Version 26.0.0-beta2

This is the beta release of Az-RBSI for the 2026 REBUILT season!

It works with the beta releases of WPILib 2026 and NI Game Tools. This release includes all of the functionality expected to be included in the 2026 Az-RBSI Kickoff Release, likely available about a week after this season's Kickoff (and all the relevant vendor libraries have updated to official 2026 versions).

We expect to release a feature-addition version (v26.1) in mid-February that includes:

#88 - A buffered vision pose estimator
#89 - A "Leave Auto" based on the 2026 REBUILT released game for basic Autonomous functionality
#93 - A "standard" Az-RBSI AdvantageScope layout for ease of diagnostics

What's Changed

Exciting New Features 🎉

• Implement Autopilot for drive-to-pose functionality by @tbowers7 in #92

Other Changes

• Bump io.freefair.lombok from 9.0.+ to 9.1.0 by @dependabot[bot] in #65
• GitHub Action updates ahead of the 2026 season by @tbowers7 in #85
• Update RBSI to 2026 libraries and breaking changes by @tbowers7 in #91
• Move gyro implementation to IMU subsystem by @tbowers7 in #94
• Prep for v26.0.0-beta1 release by @tbowers7 in #95
• Pull in develop for v26.0.0-beta1 release by @tbowers7 in #96
• Pull in admin for v26.0.0-beta1 release by @tbowers7 in #97
• Safe template updating by @tbowers7 in #98

Full Changelog: v1.0.0-rc3...v26.0.0-beta2

Version 26.0.0-beta1

⚠ This release contained a bug in the Template Sync action and should be ignored. ⚠

Full Changelog: v1.0.0-rc3...v26.0.0-beta1

v1.0.0 Release Candidate 3

Some more small fixes related to memory errors on the Rio1.

If you are running into continual Insufficient Memory Errors on the Rio1, try disabling the Rio's webserver using the instructions in this Chief Delphi post: https://www.chiefdelphi.com/t/consistent-insufficient-memory-error/454253/7

When you update your team's robot code from v1.0.0-rc2, you will need to manually delete the following files:

     src/main/deploy/apriltags/2024-amps.json
     src/main/deploy/apriltags/2024-official.json
     src/main/deploy/apriltags/2024-speakers.json
     src/main/deploy/apriltags/2024-wpi.json
     vendordeps/ReduxLib-2025.0.0.json
     vendordeps/Studica-2025.0.0.json
     vendordeps/yagsl-2025.1.3.jwt151.json

What's Changed

Other Changes

• Vendordep patch updates by @tbowers7 in #40
• Bump io.freefair.lombok from 8.11 to 8.12 by @dependabot in #41
• Attempts to Fix Insufficient Memory Errors by @tbowers7 in #42
• Merge develop into main for RC3 by @tbowers7 in #43

Full Changelog: v1.0.0-rc2...v1.0.0-rc3

v1.0.0 Release Candidate 2

Testing of Release Candidate 1 showed issues related to PathPlanner acting erratically. This was traced down to a unit conversion error.

Vendor libraries updated to the latest available, including PhotonVision 2025 and AdvantageKit 4.1.0.

What's Changed

Other Changes

• Bump com.diffplug.spotless from 6.25.0 to 7.0.1 by @dependabot in #31
• Rename default auto paths by @tbowers7 in #34
• Vendor library updates for RC2 by @tbowers7 in #35
• Bump com.diffplug.spotless from 6.25.0 to 7.0.2 by @dependabot in #37
• Fix Unit Problem and Align code with AK2025 TalonFX Template by @tbowers7 in #36
• Merge develop into main for RC2 by @tbowers7 in #38

Full Changelog: v1.0.0-rc1...v1.0.0-rc2

v1.0.0-rc1

This is the first Release Candidate for v1.0.0.

What's Changed

The major changes since Beta 1 are the addition of power monitoring, conformal changes to match the various vendor library 2025 kickoff releases, and better organizing the various constants that teams will need to change into a single location (Constants.java).

Other Changes

• Pull main into develop by @tbowers7 in #21
• Include power monitoring by @tbowers7 in #23
• Update WPILib, vendordeps; make conformal changes by @tbowers7 in #24
• Clean up the definition of constants by @tbowers7 in #25
• Smooth out the driving by @tbowers7 in #28
• Small changes to prepare for RC1 release by @tbowers7 in #29
• Merge develop into main for v1.0.0-rc1 release by @tbowers7 in #30

Full Changelog: v1.0.0-beta-1...v1.0.0-rc1

v1.0.0-beta-1

Important

WPILib: This beta is based on the WPILib 2025.1.1 Beta 2 Release -- it has not yet been tested with the WPILib 2025.1.1 Beta 3 Release that dropped on December 17!

What's Changed

• Updated everything to 2025-beta libraries and dependencies
• Install Az-RBSI as a "Template Repository"
• Incorporated changes in AdvantageKit 2025 for logging and building

Other Changes

• Add issue templates by @tbowers7 in #8
• 2025 changes by @tbowers7 in #11
• Staged alpha 1 by @tbowers7 in #14
• Merge v1.0.0-beta-1 into main for release by @tbowers7 in #17

Full Changelog: v1.0.0-alpha-1...v1.0.0-beta-1

Important note about drivebase configuration:

This beta release has been tested on all-CTRE drive bases only. While other drive base configurations are supported in this release, caveat emptor. For all teams, please expect to find and report bugs via the GitHub Issues feature. See the Install Instructions for more details.

v1.0.0-alpha-1

What's Changed

First Alpha Release of v1.0.0

• Needs extensive testing on different drive bases.
• Needs extensive testing with both PathPlanner and Choreo autonomous creators.
• Vision not yet integrated.
• Power Monitoring not yet integrated (causes the motors to behave weirdly).

Full Changelog: https://github.com/AZ-First/Az-RBSI/commits/v1.0.0-alpha-1

---

Installation / Getting Started:

• Clone the repo / make a branch for yourself for submitting PRs back to main.
• Insert your team number in .wpilib/wpilib_preferences.json -- we probably need to find a better way to deal with this.
• Use Phoenix Tuner X to create a swerve project. Follow the instructions in the Phoenix documentation for the Tuner X Swerve Project Generator. This will generate the correct offsets and inversions for your drive train.
• On the final screen in Tuner X, choose "Generate only TunerConstants" and overwrite the file located at src/main/java/frc/robot/generated/TunerConstants.java.
• In TunerConstants.java, comment out the last import and last method. Before removing them, both lines will be marked as errors in VSCode.
• In TunerConstants.java, change kSteerInertia to 0.004 and kDriveInertia to 0.025.
• The Az-RBSI expects an Xbox-style controller -- if you have a PS4 or other, change this at the top of RobotContainer.java.