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Choreo v2026.0.0-beta-1

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@github-actions github-actions released this 20 Nov 05:14
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v2026.0.0-beta-1
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Choreo v2026.0.0-beta-1

This first 2026 prerelease is mostly non-user-facing build system improvements. The changes highlighted below are not an exhaustive list, and focuses on potentially breaking changes or new workflow features.

ChoreoLib Vendordep URL (Java/C++)

https://choreo.autos/lib/ChoreoLib2026Beta.json
Though we published a Python 2026.0.0 beta 1 ChoreoLib, that still is against the last 2025 RobotPy stable release, since RobotPy has not released 2026 betas yet.

Trajectory Schema Change

The .traj schema version is now 2. This version adds an alpha parameter to the DifferentialSample: the chassis angular acceleration of the state in rad/s².

  • This is exported to support better interpolation of differential samples. See the ChoreoLib section.

NOTE: Trajectories of both drive types will need to be regenerated after first being opened in this version.

ChoreoLib

All

  • ChoreoLib Java and C++ are updated to work with WPILib v2026.1.1-beta-1. ChoreoLib Python is still built against the last RobotPy stable release.

  • ChoreoLib is now hosted on the Artifactory instance shared with WPILib.

  • DifferentialSample is updated to reflect the above schema change. This is BREAKING for code that constructs DifferentialSamples directly.

  • For both SwerveSamples and DifferentialSamples, interpolation now integrates the acceleration instead of linearly interpolating all elements of the state.

Java

  • AutoRoutine
    • Removed the deprecated function. Use anyDoneDelayed.
@Deprecated(forRemoval = true, since = "2025")
  public Trigger anyDone(
      int cyclesToDelay, AutoTrajectory trajectory, AutoTrajectory... trajectories)

C++

  • Removed the deprecated kTrajSpecVersion in util/TrajSchemaVersion.h. Use kTrajSchemaVersion.

Python

  • Added FMS Usage Reporting for ChoreoTrajectory

Choreo GUI

  • Choreo is now using Tauri v2 instead of v1.
  • Add timestamp of last project save, in the main menu.
  • Added button to save an unsaved project. This is next to the Undo and Redo buttons.
  • The sidebar icon next to each path is now clickable to generate the path if it is stale.
  • Added Generate All button.

What's Changed

New Contributors

Full Changelog: v2025.0.3...v2026.0.0-beta-1

Contributors

calcmogul, dkt01, and 5 other contributors
Assets 18
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