[choreolib] Full Java and C++ upgrade to WPILib 2027 - #1481
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Daniel1464
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May 9, 2026 16:48
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There should be Systemcore Docker containers you can use instead of manually installing the toolchain.
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May 9, 2026
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Co-authored-by: Tyler Veness <calcmogul@gmail.com>
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May 13, 2026
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Is there something (minus the current merge conflict) that is preventing this from landing and getting released? Its the last thing blocking our 2026 robot upgrade |
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Probably a review from someone who actually understands the Java vendordep (i.e., not me). |
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I updated the template to remove this, because it does nothing. There's some other updates in the upstream template that might be good to sync over here. |
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Idk why ChoreoLib isn't linking to libtelemetryd. I don't see any relevant differences from the vendor template. |
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In addition to updating to 2027, this PR also flips the coordinate system convention to be compatible with 2027 WPILib(namely, that (0,0) is at the center of the field). Note that the UI still generates coordinates in the 2026 WPILib coordinate system.
On the Java API side, AutoRoutine has been removed in favor of making AutoTrajectory an isolated class (since triggers can now be scoped per-opmode or, in the case of commands v3, per command). AutoChooser has also been removed in favor of using opmodes to lazily load trajectories.