaxGCPauseMillis=50")
-
-                    // The options below may improve performance, but should only be enabled on the RIO 2
-                    //
-                    // final MAX_JAVA_HEAP_SIZE_MB = 100;
-                    // jvmArgs.add("-Xmx" + MAX_JAVA_HEAP_SIZE_MB + "M")
-                    // jvmArgs.add("-Xms" + MAX_JAVA_HEAP_SIZE_MB + "M")
-                    // jvmArgs.add("-XX:+AlwaysPreTouch")
+                wpilibJava(getArtifactTypeClass('WPILibJavaArtifact')) {
                 }
 
                 // Static files artifact
-                frcStaticFileDeploy(getArtifactTypeClass('FileTreeArtifact')) {
+                wpilibStaticFileDeploy(getArtifactTypeClass('FileTreeArtifact')) {
                     files = project.fileTree('src/main/deploy')
-                    directory = '/home/lvuser/deploy'
-                    // Change to true to delete files on roboRIO that no
+                    directory = '/home/systemcore/deploy'
+                    deleteOldFiles = false // Change to true to delete files on systemcore that no
                     // longer exist in deploy directory of this project
-                    deleteOldFiles = true
                 }
             }
         }
     }
 }
 
-def deployArtifact = deploy.targets.roborio.artifacts.frcJava
+def deployArtifact = deploy.targets.systemcore.artifacts.wpilibJava
 
 // Set to true to use debug for all targets including JNI, which will drastically impact
 // performance.
@@ -81,11 +73,11 @@ dependencies {
     implementation wpi.java.deps.wpilib()
     implementation wpi.java.vendor.java()
 
-    roborioDebug wpi.java.deps.wpilibJniDebug(wpi.platforms.roborio)
-    roborioDebug wpi.java.vendor.jniDebug(wpi.platforms.roborio)
+    systemcoreDebug wpi.java.deps.wpilibJniDebug(wpi.platforms.systemcore)
+    systemcoreDebug wpi.java.vendor.jniDebug(wpi.platforms.systemcore)
 
-    roborioRelease wpi.java.deps.wpilibJniRelease(wpi.platforms.roborio)
-    roborioRelease wpi.java.vendor.jniRelease(wpi.platforms.roborio)
+    systemcoreRelease wpi.java.deps.wpilibJniRelease(wpi.platforms.systemcore)
+    systemcoreRelease wpi.java.vendor.jniRelease(wpi.platforms.systemcore)
 
     nativeDebug wpi.java.deps.wpilibJniDebug(wpi.platforms.desktop)
     nativeDebug wpi.java.vendor.jniDebug(wpi.platforms.desktop)
@@ -98,6 +90,9 @@ dependencies {
     testImplementation 'org.junit.jupiter:junit-jupiter:6.1.3'
     testRuntimeOnly 'org.junit.platform:junit-platform-launcher'
 
+    implementation 'com.fasterxml.jackson.core:jackson-core:2.21.6'
+    implementation 'com.fasterxml.jackson.core:jackson-databind:2.21.6'
+
     def akitJson = new groovy.json.JsonSlurper().parseText(new File(projectDir.getAbsolutePath() + "/vendordeps/AdvantageKit.json").text)
     implementation "org.littletonrobotics.akit:akit-java:$akitJson.version"
     annotationProcessor "org.littletonrobotics.akit:akit-autolog:$akitJson.version"
@@ -112,23 +107,21 @@ test {
 wpi.sim.addGui().defaultEnabled = true
 wpi.sim.addDriverstation()
 
-// Setting up my Jar File. In this case, adding all libraries into the main jar ('fat jar')
-// in order to make them all available at runtime. Also adding the manifest so WPILib
-// knows where to look for our Robot Class.
-jar {
-    from {
-        configurations.runtimeClasspath.collect {
-            it.isDirectory() ? it : zipTree(it)
-        }
-    }
-    from sourceSets.main.allSource
-    manifest edu.wpi.first.gradlerio.GradleRIOPlugin.javaManifest(ROBOT_MAIN_CLASS)
+// Setting up my Jar File. In this case, adding all libraries into the main jar ('fat/shaded jar')
+// in order to make them all available at runtime and merging service files to make JSON work.
+// Also adding the manifest so WPILib knows where to look for our Robot Class.
+shadowJar {
+    mergeServiceFiles()
+    from('src') { into 'backup/src' }
+    from('vendordeps') { into 'backup/vendordeps' }
+    from('build.gradle') { into 'backup' }
+    manifest org.wpilib.gradlerio.GradleRIOPlugin.javaManifest(ROBOT_MAIN_CLASS)
     duplicatesStrategy = DuplicatesStrategy.INCLUDE
 }
 
 // Configure jar and deploy tasks
-deployArtifact.jarTask = jar
-wpi.java.configureExecutableTasks(jar)
+deployArtifact.jarTask = shadowJar
+wpi.java.configureExecutableTasks(shadowJar)
 wpi.java.configureTestTasks(test)
 
 // Configure string concat to always inline compile
@@ -139,18 +132,21 @@ tasks.withType(JavaCompile) {
 // Create version file
 project.compileJava.dependsOn(createVersionFile)
 gversion {
-    srcDir       = "src/main/java/"
+    srcDir = "src/main/java/"
     classPackage = "frc.robot"
-    className    = "BuildConstants"
-    dateFormat   = "yyyy-MM-dd HH:mm:ss z"
-    timeZone     = "America/Phoenix"
-    indent       = "  "
+    className = "BuildConstants"
+    dateFormat = "yyyy-MM-dd HH:mm:ss z"
+    timeZone = "America/Phoenix"
+    indent = "  "
 }
 
 // Create commit with working changes on event branches
+def deployRequested = gradle.startParameter.taskNames.any({
+    it.toLowerCase().contains("deploy")
+})
 task(eventDeploy) {
     doLast {
-        if (project.gradle.startParameter.taskNames.any({ it.toLowerCase().contains("deploy") })) {
+        if (deployRequested) {
             def branchPrefix = "event"
             def branch = 'git branch --show-current'.execute().text.trim()
             def commitMessage = "Update at '${new Date().toString()}'"
@@ -183,7 +179,7 @@ createVersionFile.dependsOn(eventDeploy)
 // Spotless formatting
 project.compileJava.dependsOn(spotlessApply)
 spotless {
-    enforceCheck true
+    enforceCheck = true
     java {
         target fileTree('.') {
             include '**/*.java'

doc/INSTALL.md

@@ -10,7 +10,8 @@ following components on your laptop and devices.
 * Driver Station `Version 26.0` (comes with the FRC Game Tools from National
   Instruments)
 * CTRE Tuner X `26.2.4.0`, with all devices running firmware `26.0` or newer.
-  This includes all motors, CANivore, Pigeon 2.0, and all CANcoders.
+  This includes all motors, Pigeon 2.0, and all CANcoders. The 2027 SystemCore
+  template uses native `can_s*` ports for its recommended drive layout.
 * REV Hardware Client `2.0`, with the PDH, all SPARK MAXs, and other devices
   running firmware `26.1` or newer.
 * Vivid Hosting Radio firmware `2.0.1` or newer is required for competition this
@@ -159,7 +160,11 @@ steps you need to complete:
 10. Open [RBSI-Constants.md](RBSI-Constants.md) and work through the sections
    that match your robot. At minimum, verify `RobotDevices`,
    `DrivebaseConstants`, `OperatorConstants`, `AutoConstants`, and
-   `VisionConstants` before your first serious drive test.
+   `VisionConstants` before your first serious drive test. Set the five
+   `DrivebaseConstants` bus assignments to match the physical SystemCore ports;
+   see [CAN bus assignments](RBSI-Constants.md#canbuses). The default places
+   front modules on `can_s2`, back modules on `can_s3`, the Pigeon on `can_s4`,
+   and mechanisms on `can_s1`.
 
 
 **NOTE:** If you have any other combination of hardware (including REV NEOs,

doc/RBSI-Constants.md

@@ -98,11 +98,44 @@ Tune these early for the real robot:
 `CANBuses` names the robot CAN networks:
 
 - `RIO`
-- `DRIVE`
-- `ALL`
-
-These names must match CTRE, REV, and generated swerve configuration expectations. Add any
-additional CANivore or vendor buses here and include them in `ALL` so health monitoring sees them.
+- `SYSTEMCORE_0` through `SYSTEMCORE_4` (`can_s0` through `can_s4`)
+- `ALL`, built from the buses actually selected for drive devices plus `RIO`
+
+The five SystemCore names are its native interfaces, ordered left to right. `RIO` is a historical
+name for the mechanism bus; it now aliases `SYSTEMCORE_1` (`can_s1`), not a roboRIO CAN network.
+The registry initializes and health-monitors every bus in `ALL`. Add other mechanism buses to
+`ALL` if you assign devices outside the drivebase to them.
+
+`DrivebaseConstants` has one CAN assignment for each complete module (`kFLCANBus`, `kFRCANBus`,
+`kBLCANBus`, and `kBRCANBus`) plus an independent `kPigeonCANBus`. A module's drive motor, steer
+motor, and encoder always use its single selected bus; they cannot be split through these
+constants. `RobotDevices` inherits these assignments through `SwerveConstants`, so CAN identity
+and power monitoring stay consistent. The default follows FRC-2026: front modules on `can_s2`, back
+modules on `can_s3`, Pigeon on `can_s4`, and mechanisms on `can_s1`. Port `can_s0` is available.
+
+Change the five `DrivebaseConstants` assignments to match your wiring. These are useful layouts;
+each row lists the front-left, front-right, back-left, back-right, and Pigeon buses in that order:
+
+| Drive buses | FL | FR | BL | BR | Pigeon |
+| --- | --- | --- | --- | --- | --- |
+| One | `can_s2` | `can_s2` | `can_s2` | `can_s2` | `can_s2` |
+| Two, front + IMU / back | `can_s2` | `can_s2` | `can_s3` | `can_s3` | `can_s2` |
+| Two, left + IMU / right | `can_s2` | `can_s3` | `can_s2` | `can_s3` | `can_s2` |
+| Three, front / back / IMU (default) | `can_s2` | `can_s2` | `can_s3` | `can_s3` | `can_s4` |
+| Three, left / right / IMU | `can_s2` | `can_s3` | `can_s2` | `can_s3` | `can_s4` |
+
+The five assignments can also use any other `SYSTEMCORE_*` port independently, up to five drive
+buses. Keep all three devices of a module together. Assign the Pigeon to the desired bus, and
+check that each assigned physical port and CAN ID match the hardware. `ALL` follows these values
+automatically; add separately assigned mechanism buses manually.
+REV's 2027 motor constructors use numbered native SystemCore CAN ports; this project maps the
+`SYSTEMCORE_*` names to those ports and rejects an external named bus for a REV motor. Generated
+Phoenix Tuner constants may still contain a single-bus name; the runtime device constructors use
+the assignments above. Keep generated files as calibration inputs and configure the bus split here.
+
+Placing modules on separate buses limits the scope of a bus failure, but does not itself implement
+three-module fault-tolerant swerve control. Validate the wiring and loss-of-device behavior on
+hardware before relying on device-out operation.
 
 ## RobotDevices
 

doc/RBSI-Drive.md

@@ -75,6 +75,12 @@ Check these first:
 - Pigeon/NavX configuration,
 - PDH/PDP power ports.
 
+For SystemCore wiring, select one bus per complete module with `kFLCANBus`, `kFRCANBus`,
+`kBLCANBus`, and `kBRCANBus` in `Constants.DrivebaseConstants`; the Pigeon has a separate
+`kPigeonCANBus`. A module's drive, steer, and encoder must all be wired to its selected bus. The
+default uses front / back / IMU on `can_s2` / `can_s3` / `can_s4`, with mechanisms on `can_s1`.
+See [CAN bus assignments](RBSI-Constants.md#canbuses) for one, two, and three bus layouts.
+
 The power-port mapping does not control motors, but it affects current logging
 and subsystem power monitoring. Bad power-port maps make electrical debugging
 much harder.
@@ -87,6 +93,7 @@ Important values in `DrivebaseConstants`:
 - `kMaxLinearAccelMetersPerSecSq`
 - `kWheelRadiusMeters`
 - `kSlipCurrentAmps`
+- `kPigeonCANBus` and the four module CAN bus assignments
 - `kDriveP`, `kDriveD`, `kDriveS`, `kDriveV`, `kDriveA`, `kDriveT`
 - `kSteerP`, `kSteerD`, `kSteerS`
 - `kStrafeP`, `kStrafeI`, `kStrafeD`