From e7b5201ff93fed7c85eec1647f95404cb754b6e8 Mon Sep 17 00:00:00 2001
From: spellingcat <70864274+spellingcat@users.noreply.github.com>
Date: Wed, 21 Jan 2026 19:29:32 -0800
Subject: [PATCH 1/2] update wpilib, choreo, atag field

---
 build.gradle                                  |  2 +-
 .../swerve/constants/SwerveConstants.java     | 23 ++++++++++---------
 vendordeps/ChoreoLib2026.json                 |  6 ++---
 3 files changed, 16 insertions(+), 15 deletions(-)

diff --git a/build.gradle b/build.gradle
index 5500b4b..3562ec8 100644
--- a/build.gradle
+++ b/build.gradle
@@ -1,6 +1,6 @@
 plugins {
     id "java"
-    id "edu.wpi.first.GradleRIO" version "2026.1.1"
+    id "edu.wpi.first.GradleRIO" version "2026.2.1"
     id 'com.diffplug.spotless' version '6.20.0'
     id "com.peterabeles.gversion" version "1.10"
 }
diff --git a/src/main/java/frc/robot/subsystems/swerve/constants/SwerveConstants.java b/src/main/java/frc/robot/subsystems/swerve/constants/SwerveConstants.java
index c028a91..b05879a 100644
--- a/src/main/java/frc/robot/subsystems/swerve/constants/SwerveConstants.java
+++ b/src/main/java/frc/robot/subsystems/swerve/constants/SwerveConstants.java
@@ -25,18 +25,19 @@ public abstract class SwerveConstants {
   protected AprilTagFieldLayout fieldTags;
 
   public SwerveConstants() {
-    try {
-      fieldTags =
-          new AprilTagFieldLayout(
-              Filesystem.getDeployDirectory()
-                  .toPath()
-                  .resolve("tagmaps" + File.separator + "2026-rebuilt-welded.json"));
-      System.out.println("Successfully loaded tag map");
-    } catch (Exception e) {
-      System.err.println("Failed to load custom tag map");
-      tagLoadFailureAlert.set(true);
+    // try {
+    //   fieldTags =
+    //       new AprilTagFieldLayout(
+    //           Filesystem.getDeployDirectory()
+    //               .toPath()
+    //               .resolve("tagmaps" + File.separator + "2026-rebuilt-welded.json"));
+    //   System.out.println("Successfully loaded tag map");
+    // } catch (Exception e) {
+    //   System.err.println("Failed to load custom tag map");
+    //   tagLoadFailureAlert.set(true);
+    //   fieldTags = AprilTagFieldLayout.loadField(AprilTagFields.kDefaultField);
+    // }
       fieldTags = AprilTagFieldLayout.loadField(AprilTagFields.kDefaultField);
-    }
   }
 
   public AprilTagFieldLayout getFieldTagLayout() {
diff --git a/vendordeps/ChoreoLib2026.json b/vendordeps/ChoreoLib2026.json
index 843bcd5..cf7e7cf 100644
--- a/vendordeps/ChoreoLib2026.json
+++ b/vendordeps/ChoreoLib2026.json
@@ -1,7 +1,7 @@
 {
   "fileName": "ChoreoLib2026.json",
   "name": "ChoreoLib",
-  "version": "2026.0.0",
+  "version": "2026.0.1",
   "uuid": "b5e23f0a-dac9-4ad2-8dd6-02767c520aca",
   "frcYear": "2026",
   "mavenUrls": [
@@ -13,7 +13,7 @@
     {
       "groupId": "choreo",
       "artifactId": "ChoreoLib-java",
-      "version": "2026.0.0"
+      "version": "2026.0.1"
     },
     {
       "groupId": "com.google.code.gson",
@@ -26,7 +26,7 @@
     {
       "groupId": "choreo",
       "artifactId": "ChoreoLib-cpp",
-      "version": "2026.0.0",
+      "version": "2026.0.1",
       "libName": "ChoreoLib",
       "headerClassifier": "headers",
       "sharedLibrary": false,

From 062120faacd6c0c8610b84e53beb7ba9a329b214 Mon Sep 17 00:00:00 2001
From: spellingcat <70864274+spellingcat@users.noreply.github.com>
Date: Thu, 22 Jan 2026 10:06:59 -0800
Subject: [PATCH 2/2] fmt

---
 .../robot/subsystems/swerve/constants/SwerveConstants.java    | 4 +---
 1 file changed, 1 insertion(+), 3 deletions(-)

diff --git a/src/main/java/frc/robot/subsystems/swerve/constants/SwerveConstants.java b/src/main/java/frc/robot/subsystems/swerve/constants/SwerveConstants.java
index b05879a..c97139b 100644
--- a/src/main/java/frc/robot/subsystems/swerve/constants/SwerveConstants.java
+++ b/src/main/java/frc/robot/subsystems/swerve/constants/SwerveConstants.java
@@ -11,10 +11,8 @@
 import edu.wpi.first.units.measure.Mass;
 import edu.wpi.first.wpilibj.Alert;
 import edu.wpi.first.wpilibj.Alert.AlertType;
-import edu.wpi.first.wpilibj.Filesystem;
 import frc.robot.components.camera.Camera.CameraConstants;
 import frc.robot.subsystems.swerve.module.Module.ModuleConstants;
-import java.io.File;
 
 public abstract class SwerveConstants {
 
@@ -37,7 +35,7 @@ public SwerveConstants() {
     //   tagLoadFailureAlert.set(true);
     //   fieldTags = AprilTagFieldLayout.loadField(AprilTagFields.kDefaultField);
     // }
-      fieldTags = AprilTagFieldLayout.loadField(AprilTagFields.kDefaultField);
+    fieldTags = AprilTagFieldLayout.loadField(AprilTagFields.kDefaultField);
   }
 
   public AprilTagFieldLayout getFieldTagLayout() {