Update for 2026 field

lib/pages/home_page.dart

@@ -145,9 +145,8 @@ class _HomePageState extends State<HomePage> with TickerProviderStateMixin {
 
       _animController.forward();
 
-      if (!(widget.prefs.getBool(PrefsKeys.seen2025ResetPopup) ?? false) &&
-          (_fieldImage?.name != 'Reefscape' &&
-              _fieldImage?.name != 'Reefscape (Annotated)') &&
+      if (!(widget.prefs.getBool(PrefsKeys.seen2026ResetPopup) ?? false) &&
+          (_fieldImage?.name != 'Rebuilt') &&
           mounted) {
         showDialog(
           context: this.context,
@@ -165,22 +164,22 @@ class _HomePageState extends State<HomePage> with TickerProviderStateMixin {
                   mainAxisSize: MainAxisSize.min,
                   children: [
                     Text(
-                        'The 2025 field image is now available. Would you like to set your field image to the 2025 field and reset the navgrid to the new default?'),
+                        'The 2026 field image is now available. Would you like to set your field image to the 2026 field and reset the navgrid to the new default?'),
                   ],
                 ),
               ),
               actions: [
                 TextButton(
                   onPressed: () {
                     Navigator.of(context).pop();
-                    widget.prefs.setBool(PrefsKeys.seen2025ResetPopup, true);
+                    widget.prefs.setBool(PrefsKeys.seen2026ResetPopup, true);
                   },
                   child: const Text('No'),
                 ),
                 TextButton(
                   onPressed: () async {
                     Navigator.of(context).pop();
-                    widget.prefs.setBool(PrefsKeys.seen2025ResetPopup, true);
+                    widget.prefs.setBool(PrefsKeys.seen2026ResetPopup, true);
                     setState(() {
                       _fieldImage = FieldImage.defaultField;
                       widget.prefs

lib/pages/nav_grid_page.dart

@@ -253,14 +253,16 @@ class _NavGridPageState extends State<NavGridPage> {
   }
 
   double _xPixelsToMeters(double pixels) {
-    return ((pixels - 48) / _NavigationPainter.scale) /
-        widget.fieldImage.pixelsPerMeter;
+    return (((pixels - 48) / _NavigationPainter.scale) /
+            widget.fieldImage.pixelsPerMeter) -
+        widget.fieldImage.marginMeters;
   }
 
   double _yPixelsToMeters(double pixels) {
-    return (widget.fieldImage.defaultSize.height -
-            ((pixels - 48) / _NavigationPainter.scale)) /
-        widget.fieldImage.pixelsPerMeter;
+    return ((widget.fieldImage.defaultSize.height -
+                ((pixels - 48) / _NavigationPainter.scale)) /
+            widget.fieldImage.pixelsPerMeter) -
+        widget.fieldImage.marginMeters;
   }
 
   void _saveNavGrid() {

lib/util/path_painter_util.dart

@@ -244,9 +244,12 @@ class PathPainterUtil {
   static Offset pointToPixelOffset(
       Translation2d point, double scale, FieldImage fieldImage) {
     return Offset(
-            (point.x * fieldImage.pixelsPerMeter) + 0,
+            ((point.x + fieldImage.marginMeters) * fieldImage.pixelsPerMeter) -
+                8,
             fieldImage.defaultSize.height -
-                ((point.y * fieldImage.pixelsPerMeter) + 0))
+                (((point.y + fieldImage.marginMeters) *
+                        fieldImage.pixelsPerMeter) -
+                    8))
         .scale(scale, scale);
   }
 

lib/util/prefs.dart

@@ -8,7 +8,7 @@ class PrefsKeys {
   static const String currentProjectDir = 'currentProjectDir';
   static const String macOSBookmark = 'macOSBookmark';
   static const String fieldImage = 'fieldImage';
-  static const String seen2025ResetPopup = 'seen2025ResetPopup';
+  static const String seen2026ResetPopup = 'seen2026ResetPopup';
   static const String holonomicMode = 'holonomicMode';
   static const String ntServerAddress = 'pplibClientHost';
   static const String pathSortOption = 'pathSortOption';

lib/widgets/editor/split_path_editor.dart

@@ -848,14 +848,16 @@ class _SplitPathEditorState extends State<SplitPathEditor>
   }
 
   double _xPixelsToMeters(double pixels) {
-    return ((pixels - 48) / PathPainter.scale) /
-        widget.fieldImage.pixelsPerMeter;
+    return (((pixels - 48) / PathPainter.scale) /
+            widget.fieldImage.pixelsPerMeter) -
+        widget.fieldImage.marginMeters;
   }
 
   double _yPixelsToMeters(double pixels) {
-    return (widget.fieldImage.defaultSize.height -
-            ((pixels - 48) / PathPainter.scale)) /
-        widget.fieldImage.pixelsPerMeter;
+    return ((widget.fieldImage.defaultSize.height -
+                ((pixels - 48) / PathPainter.scale)) /
+            widget.fieldImage.pixelsPerMeter) -
+        widget.fieldImage.marginMeters;
   }
 
   double _pixelsToMeters(double pixels) {

lib/widgets/field_image.dart

@@ -10,21 +10,23 @@ enum OfficialField {
   chargedUp,
   crescendo,
   reefscape,
-  reefscapeAnnotated
+  reefscapeAnnotated,
+  rebuilt
 }
 
 class FieldImage {
   late final Image image;
   late final ui.Size defaultSize;
   late num pixelsPerMeter;
+  late final num marginMeters;
   late String name;
   late final bool isCustom;
   late final String extension;
 
   static List<FieldImage>? _officialFields;
 
   static final FieldImage defaultField =
-      FieldImage.official(OfficialField.reefscape);
+      FieldImage.official(OfficialField.rebuilt);
 
   static List<FieldImage> offialFields() {
     _officialFields ??= [
@@ -33,6 +35,7 @@ class FieldImage {
       FieldImage.official(OfficialField.crescendo),
       FieldImage.official(OfficialField.reefscape),
       FieldImage.official(OfficialField.reefscapeAnnotated),
+      FieldImage.official(OfficialField.rebuilt)
     ];
     return _officialFields!;
   }
@@ -48,6 +51,7 @@ class FieldImage {
         defaultSize = const ui.Size(3240, 1620);
         pixelsPerMeter = 196.85;
         name = 'Rapid React';
+        marginMeters = 0.0;
         break;
       case OfficialField.chargedUp:
         image = Image.asset(
@@ -58,6 +62,7 @@ class FieldImage {
         defaultSize = const ui.Size(3256, 1578);
         pixelsPerMeter = 196.85;
         name = 'Charged Up';
+        marginMeters = 0.0;
         break;
       case OfficialField.crescendo:
         image = Image.asset(
@@ -68,6 +73,7 @@ class FieldImage {
         defaultSize = const ui.Size(3256, 1616);
         pixelsPerMeter = 196.85;
         name = 'Crescendo';
+        marginMeters = 0.0;
         break;
       case OfficialField.reefscape:
         image = Image.asset(
@@ -78,6 +84,7 @@ class FieldImage {
         defaultSize = const ui.Size(3510, 1610);
         pixelsPerMeter = 200.0;
         name = 'Reefscape';
+        marginMeters = 0.0;
         break;
       case OfficialField.reefscapeAnnotated:
         image = Image.asset(
@@ -88,6 +95,18 @@ class FieldImage {
         defaultSize = const ui.Size(3510, 1610);
         pixelsPerMeter = 200.0;
         name = 'Reefscape (Annotated)';
+        marginMeters = 0.0;
+        break;
+      case OfficialField.rebuilt:
+        image = Image.asset(
+          'images/field26.png',
+          fit: BoxFit.contain,
+          filterQuality: FilterQuality.medium,
+        );
+        defaultSize = const ui.Size(3508, 1814);
+        pixelsPerMeter = 200.0;
+        name = 'Rebuilt';
+        marginMeters = 0.5;
         break;
     }
     isCustom = false;
@@ -117,10 +136,14 @@ class FieldImage {
     name = fileName.substring(0, fileName.lastIndexOf('_'));
     extension = fileName.substring(fileName.lastIndexOf('.') + 1);
     isCustom = true;
+    marginMeters = 0.0;
   }
 
   ui.Size getFieldSizeMeters() {
-    return defaultSize / pixelsPerMeter.toDouble();
+    ui.Offset temp = ((defaultSize / pixelsPerMeter.toDouble()) -
+            ui.Size(2 * marginMeters.toDouble(), 2 * marginMeters.toDouble()))
+        as Offset;
+    return ui.Size(temp.dx, temp.dy);
   }
 
   @override

pathplannerlib-python/pathplannerlib/util/__init__.py

@@ -87,8 +87,8 @@ def _interpolateList(a: List[float], b: List[float], t: float) -> List[float]:
 
 class FlippingUtil:
     symmetryType: FieldSymmetry = FieldSymmetry.kRotational
-    fieldSizeX: float = 57.573 * 0.3048 # Feet to meters
-    fieldSizeY: float = 26.417 * 0.3048 # Feet to meters
+    fieldSizeX: float = 16.54
+    fieldSizeY: float = 8.07 # Feet to meters
 
     @staticmethod
     def flipFieldPosition(pos: Translation2d) -> Translation2d:

pathplannerlib-python/pyproject.toml

@@ -16,11 +16,11 @@ classifiers = [
 ]
 keywords = ["pathplannerlib"]
 dependencies = [
-    "pyntcore >=2025.1.1",
-    "robotpy-wpimath >=2025.1.1",
-    "robotpy-commands-v2 >=2025.1.1",
-    "robotpy-wpiutil >=2025.1.1",
-    "robotpy-hal >=2025.1.1",
+    "pyntcore >=2026.1.1",
+    "robotpy-wpimath >=2026.1.1",
+    "robotpy-commands-v2 >=2026.1.1",
+    "robotpy-wpiutil >=2026.1.1",
+    "robotpy-hal >=2026.1.1",
     "numpy >=2.1.1",
 ]
 requires-python = ">=3.8"

pathplannerlib-python/requirements.txt

@@ -1,7 +1,7 @@
 setuptools~=74.1.2
-pyntcore>=2025.1.1
-robotpy-wpimath>=2025.1.1
-robotpy-commands-v2>=2025.1.1
-robotpy-wpiutil>=2025.1.1
-robotpy-hal>=2025.1.1
+pyntcore>=2026.1.1
+robotpy-wpimath>=2026.1.1
+robotpy-commands-v2>=2026.1.1
+robotpy-wpiutil>=2026.1.1
+robotpy-hal>=2026.1.1
 numpy>=2.1.1

pathplannerlib/build.gradle

@@ -1,15 +1,23 @@
+import edu.wpi.first.toolchain.*
+
 plugins {
     id 'cpp'
     id 'java'
     id 'google-test'
     id 'edu.wpi.first.wpilib.repositories.WPILibRepositoriesPlugin' version '2025.0'
-    id 'edu.wpi.first.NativeUtils' version '2026.0.0'
+    id 'edu.wpi.first.NativeUtils' version '2026.0.1'
     id 'edu.wpi.first.GradleJni' version '1.1.0'
     id 'edu.wpi.first.GradleVsCode' version '2.1.0'
-    id 'com.diffplug.spotless' version '6.23.3'
+    id 'com.diffplug.spotless' version '8.0.0'
     id 'jacoco'
 }
 
+ext.getCurrentArch = {
+    return NativePlatforms.desktop
+}
+
+def systemArch = getCurrentArch()
+
 // WPILib Version
 ext.wpilibVersion = "2026.+"
 
@@ -41,16 +49,17 @@ dependencies {
     implementation "edu.wpi.first.wpiunits:wpiunits-java:$wpilibVersion"
     implementation "edu.wpi.first.hal:hal-java:$wpilibVersion"
     implementation "edu.wpi.first.wpilibNewCommands:wpilibNewCommands-java:$wpilibVersion"
-    implementation "org.ejml:ejml-simple:0.43.1"
-    implementation "com.fasterxml.jackson.core:jackson-annotations:2.15.2"
-    implementation "com.fasterxml.jackson.core:jackson-core:2.15.2"
-    implementation "com.fasterxml.jackson.core:jackson-databind:2.15.2"
+    implementation "org.ejml:ejml-simple:0.44.0"
+    implementation "com.fasterxml.jackson.core:jackson-annotations:2.19.2"
+    implementation "com.fasterxml.jackson.core:jackson-core:2.19.2"
+    implementation "com.fasterxml.jackson.core:jackson-databind:2.19.2"
     implementation 'edu.wpi.first.thirdparty.frc2025.opencv:opencv-java:4.10.0-2'
 
-    testImplementation 'org.junit.jupiter:junit-jupiter-api:5.9.0'
-    testImplementation 'org.junit.jupiter:junit-jupiter-params:5.9.0'
-    testRuntimeOnly 'org.junit.jupiter:junit-jupiter-engine:5.9.0'
-    testRuntimeOnly "us.hebi.quickbuf:quickbuf-runtime:1.3.2"
+    testImplementation 'org.junit.jupiter:junit-jupiter-api:5.13.4'
+    testImplementation 'org.junit.jupiter:junit-jupiter-params:5.13.4'
+    testRuntimeOnly 'org.junit.jupiter:junit-jupiter-engine:5.13.4'
+    testRuntimeOnly 'org.junit.platform:junit-platform-launcher'
+    testRuntimeOnly "us.hebi.quickbuf:quickbuf-runtime:1.4"
 }
 
 // Set up exports properly
@@ -114,6 +123,17 @@ model {
             }
 
             nativeUtils.useRequiredLibrary(it, "wpilib_executable_shared", "googletest_static")
+
+            binaries.all {
+                def arch = it.targetPlatform.name
+                if (systemArch == arch && it.buildType.name == 'debug') {
+                    def filePath = it.tasks.install.installDirectory.get().toString() + File.separatorChar + 'lib'
+                    test.dependsOn it.tasks.install
+                    test.systemProperty 'java.library.path', filePath
+                    test.environment 'LD_LIBRARY_PATH', filePath
+                    test.workingDir filePath
+                }
+            }
         }
     }
 }
@@ -143,7 +163,7 @@ spotless {
             exclude '**/build/**', '**/build-*/**'
         }
         greclipse()
-        indentWithSpaces(4)
+        leadingTabsToSpaces(4)
         trimTrailingWhitespace()
         endWithNewline()
     }
@@ -153,7 +173,7 @@ spotless {
             exclude '**/build/**', '**/build-*/**'
         }
         trimTrailingWhitespace()
-        indentWithSpaces(4)
+        leadingTabsToSpaces(4)
         endWithNewline()
     }
 }
@@ -168,17 +188,18 @@ javadoc {
 apply from: 'publish.gradle'
 
 wrapper {
-    gradleVersion '8.11'
-}
-
-jacocoTestReport {
-    reports {
-        xml.required.set(true)
-    }
+    gradleVersion = '8.14.3'
 }
 
 test {
     useJUnitPlatform()
+    systemProperty 'junit.jupiter.extensions.autodetection.enabled', 'true'
+    testLogging {
+        events "failed"
+        exceptionFormat = "full"
+    }
+}
 
-    finalizedBy jacocoTestReport
+if (project.hasProperty('onlylinuxathena') || project.hasProperty('onlylinuxarm32') || project.hasProperty('onlylinuxarm64') || project.hasProperty('onlywindowsarm64')) {
+    test.enabled = false
 }

pathplannerlib/config.gradle

@@ -8,10 +8,8 @@ nativeUtils.withCrossLinuxArm64()
 nativeUtils {
     wpi {
         configureDependencies {
-            wpiVersion = wpilibVersion
-            opencvYear = "frc2026"
+            wpiVersion = "2026.1.1"
             niLibVersion = "2026.1.0"
-            opencvVersion = "4.10.0-2"
         }
     }
 }
@@ -27,12 +25,6 @@ nativeUtils.wpi.getVendorDeps().getNativeVendor().initializeNativeDependencies()
 nativeUtils.wpi.getVendorDeps().addVendorReposToMaven(false)
 
 model {
-    // components {
-    //     all {
-    //         targetPlatform nativeUtils.wpi.platforms.roborio
-    //     }
-    // }
-    // Uncomment this, and remove above lines to enable builds for all platforms
     components {
         all {
             nativeUtils.useAllPlatforms(it)

pathplannerlib/gradle/wrapper/gradle-wrapper.properties

@@ -1,6 +1,6 @@
 distributionBase=GRADLE_USER_HOME
 distributionPath=wrapper/dists
-distributionUrl=https\://services.gradle.org/distributions/gradle-8.11-bin.zip
+distributionUrl=https\://services.gradle.org/distributions/gradle-8.14.3-bin.zip
 networkTimeout=10000
 validateDistributionUrl=true
 zipStoreBase=GRADLE_USER_HOME