2026.4.1

What's Changed

• Config Optionality Update & Sim Starting Position by @thenetworkgrinch in #123
• Fixed minion on sparks. by @thenetworkgrinch in #124
• Soft limit enhancements by @thenetworkgrinch in #126
• Add the option to disable FOC. by @thenetworkgrinch in #127
• Added PID Slots to allow for switching between PID control in complex use-cases. by @thenetworkgrinch in #129
• Fix wrapping issue with SparkMax where min is not able to be set. by @thenetworkgrinch in #130
• Feedfoward, and SMC Config fixes by @thenetworkgrinch in #131

Full Changelog: 2026.3.11...2026.4.1

2026.3.11

What's Changed

• Added warning whenever falling back to the RIO for closed loop contro… by @thenetworkgrinch in #117
• Change aimTarget to use Supplier by @Hello2Krish19 in #118
• Add wpilogs by @thenetworkgrinch in #119
• Added custom control requests. and updated Loosely Coupled Follower updates by @thenetworkgrinch in #120
• Fixed followers to obey live tuning commands. by @thenetworkgrinch in #121
• Fix optional configs. by @thenetworkgrinch in #122

Full Changelog: 2026.3.5...2026.3.11

2026.3.5

What's Changed

• Added warning when using RIO closed loop controller by @thenetworkgrinch in #117
• Added the ability to define old config persistence by @thenetworkgrinch in #103
• Smc reset config by @thenetworkgrinch in #104
• fix infinite iteration loop on talonfx by @poultry1648 in #105
• Attempt to make SOTM based off mechanical advantage's code. by @thenetworkgrinch in #109
• Refactor getVelocity method for turret subsystem by @Hello2Krish19 in #110
• Added small flywheel fix and talonfx reorg. by @thenetworkgrinch in #112
• added sim starting position by @tytytyty74 in #114
• Force spark max to apply with non persistent parameters if enabled. A… by @thenetworkgrinch in #115
• Removed safety constraint on NEOs by @thenetworkgrinch in #116

New Contributors

• @poultry1648 made their first contribution in #105
• @Hello2Krish19 made their first contribution in #110

Full Changelog: 2026.2.21...2026.3.5

2026.2.21

What's Changed

• Fix Velocity Control by @thenetworkgrinch in #92
• Fixed Limit Switch Enable for TalonFX and TalonFXS by @thenetworkgrinch in #95
• Major Change - Closed Loop Controller Update by @thenetworkgrinch in #97
• Added LQR
• Separated Motion Profiles in configs.
• Fixed bad check for arm starting position. by @thenetworkgrinch in #98
• Refractor SMC PID Control by @thenetworkgrinch in #99
• Fix external encoder offsets to be "dumb" by @thenetworkgrinch in #100
• Added velocity trapezoidal profile. by @thenetworkgrinch in #101
• Added live tuning for exponential profiles and velocity trapezoidal profiles by @thenetworkgrinch in #102

Full Changelog: 2026.2.3...2026.2.21

2026.2.3

What's Changed

• Fixes issue with homing routine in Exponential Arm by @Chris7898 in #83
• Added SmartMotorConfig.withVendorConfig() by @thenetworkgrinch in #82
• run, runTo, explicit Setpoint, better linear closed loop controller definition, added new isNear with debounce by @thenetworkgrinch in #86
• Removed new isNear function. Added less redundancy to FlyWheel runTo functions. by @thenetworkgrinch in #87
• changed lastStatus in CRT to be an enum by @tytytyty74 in #90
• Add horizontal elevator configuration by @CarvalhoJeo in #89

New Contributors

• @tytytyty74 made their first contribution in #90
• @CarvalhoJeo made their first contribution in #89

Full Changelog: 2025.1.24...2026.2.3

2025.1.24

What's Changed

• Nova set encoder position fix by @thenetworkgrinch in #76
• Modified the FlyWheel to start the closed loop controller before th… by @thenetworkgrinch in #77
• Completed align to pose example code. by @thenetworkgrinch in #78
• Turret CRT Example with CANcoders by @alexalex02 in #75
• Terminology by @alexalex02 in #79

Full Changelog: 2026.1.17...2025.1.24

2026.1.17

What's Changed

• Empirical Method for CRT by @mjjbycicle in #68
• SmartMotorController Control Request Fix by @thenetworkgrinch in #69
• Fixed the DCMotorSim to work with the correct units by @thenetworkgrinch in #72
• Swerve drive sysId by @thenetworkgrinch in #73
• Inversions shouldn't apply in Simulation by @thenetworkgrinch in #74
• MaybeCRT by @alexalex02 in #70
• Kitbot added by @nobodyhere4 in #62

New Contributors

• @mjjbycicle made their first contribution in #68
• @nobodyhere4 made their first contribution in #62

Full Changelog: 2026.1.13...2026.1.17

2026.1.13

What's Changed

• Rebuilt Hooded + Turret Shooter Example by @DanPeled in #63
• comments by @alexalex02 in #66

New Contributors

• @alexalex02 made their first contribution in #66

Full Changelog: 2026.1.2...2026.1.13

2026.1.2

What's Changed

• 'Trapazoidal' Spelling Error Correction by @akhaled247 in #56
• REV 2026 with Feedforwards and PIDs by @thenetworkgrinch in #55
• Added the option to loosely coupled followers. by @thenetworkgrinch in #58
• Allow for independently created config classes for constants files. by @thenetworkgrinch in #59
• Changed SwerveInputStream.copy() to SwerveInputStream.clone()
• Added SmartMotorControllerConfig().clone() to allow for clonable configs.

• Added MechanismConfig.withSmartMotorController() for all mechanism and null param constructors
• Added SensorData.set() overloads
• Modified SmartMotorControllerConfig to allow for creation without a Subsystem but still require a subsystem eventually.
• Modified SmartMotorController telemetry to only create Live Tuning and other useful commands if tunable setpoints are not enabled.
• Added MechanismGearing(double...) overload
• Added DifferentialDrive example.

New Contributors

• @akhaled247 made their first contribution in #56

Full Changelog: 2025.12.22...2026.1.2

2025.12.22

What's Changed

• Add MapleSim Integration to SwerveDrive by @konnorreynolds in #49
• Added support for user moment of inertia in ExponentialProfilePIDController by @fruzzmuffin in #50
• AdvantageKit Examples by @thenetworkgrinch in #53
• Fixed ElevatorConfig comments saying "length" instead of "angle" by @fruzzmuffin in #54

New Contributors

• @fruzzmuffin made their first contribution in #50
• @thenetworkgrinch made their first contribution in #53

Full Changelog: 2025.11.20...2025.12.22