vendor dep, unused

diff --git a/src/main/java/frc/robot/util/Vision/GyroBiasEstimator.java b/src/main/java/frc/robot/util/Vision/GyroBiasEstimator.java
index 99849a58980c6b07653f9619b9c7d1f789ca43a9..bcd263b878433b4935e6a74c73ffd54f96833ee1 100644 (file)
--- a/src/main/java/frc/robot/util/Vision/GyroBiasEstimator.java
+++ b/src/main/java/frc/robot/util/Vision/GyroBiasEstimator.java
@@ -136,21 +136,6 @@ public class GyroBiasEstimator {
         return clampedBias * GyroBiasConstants.CORRECTION_FRACTION;
     }
 
-    /**
-     * check if correction should be applied.
-     *
-     * @param gyroYaw current gyro reading
-     * @param visionYaw vision-derived yaw
-     * @return true if we should call setYaw(), false otherwise
-     */
-    public boolean shouldCorrect(double gyroYaw, double visionYaw) {
-        if (addObservation(visionYaw, gyroYaw)) {
-            double bias = getAndResetBias();
-            return Math.abs(bias) > GyroBiasConstants.MIN_CORRECTION_RAD;
-        }
-        return false;
-    }
-
     /**
      * normalize angle to [-PI, PI]
      */

diff --git a/src/main/java/frc/robot/util/Vision/Vision.java b/src/main/java/frc/robot/util/Vision/Vision.java
index eb70f25be6326cd6771cecb3052ddce4eb38772d..d92b3de0e3b56ff5a216e0352b018aa5fae1d431 100644 (file)
--- a/src/main/java/frc/robot/util/Vision/Vision.java
+++ b/src/main/java/frc/robot/util/Vision/Vision.java
@@ -382,24 +382,6 @@ public class Vision {
     return sawTag;
   }
 
-  /**
-   * returns visible tag IDs from all cameras.
-   */
-  public int[] getVisibleTagIds() {
-    ArrayList<Integer> tagIds = new ArrayList<>();
-    for(VisionCamera c : cameras) {
-      for(PhotonPipelineResult result : c.getResults()) {
-        for(PhotonTrackedTarget target : result.getTargets()) {
-          int id = target.getFiducialId();
-          if(id > 0 && !tagIds.contains(id)) {
-            tagIds.add(id);
-          }
-        }
-      }
-    }
-    return tagIds.stream().mapToInt(Integer::intValue).toArray();
-  }
-
   /**
    * Enable or disable a single camera
    * @param index The camera index
@@ -716,9 +698,5 @@ public class Vision {
     public void enable(boolean enable){
       enabled = enable;
     }
-
-    public List<PhotonPipelineResult> getResults() {
-      return inputs.results;
-    }
   }
 }

diff --git a/vendordeps/Phoenix6-frc2026-latest.json b/vendordeps/Phoenix6-frc2026-latest.json
index 97ea239c7260fcac8b48e5e20fe86fb27c738233..17aa5f0fe5c7368981db78fbe034bdae987d31b4 100644 (file)
--- a/vendordeps/Phoenix6-frc2026-latest.json
+++ b/vendordeps/Phoenix6-frc2026-latest.json
@@ -1,7 +1,7 @@
 {
     "fileName": "Phoenix6-frc2026-latest.json",
     "name": "CTRE-Phoenix (v6)",
-    "version": "26.1.2",
+    "version": "26.1.3",
     "frcYear": "2026",
     "uuid": "e995de00-2c64-4df5-8831-c1441420ff19",
     "mavenUrls": [
@@ -19,14 +19,14 @@
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "wpiapi-java",
-            "version": "26.1.2"
+            "version": "26.1.3"
         }
     ],
     "jniDependencies": [
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "api-cpp",
-            "version": "26.1.2",
+            "version": "26.1.3",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -40,7 +40,7 @@
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "tools",
-            "version": "26.1.2",
+            "version": "26.1.3",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -54,7 +54,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "api-cpp-sim",
-            "version": "26.1.2",
+            "version": "26.1.3",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -68,7 +68,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "tools-sim",
-            "version": "26.1.2",
+            "version": "26.1.3",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -82,7 +82,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simTalonSRX",
-            "version": "26.1.2",
+            "version": "26.1.3",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -96,7 +96,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simVictorSPX",
-            "version": "26.1.2",
+            "version": "26.1.3",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -110,7 +110,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simPigeonIMU",
-            "version": "26.1.2",
+            "version": "26.1.3",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -124,7 +124,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProTalonFX",
-            "version": "26.1.2",
+            "version": "26.1.3",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -138,7 +138,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProTalonFXS",
-            "version": "26.1.2",
+            "version": "26.1.3",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -152,7 +152,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANcoder",
-            "version": "26.1.2",
+            "version": "26.1.3",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -166,7 +166,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProPigeon2",
-            "version": "26.1.2",
+            "version": "26.1.3",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -180,7 +180,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANrange",
-            "version": "26.1.2",
+            "version": "26.1.3",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -194,7 +194,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANdi",
-            "version": "26.1.2",
+            "version": "26.1.3",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -208,7 +208,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANdle",
-            "version": "26.1.2",
+            "version": "26.1.3",
             "isJar": false,
             "skipInvalidPlatforms": true,
             "validPlatforms": [
@@ -224,7 +224,7 @@
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "wpiapi-cpp",
-            "version": "26.1.2",
+            "version": "26.1.3",
             "libName": "CTRE_Phoenix6_WPI",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -240,7 +240,7 @@
         {
             "groupId": "com.ctre.phoenix6",
             "artifactId": "tools",
-            "version": "26.1.2",
+            "version": "26.1.3",
             "libName": "CTRE_PhoenixTools",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -256,7 +256,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "wpiapi-cpp-sim",
-            "version": "26.1.2",
+            "version": "26.1.3",
             "libName": "CTRE_Phoenix6_WPISim",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -272,7 +272,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "tools-sim",
-            "version": "26.1.2",
+            "version": "26.1.3",
             "libName": "CTRE_PhoenixTools_Sim",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -288,7 +288,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simTalonSRX",
-            "version": "26.1.2",
+            "version": "26.1.3",
             "libName": "CTRE_SimTalonSRX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -304,7 +304,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simVictorSPX",
-            "version": "26.1.2",
+            "version": "26.1.3",
             "libName": "CTRE_SimVictorSPX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -320,7 +320,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simPigeonIMU",
-            "version": "26.1.2",
+            "version": "26.1.3",
             "libName": "CTRE_SimPigeonIMU",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -336,7 +336,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProTalonFX",
-            "version": "26.1.2",
+            "version": "26.1.3",
             "libName": "CTRE_SimProTalonFX",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -352,7 +352,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProTalonFXS",
-            "version": "26.1.2",
+            "version": "26.1.3",
             "libName": "CTRE_SimProTalonFXS",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -368,7 +368,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANcoder",
-            "version": "26.1.2",
+            "version": "26.1.3",
             "libName": "CTRE_SimProCANcoder",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -384,7 +384,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProPigeon2",
-            "version": "26.1.2",
+            "version": "26.1.3",
             "libName": "CTRE_SimProPigeon2",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -400,7 +400,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANrange",
-            "version": "26.1.2",
+            "version": "26.1.3",
             "libName": "CTRE_SimProCANrange",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -416,7 +416,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANdi",
-            "version": "26.1.2",
+            "version": "26.1.3",
             "libName": "CTRE_SimProCANdi",
             "headerClassifier": "headers",
             "sharedLibrary": true,
@@ -432,7 +432,7 @@
         {
             "groupId": "com.ctre.phoenix6.sim",
             "artifactId": "simProCANdle",
-            "version": "26.1.2",
+            "version": "26.1.3",
             "libName": "CTRE_SimProCANdle",
             "headerClassifier": "headers",
             "sharedLibrary": true,