lib/robolib/motors/Utils: Added util class for talonfx inversion

gradle.properties

@@ -1,5 +1,8 @@
 wpiVersion = 2026.2.1
 
-ctreVersion = 26.1.0
+ctreVersion = 26.1.1
+ctre5Version = 5.36.0
 
-advantageKitVersion = 4.0.0
+revlibVersion=2026.0.4
+
+advantageKitVersion = 26.0.1

lib/build.gradle

@@ -26,6 +26,7 @@ repositories {
     gradlePluginPortal()
 
     maven {url "https://maven.ctr-electronics.com/release/"}
+    maven {url "https://maven.revrobotics.com/"}
     maven {url "https://frcmaven.wpi.edu/artifactory/littletonrobotics-mvn-release/"}
 }
 
@@ -48,6 +49,13 @@ dependencies {
     // CTRE Phoenix 6
     implementation "com.ctre.phoenix6:wpiapi-java:${ctreVersion}"
 
+    // CTRE Phoenix 5
+    implementation "com.ctre.phoenix:api-java:${ctre5Version}"
+    implementation "com.ctre.phoenix:wpiapi-java:${ctre5Version}"
+
+    // Revlib
+    implementation "com.revrobotics.frc:REVLib-java:2026.0.4"
+
     // AdvantageKit
     implementation "org.littletonrobotics.akit:akit-java:${advantageKitVersion}"
 

lib/src/main/java/org/fairportrobotics/frc/robolib/motors/Utils.java

@@ -0,0 +1,19 @@
+package org.fairportrobotics.frc.robolib.motors;
+
+import com.ctre.phoenix6.configs.MotorOutputConfigs;
+import com.ctre.phoenix6.configs.TalonFXConfigurator;
+import com.ctre.phoenix6.hardware.TalonFX;
+import com.ctre.phoenix6.signals.InvertedValue;
+
+/**
+ * Class defining static helper methods for motors
+ */
+public class Utils {
+    public static void SetMotorDirection(TalonFX motor, InvertedValue direction) {
+        MotorOutputConfigs outputConfigs = new MotorOutputConfigs();
+        TalonFXConfigurator configurator = motor.getConfigurator();
+        configurator.refresh(outputConfigs);
+        outputConfigs.Inverted = direction;
+        configurator.apply(outputConfigs);
+    }
+}