Vendor Dependencies

Managing and using third-party libraries for additional robot hardware

Vendor dependencies (vendordeps) are JSON files that add support for third-party hardware and libraries to your robot project. They enable integration with motor controllers, sensors, and other devices from manufacturers beyond the standard WPILib hardware.

What are Vendor Dependencies?

Vendor dependencies:

• Add libraries for third-party hardware (CTRE, REV, etc.)
• Provide APIs for advanced features
• Include both Java and C++ implementations
• Automatically manage dependencies and updates
• Include native libraries for roboRIO and simulation

Vendordep File Structure

A vendordep is a JSON file describing the library:

{
  "fileName": "RomiVendordep.json",
  "name": "Romi-Vendordep",
  "version": "1.0.0",
  "uuid": "1010372a-b446-46f4-b229-61e53a26a7dc",
  "frcYear": "2026",
  "mavenUrls": [],
  "jsonUrl": "",
  "javaDependencies": [
    {
      "groupId": "edu.wpi.first.romiVendordep",
      "artifactId": "romiVendordep-java",
      "version": "wpilib"
    }
  ],
  "jniDependencies": [],
  "cppDependencies": [
    {
      "groupId": "edu.wpi.first.romiVendordep",
      "artifactId": "romiVendordep-cpp",
      "version": "wpilib",
      "libName": "romiVendordep",
      "headerClassifier": "headers",
      "sourcesClassifier": "sources",
      "sharedLibrary": true,
      "skipInvalidPlatforms": true,
      "binaryPlatforms": [
        "linuxarm32",
        "linuxarm64",
        "windowsx86-64",
        "linuxx86-64",
        "osxuniversal"
      ]
    }
  ]
}

Location: romiVendordep/RomiVendordep.json:1

Key Vendordep Fields

Metadata

• fileName: Name of the JSON file
• name: Human-readable library name
• version: Library version
• uuid: Unique identifier (prevents conflicts)
• frcYear: FRC season year (“2026”, “2025”, etc.)
• mavenUrls: Repository URLs for downloading libraries
• jsonUrl: URL for automatic updates

Java Dependencies

"javaDependencies": [
  {
    "groupId": "com.vendor.library",
    "artifactId": "library-java",
    "version": "1.0.0"
  }
]

C++ Dependencies

"cppDependencies": [
  {
    "groupId": "com.vendor.library",
    "artifactId": "library-cpp",
    "version": "1.0.0",
    "libName": "vendor_lib",
    "headerClassifier": "headers",
    "sourcesClassifier": "sources",
    "sharedLibrary": true,
    "skipInvalidPlatforms": true,
    "binaryPlatforms": [
      "linuxarm32",
      "windowsx86-64",
      "linuxx86-64",
      "osxuniversal"
    ]
  }
]

C++ Fields:

• libName: Native library name (without platform suffix)
• headerClassifier: Maven classifier for header files
• sharedLibrary: Whether library is shared (.so, .dll) or static
• binaryPlatforms: Supported platforms
  • linuxarm32: roboRIO
  • linuxarm64: roboRIO 2
  • windowsx86-64: Windows simulation
  • linuxx86-64: Linux simulation
  • osxuniversal: macOS simulation

JNI Dependencies

Native libraries required by Java code:

"jniDependencies": [
  {
    "groupId": "com.vendor.library",
    "artifactId": "library-jni",
    "version": "1.0.0",
    "skipInvalidPlatforms": true,
    "isJar": false,
    "validPlatforms": [
      "linuxarm32",
      "linuxarm64"
    ]
  }
]

Installing Vendor Dependencies

Online Installation

1. Open VSCode Command Palette (Ctrl+Shift+P / Cmd+Shift+P)
2. Type “WPILib: Manage Vendor Libraries”
3. Select “Install new libraries (online)”
4. Enter vendor URL or select from list

Common Vendor URLs:

• CTRE Phoenix: https://maven.ctr-electronics.com/release/com/ctre/phoenix/Phoenix-latest.json
• REV Robotics: https://software-metadata.revrobotics.com/REVLib-2025.json
• Kauai Labs (navX): https://dev.studica.com/releases/2025/NavX.json
• Playing With Fusion: https://www.playingwithfusion.com/frc/playingwithfusion2025.json
• Redux Robotics: https://frcdocs.wpi.edu/en/stable/docs/software/vscode-overview/3rd-party-libraries.html

Offline Installation

1. Download vendordep JSON file
2. Place in vendordeps/ folder in your project
3. Build project to download dependencies

Managing Installed Libraries

View installed libraries:

ls vendordeps/

Remove a library:

1. Command Palette → “WPILib: Manage Vendor Libraries”
2. Select “Manage current libraries”
3. Uncheck library to remove

Using Vendor Libraries

C++ Example (REV Robotics)

#include <rev/CANSparkMax.h>

class Robot : public frc::TimedRobot {
public:
    void RobotInit() override {
        // Create SPARK MAX motor controller
        motor = std::make_unique<rev::CANSparkMax>(
            1,  // CAN ID
            rev::CANSparkMax::MotorType::kBrushless
        );
        
        // Configure motor
        motor->RestoreFactoryDefaults();
        motor->SetIdleMode(rev::CANSparkMax::IdleMode::kBrake);
        
        // Get encoder
        encoder = motor->GetEncoder();
    }
    
    void TeleopPeriodic() override {
        motor->Set(joystick.GetY());
        
        double velocity = encoder.GetVelocity();
        frc::SmartDashboard::PutNumber("Velocity", velocity);
    }
    
private:
    std::unique_ptr<rev::CANSparkMax> motor;
    rev::SparkRelativeEncoder encoder{nullptr};
};

Java Example (CTRE Phoenix)

import com.ctre.phoenix.motorcontrol.can.TalonFX;
import com.ctre.phoenix.motorcontrol.TalonFXControlMode;

public class Robot extends TimedRobot {
    private TalonFX motor;
    
    @Override
    public void robotInit() {
        motor = new TalonFX(1);  // CAN ID 1
        motor.configFactoryDefault();
    }
    
    @Override
    public void teleopPeriodic() {
        motor.set(TalonFXControlMode.PercentOutput, joystick.getY());
    }
}

WPILib-Provided Vendordeps

WPILib includes vendordeps for specific platforms:

Romi

Support for the Romi robot platform:

#include <frc/romi/RomiMotor.h>
#include <frc/romi/RomiGyro.h>

frc::romi::RomiMotor leftMotor{0};
frc::romi::RomiMotor rightMotor{1};
frc::romi::RomiGyro gyro;

Location: romiVendordep/RomiVendordep.json:1

XRP

Support for the XRP robot platform:

#include <frc/xrp/XRPMotor.h>
#include <frc/xrp/XRPGyro.h>

frc::xrp::XRPMotor leftMotor{0};
frc::xrp::XRPMotor rightMotor{1};
frc::xrp::XRPGyro gyro;

Location: xrpVendordep/XRPVendordep.json:1

Creating Custom Vendordeps

To create your own vendordep:

1. Define Metadata:

{
  "fileName": "MyVendordep.json",
  "name": "My Custom Library",
  "version": "1.0.0",
  "uuid": "<generate-unique-uuid>",
  "frcYear": "2026"
}

2. Add Maven Repository:

"mavenUrls": [
  "https://maven.mycompany.com/releases"
]

3. Specify Dependencies:

"javaDependencies": [...],
"cppDependencies": [...],
"jniDependencies": [...]

4. Build and Publish:

• Build native libraries for all platforms
• Publish to Maven repository
• Host JSON file at public URL

Updating Vendor Libraries

Check for Updates

1. Command Palette → “WPILib: Manage Vendor Libraries”
2. Select “Check for updates (online)”
3. Accept updates if available

Manual Update

1. Download new vendordep JSON
2. Replace file in vendordeps/
3. Build project

Troubleshooting

Library Not Found

Problem: Build fails with “Could not find library”

Solutions:

• Ensure internet connection (for first build)
• Check mavenUrls are accessible
• Verify platform is supported in binaryPlatforms
• Try cleaning and rebuilding: ./gradlew clean build

Version Conflicts

Problem: Multiple libraries conflict

Solutions:

• Update all libraries to latest versions
• Check vendor documentation for compatibility
• May need to downgrade some libraries

Simulation Issues

Problem: Vendor library doesn’t work in simulation

Solutions:

• Check if library supports your platform (Windows/Linux/macOS)
• Some libraries only support roboRIO hardware
• Check vendor docs for simulation support

CAN Device Not Found

Problem: Motor controllers not responding

Solutions:

• Verify CAN IDs are correct
• Check physical CAN wiring
• Use vendor configuration tool (Phoenix Tuner, REV Hardware Client)
• Ensure vendordep is installed

Best Practices

1. Use Online Installation: Ensures latest compatible version
2. Update Regularly: Check for updates at start of season and before events
3. Vendor-Specific Tools: Use manufacturer config tools (Phoenix Tuner, REV Client)
4. Read Documentation: Each vendor has specific setup requirements
5. Version Consistency: Keep vendordeps consistent across team computers
6. Backup Vendordeps: Commit vendordeps/ folder to version control

Common Vendors

Motor Controllers

• CTRE (Talon SRX, Falcon 500): Phoenix framework
• REV Robotics (SPARK MAX): REVLib
• Redux Robotics (Canandmag, Canandgyro): Redux API

Sensors

• Kauai Labs (navX): NavX navigation sensor
• Playing With Fusion: Time of Flight sensors, Venom motors
• CTRE: CANCoder, Pigeon IMU

Vision

• PhotonVision: Vision processing library
• Limelight: Vision camera API

Other

• PathPlanner: Advanced path planning
• AdvantageKit: Logging and replay framework