Change docstring of addVisionEstimation to include coordinate system

.github/workflows/release.yml

@@ -6,6 +6,10 @@ on:
         description: "Release version number"
         type: string
         required: true
+      publish:
+        type: boolean
+        description: "Publish to WPILib"
+        default: false
 jobs:
   build:
     runs-on: ubuntu-latest
@@ -49,6 +53,7 @@ jobs:
         run: git add . && git commit -m "Automatically add YAGSL version ${{inputs.releaseVersion}}" && git push
         working-directory: ${{ env.workingDirectory }}/build/maven/
       - name: Create Vendor JSON Repo PR
+        if: ${{ inputs.publish == true }}
         uses: wpilibsuite/vendor-json-repo/.github/actions/add_vendordep@main
         with:
           repo: Yet-Another-Software-Suite/vendor-json-repo

README.md

@@ -16,7 +16,7 @@ used in both TimedRobot and Command-Based Robot templates.
 Vendor URL:
 
 ```
-https://yet-another-software-suite.github.io/YAGSL/yagsl/yagsl.json
+https://yet-another-software-suite.github.io/YAGSL/yagsl.json
 ```
 
 [Javadocs here](https://yet-another-software-suite.github.io/YAGSL/javadocs/)  
@@ -35,7 +35,7 @@ Development happens here!
 # Support our developers!
 Visit our organization [here](https://yetanothersoftwaresuite.com)
 
-### TL;DR Generate and download your configuration [here](https://broncbotz3481.github.io/YAGSL-Example/) and unzip it so that it follows structure below:
+### TL;DR Generate and download your configuration [here](https://yet-another-software-suite.github.io/YAGSL/config_generator/) and unzip it so that it follows structure below:
 
 ```text
 deploy
@@ -73,4 +73,4 @@ SwerveDrive swerveDrive=new SwerveParser(new File(Filesystem.getDeployDirectory(
 
 # Special Thanks to Team 7900! Trial N' Terror
 Without the debugging and aid of Team 7900 the project could never be as stable or active as it is.
-Falcon Support would not have been possible without support from Team 1466 Webb Robotics!
+Falcon Support would not have been possible without support from Team 1466 Webb Robotics!

examples/clock_drive_drivebase/.wpilib/wpilib_preferences.json

@@ -1,6 +1,6 @@
 {
     "enableCppIntellisense": false,
     "currentLanguage": "java",
-    "projectYear": "2025",
+    "projectYear": "2026beta",
     "teamNumber": 3481
 }

examples/clock_drive_drivebase/build.gradle

@@ -1,13 +1,21 @@
 plugins {
     id "java"
-    id "edu.wpi.first.GradleRIO" version "2025.3.1"
+    id "edu.wpi.first.GradleRIO" version "2026.1.1"
 }
 
 java {
     sourceCompatibility = JavaVersion.VERSION_17
     targetCompatibility = JavaVersion.VERSION_17
 }
 
+sourceSets {
+    main {
+        java {
+           srcDir '../../yagsl/java/'
+        }
+    }
+}
+
 def ROBOT_MAIN_CLASS = "frc.robot.Main"
 
 // Define my targets (RoboRIO) and artifacts (deployable files)
@@ -34,7 +42,7 @@ deploy {
                     files = project.fileTree('src/main/deploy')
                     directory = '/home/lvuser/deploy'
                     deleteOldFiles = false // Change to true to delete files on roboRIO that no
-                    // longer exist in deploy directory of this project
+                                           // longer exist in deploy directory of this project
                 }
             }
         }
@@ -43,7 +51,8 @@ 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.
@@ -69,6 +78,7 @@ dependencies {
     nativeRelease wpi.java.deps.wpilibJniRelease(wpi.platforms.desktop)
     nativeRelease wpi.java.vendor.jniRelease(wpi.platforms.desktop)
     simulationRelease wpi.sim.enableRelease()
+    implementation 'org.dyn4j:dyn4j:5.0.2'
 
     testImplementation 'org.junit.jupiter:junit-jupiter:5.10.1'
     testRuntimeOnly 'org.junit.platform:junit-platform-launcher'

examples/clock_drive_drivebase/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')
@@ -20,8 +20,8 @@ pluginManagement {
         }
         def frcHomeMaven = new File(frcHome, 'maven')
         maven {
-            name 'frcHome'
-            url frcHomeMaven
+            name = 'frcHome'
+            url = frcHomeMaven
         }
     }
 }

examples/clock_drive_drivebase/src/main/java/frc/robot/subsystems/swervedrive/SwerveSubsystem.java

@@ -14,6 +14,7 @@
 import edu.wpi.first.math.kinematics.SwerveDriveKinematics;
 import edu.wpi.first.math.trajectory.Trajectory;
 import edu.wpi.first.wpilibj.DriverStation;
+import edu.wpi.first.wpilibj.DriverStation.Alliance;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine.Config;
@@ -46,7 +47,8 @@ public class SwerveSubsystem extends SubsystemBase
    */
    public SwerveSubsystem(File directory)
   { 
-    boolean blueAlliance = false;
+    boolean blueAlliance = DriverStation.getAlliance().isPresent() && DriverStation.getAlliance().get() == Alliance.Blue;
+
     Pose2d startingPose = blueAlliance ? new Pose2d(new Translation2d(Meter.of(1),
                                                                       Meter.of(4)),
                                                     Rotation2d.fromDegrees(0))

examples/drivebase_with_PhotonVision/vendordeps/PathplannerLib.json → examples/clock_drive_drivebase/vendordeps/PathplannerLib-2026.1.2.json

@@ -1,9 +1,9 @@
 {
-    "fileName": "PathplannerLib.json",
+    "fileName": "PathplannerLib-2026.1.2.json",
     "name": "PathplannerLib",
-    "version": "2025.2.7",
+    "version": "2026.1.2",
     "uuid": "1b42324f-17c6-4875-8e77-1c312bc8c786",
-    "frcYear": "2025",
+    "frcYear": "2026",
     "mavenUrls": [
         "https://3015rangerrobotics.github.io/pathplannerlib/repo"
     ],
@@ -12,15 +12,15 @@
         {
             "groupId": "com.pathplanner.lib",
             "artifactId": "PathplannerLib-java",
-            "version": "2025.2.7"
+            "version": "2026.1.2"
         }
     ],
     "jniDependencies": [],
     "cppDependencies": [
         {
             "groupId": "com.pathplanner.lib",
             "artifactId": "PathplannerLib-cpp",
-            "version": "2025.2.7",
+            "version": "2026.1.2",
             "libName": "PathplannerLib",
             "headerClassifier": "headers",
             "sharedLibrary": false,

examples/clock_drive_drivebase/vendordeps/Phoenix5-replay-5.36.0.json

@@ -0,0 +1,221 @@
+{
+    "fileName": "Phoenix5-replay-5.36.0.json",
+    "name": "CTRE-Phoenix (v5)",
+    "version": "5.36.0",
+    "frcYear": "2026",
+    "uuid": "fbc886a4-2cec-40c0-9835-71086a8cc3df",
+    "mavenUrls": [
+        "https://maven.ctr-electronics.com/release/"
+    ],
+    "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix/Phoenix5-replay-frc2026-latest.json",
+    "requires": [
+        {
+            "uuid": "e7900d8d-826f-4dca-a1ff-182f658e98af",
+            "errorMessage": "Phoenix 5 requires low-level libraries from Phoenix 6.  Please add the Phoenix 6 vendordep before adding Phoenix 5.",
+            "offlineFileName": "Phoenix6-replay-frc2026-latest.json",
+            "onlineUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-replay-frc2026-latest.json"
+        }
+    ],
+    "conflictsWith": [
+        {
+            "uuid": "e995de00-2c64-4df5-8831-c1441420ff19",
+            "errorMessage": "Users must use the regular Phoenix 5 vendordep when using the regular Phoenix 6 vendordep.",
+            "offlineFileName": "Phoenix6-frc2026-latest.json"
+        },
+        {
+            "uuid": "ab676553-b602-441f-a38d-f1296eff6537",
+            "errorMessage": "Users cannot have both the replay and regular Phoenix 5 vendordeps in their robot program.",
+            "offlineFileName": "Phoenix5-frc2026-latest.json"
+        }
+    ],
+    "javaDependencies": [
+        {
+            "groupId": "com.ctre.phoenix",
+            "artifactId": "api-java",
+            "version": "5.36.0"
+        },
+        {
+            "groupId": "com.ctre.phoenix",
+            "artifactId": "wpiapi-java",
+            "version": "5.36.0"
+        }
+    ],
+    "jniDependencies": [
+        {
+            "groupId": "com.ctre.phoenix",
+            "artifactId": "cci",
+            "version": "5.36.0",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "linuxathena"
+            ],
+            "simMode": "hwsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix.replay",
+            "artifactId": "cci-replay",
+            "version": "5.36.0",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "osxuniversal"
+            ],
+            "simMode": "hwsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix.sim",
+            "artifactId": "cci-sim",
+            "version": "5.36.0",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        }
+    ],
+    "cppDependencies": [
+        {
+            "groupId": "com.ctre.phoenix",
+            "artifactId": "wpiapi-cpp",
+            "version": "5.36.0",
+            "libName": "CTRE_Phoenix_WPI",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "linuxathena"
+            ],
+            "simMode": "hwsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix",
+            "artifactId": "api-cpp",
+            "version": "5.36.0",
+            "libName": "CTRE_Phoenix",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "linuxathena"
+            ],
+            "simMode": "hwsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix",
+            "artifactId": "cci",
+            "version": "5.36.0",
+            "libName": "CTRE_PhoenixCCI",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "linuxathena"
+            ],
+            "simMode": "hwsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix.replay",
+            "artifactId": "wpiapi-cpp-replay",
+            "version": "5.36.0",
+            "libName": "CTRE_Phoenix_WPIReplay",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "osxuniversal"
+            ],
+            "simMode": "hwsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix.replay",
+            "artifactId": "api-cpp-replay",
+            "version": "5.36.0",
+            "libName": "CTRE_PhoenixReplay",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "osxuniversal"
+            ],
+            "simMode": "hwsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix.replay",
+            "artifactId": "cci-replay",
+            "version": "5.36.0",
+            "libName": "CTRE_PhoenixCCIReplay",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "osxuniversal"
+            ],
+            "simMode": "hwsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix.sim",
+            "artifactId": "wpiapi-cpp-sim",
+            "version": "5.36.0",
+            "libName": "CTRE_Phoenix_WPISim",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix.sim",
+            "artifactId": "api-cpp-sim",
+            "version": "5.36.0",
+            "libName": "CTRE_PhoenixSim",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix.sim",
+            "artifactId": "cci-sim",
+            "version": "5.36.0",
+            "libName": "CTRE_PhoenixCCISim",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxarm64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        }
+    ]
+}