Update to WPILib 2026

.vscode/settings.json

@@ -59,6 +59,7 @@
     "edu.wpi.first.math.**.proto.*",
     "edu.wpi.first.math.**.struct.*",
   ],
+  "java.dependency.enableDependencyCheckup": false,
   "java.format.settings.url": "formatter.xml",
   "java.format.settings.profile": "GoogleStyle",
   "[java]": {

.wpilib/wpilib_preferences.json

@@ -1,6 +1,6 @@
 {
     "enableCppIntellisense": false,
     "currentLanguage": "java",
-    "projectYear": "2025",
+    "projectYear": "2026",
     "teamNumber": 5572
 }

WPILib-License.md

@@ -1,4 +1,4 @@
-Copyright (c) 2009-2024 FIRST and other WPILib contributors
+Copyright (c) 2009-2026 FIRST and other WPILib contributors
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without

build.gradle

@@ -1,7 +1,6 @@
 plugins {
     id "java"
-    id "edu.wpi.first.GradleRIO" version "2025.3.2"
-    id "com.peterabeles.gversion" version "1.10"
+    id "edu.wpi.first.GradleRIO" version "2026.1.1"
 }
 
 java {
@@ -44,7 +43,8 @@ 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.
@@ -109,7 +109,9 @@ wpi.sim.addDriverstation()
 // knows where to look for our Robot Class.
 jar {
     from { configurations.runtimeClasspath.collect { it.isDirectory() ? it : zipTree(it) } }
-    from sourceSets.main.allSource
+    from('src') { into 'backup/src' }
+    from('vendordeps') { into 'backup/vendordeps' }
+    from('build.gradle') { into 'backup' }
     manifest edu.wpi.first.gradlerio.GradleRIOPlugin.javaManifest(ROBOT_MAIN_CLASS)
     duplicatesStrategy = DuplicatesStrategy.INCLUDE
 }

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
         }
     }
 }

src/main/java/frc/robot/subsystems/swerve/mod/SwerveModuleSim.java

@@ -9,7 +9,7 @@
 import org.littletonrobotics.junction.Logger;
 import edu.wpi.first.math.controller.PIDController;
 import edu.wpi.first.math.geometry.Rotation2d;
-import edu.wpi.first.units.Units;
+import edu.wpi.first.units.measure.Units;
 import frc.robot.Constants;
 
 /** Simulation implementation for Swerve Module */

vendordeps/AdvantageKit.json

@@ -1,9 +1,9 @@
 {
     "fileName": "AdvantageKit.json",
     "name": "AdvantageKit",
-    "version": "4.1.2",
+    "version": "26.0.0",
     "uuid": "d820cc26-74e3-11ec-90d6-0242ac120003",
-    "frcYear": "2025",
+    "frcYear": "2026",
     "mavenUrls": [
         "https://frcmaven.wpi.edu/artifactory/littletonrobotics-mvn-release/"
     ],
@@ -12,14 +12,14 @@
         {
             "groupId": "org.littletonrobotics.akit",
             "artifactId": "akit-java",
-            "version": "4.1.2"
+            "version": "26.0.0"
         }
     ],
     "jniDependencies": [
         {
             "groupId": "org.littletonrobotics.akit",
             "artifactId": "akit-wpilibio",
-            "version": "4.1.2",
+            "version": "26.0.0",
             "skipInvalidPlatforms": false,
             "isJar": false,
             "validPlatforms": [