Import StuyLib to 2026 WPILib

Author: k4limul

build.gradle

@@ -1,13 +1,13 @@
 buildscript {
-   ext.WPI_VER = "2025.2.1"
+   ext.WPI_VER = "2026.1.1"
 }
 
 plugins {
    id "java"
 
    id "maven-publish"
 
-   id "edu.wpi.first.GradleRIO" version "2025.2.1"
+   id "edu.wpi.first.GradleRIO" version "2026.1.1"
    id "com.diffplug.spotless" version "6.22.0"
    id "com.github.spotbugs" version "5.2.0"
 }
@@ -78,7 +78,7 @@ spotless {
 
 """
 
-      googleJavaFormat('1.13.0').aosp()
+      googleJavaFormat('1.17.0').aosp()
 
       trimTrailingWhitespace()
       endWithNewline()

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')

src/com/stuypulse/stuylib/control/Controller.java

@@ -1,4 +1,4 @@
-/* Copyright (c) 2025 StuyPulse Robotics. All rights reserved. */
+/* Copyright (c) 2026 StuyPulse Robotics. All rights reserved. */
 /* This work is licensed under the terms of the MIT license */
 /* found in the root directory of this project. */
 
@@ -86,22 +86,30 @@ public final Controller setOutputFilter(IFilter... outputFilter) {
         return this;
     }
 
-    /** @return the most recent setpoint of the controller */
+    /**
+     * @return the most recent setpoint of the controller
+     */
     public final double getSetpoint() {
         return mSetpoint;
     }
 
-    /** @return the most recent measurement of the controller */
+    /**
+     * @return the most recent measurement of the controller
+     */
     public final double getMeasurement() {
         return mMeasurement;
     }
 
-    /** @return the most recent output of the controller */
+    /**
+     * @return the most recent output of the controller
+     */
     public final double getOutput() {
         return mOutput;
     }
 
-    /** @return the most recent error of the controller */
+    /**
+     * @return the most recent error of the controller
+     */
     public final double getError() {
         return getSetpoint() - getMeasurement();
     }

src/com/stuypulse/stuylib/control/ControllerGroup.java

@@ -1,4 +1,4 @@
-/* Copyright (c) 2025 StuyPulse Robotics. All rights reserved. */
+/* Copyright (c) 2026 StuyPulse Robotics. All rights reserved. */
 /* This work is licensed under the terms of the MIT license */
 /* found in the root directory of this project. */
 

src/com/stuypulse/stuylib/control/angle/AngleController.java

@@ -1,4 +1,4 @@
-/* Copyright (c) 2025 StuyPulse Robotics. All rights reserved. */
+/* Copyright (c) 2026 StuyPulse Robotics. All rights reserved. */
 /* This work is licensed under the terms of the MIT license */
 /* found in the root directory of this project. */
 
@@ -82,22 +82,30 @@ public final AngleController setOutputFilter(IFilter... outputFilter) {
         return this;
     }
 
-    /** @return the most recent setpoint of the controller */
+    /**
+     * @return the most recent setpoint of the controller
+     */
     public final Angle getSetpoint() {
         return mSetpoint;
     }
 
-    /** @return the most recent measurement of the controller */
+    /**
+     * @return the most recent measurement of the controller
+     */
     public final Angle getMeasurement() {
         return mMeasurement;
     }
 
-    /** @return the most recent output of the controller */
+    /**
+     * @return the most recent output of the controller
+     */
     public final double getOutput() {
         return mOutput;
     }
 
-    /** @return the most recent error of the controller */
+    /**
+     * @return the most recent error of the controller
+     */
     public final Angle getError() {
         return getSetpoint().sub(getMeasurement());
     }

src/com/stuypulse/stuylib/control/angle/AngleControllerGroup.java

@@ -1,4 +1,4 @@
-/* Copyright (c) 2025 StuyPulse Robotics. All rights reserved. */
+/* Copyright (c) 2026 StuyPulse Robotics. All rights reserved. */
 /* This work is licensed under the terms of the MIT license */
 /* found in the root directory of this project. */
 

src/com/stuypulse/stuylib/control/angle/feedback/AnglePIDController.java

@@ -1,4 +1,4 @@
-/* Copyright (c) 2025 StuyPulse Robotics. All rights reserved. */
+/* Copyright (c) 2026 StuyPulse Robotics. All rights reserved. */
 /* This work is licensed under the terms of the MIT license */
 /* found in the root directory of this project. */
 
@@ -104,17 +104,23 @@ protected double calculate(Angle setpoint, Angle measurement) {
         }
     }
 
-    /** @return the P value being used by the PID controller. */
+    /**
+     * @return the P value being used by the PID controller.
+     */
     public double getP() {
         return Math.max(mP.doubleValue(), 0.0);
     }
 
-    /** @return the P value being used by the PID controller. */
+    /**
+     * @return the P value being used by the PID controller.
+     */
     public double getI() {
         return Math.max(mI.doubleValue(), 0.0);
     }
 
-    /** @return the P value being used by the PID controller. */
+    /**
+     * @return the P value being used by the PID controller.
+     */
     public double getD() {
         return Math.max(mD.doubleValue(), 0.0);
     }

src/com/stuypulse/stuylib/control/angle/feedforward/AngleArmFeedforward.java

@@ -1,4 +1,4 @@
-/* Copyright (c) 2025 StuyPulse Robotics. All rights reserved. */
+/* Copyright (c) 2026 StuyPulse Robotics. All rights reserved. */
 /* This work is licensed under the terms of the MIT license */
 /* found in the root directory of this project. */
 

src/com/stuypulse/stuylib/control/angle/feedforward/AnglePositionFeedforwardController.java

@@ -1,4 +1,4 @@
-/* Copyright (c) 2025 StuyPulse Robotics. All rights reserved. */
+/* Copyright (c) 2026 StuyPulse Robotics. All rights reserved. */
 /* This work is licensed under the terms of the MIT license */
 /* found in the root directory of this project. */
 

src/com/stuypulse/stuylib/control/feedback/PIDController.java

@@ -1,4 +1,4 @@
-/* Copyright (c) 2025 StuyPulse Robotics. All rights reserved. */
+/* Copyright (c) 2026 StuyPulse Robotics. All rights reserved. */
 /* This work is licensed under the terms of the MIT license */
 /* found in the root directory of this project. */
 
@@ -110,17 +110,23 @@ protected double calculate(double setpoint, double measurement) {
         }
     }
 
-    /** @return the P value being used by the PID controller. */
+    /**
+     * @return the P value being used by the PID controller.
+     */
     public double getP() {
         return Math.max(mP.doubleValue(), 0.0);
     }
 
-    /** @return the P value being used by the PID controller. */
+    /**
+     * @return the P value being used by the PID controller.
+     */
     public double getI() {
         return Math.max(mI.doubleValue(), 0.0);
     }
 
-    /** @return the P value being used by the PID controller. */
+    /**
+     * @return the P value being used by the PID controller.
+     */
     public double getD() {
         return Math.max(mD.doubleValue(), 0.0);
     }