Vendor Dependencies

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

Open VSCode Command Palette (Ctrl+Shift+P / Cmd+Shift+P)
Type “WPILib: Manage Vendor Libraries”
Select “Install new libraries (online)”
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

Download vendordep JSON file
Place in vendordeps/ folder in your project
Build project to download dependencies

Managing Installed Libraries

View installed libraries:

ls vendordeps/

Remove a library:

Command Palette → “WPILib: Manage Vendor Libraries”
Select “Manage current libraries”
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:

Define Metadata:

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

Add Maven Repository:

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

Specify Dependencies:

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

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

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

Manual Update

Download new vendordep JSON
Replace file in vendordeps/
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

Use Online Installation: Ensures latest compatible version
Update Regularly: Check for updates at start of season and before events
Vendor-Specific Tools: Use manufacturer config tools (Phoenix Tuner, REV Client)
Read Documentation: Each vendor has specific setup requirements
Version Consistency: Keep vendordeps consistent across team computers
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

Getting Started

Core Concepts

Programming Guide

Simulation

Advanced Topics

Tools

Vendor Dependencies

What are Vendor Dependencies?

Vendordep File Structure

Key Vendordep Fields

Metadata

Java Dependencies

C++ Dependencies

JNI Dependencies

Installing Vendor Dependencies

Online Installation

Offline Installation

Managing Installed Libraries

Using Vendor Libraries

C++ Example (REV Robotics)

Java Example (CTRE Phoenix)

WPILib-Provided Vendordeps

Romi

XRP

Creating Custom Vendordeps

Updating Vendor Libraries

Check for Updates

Manual Update

Troubleshooting

Library Not Found

Version Conflicts

Simulation Issues

CAN Device Not Found

Best Practices

Common Vendors

Motor Controllers

Sensors

Vision

Other

Build docs developers (and LLMs) love

Getting Started

Core Concepts

Programming Guide

Simulation

Advanced Topics

Tools

​What are Vendor Dependencies?

​Vendordep File Structure

​Key Vendordep Fields

​Metadata

​Java Dependencies

​C++ Dependencies

​JNI Dependencies

​Installing Vendor Dependencies

​Online Installation

​Offline Installation

​Managing Installed Libraries

​Using Vendor Libraries

​C++ Example (REV Robotics)

​Java Example (CTRE Phoenix)

​WPILib-Provided Vendordeps

​Romi

​XRP

​Creating Custom Vendordeps

​Updating Vendor Libraries

​Check for Updates

​Manual Update

​Troubleshooting

​Library Not Found

​Version Conflicts

​Simulation Issues

​CAN Device Not Found

​Best Practices

​Common Vendors

​Motor Controllers

​Sensors

​Vision

​Other

Build docs developers (and LLMs) love

What are Vendor Dependencies?

Vendordep File Structure

Key Vendordep Fields

Metadata

Java Dependencies

C++ Dependencies

JNI Dependencies

Installing Vendor Dependencies

Online Installation

Offline Installation

Managing Installed Libraries

Using Vendor Libraries

C++ Example (REV Robotics)

Java Example (CTRE Phoenix)

WPILib-Provided Vendordeps

Romi

XRP

Creating Custom Vendordeps

Updating Vendor Libraries

Check for Updates

Manual Update

Troubleshooting

Library Not Found

Version Conflicts

Simulation Issues

CAN Device Not Found

Best Practices

Common Vendors

Motor Controllers

Sensors

Vision

Other