[tbowers7]

Summary

Merge sc2027 into develop as the Commands V2 baseline for Az-RBSI’s 2027 releases. This branch does not implement Commands V3; that will be maintained separately.

Changes

• Migrate the build and robot code to the WPILib 2027 alpha toolchain, Java 25, SystemCore deployment, and updated WPILib and vendor APIs.
• Add configurable SystemCore CAN assignments for each complete swerve module and the Pigeon. The default uses can_s2 for front modules, can_s3 for back modules, can_s4 for the IMU, and can_s1 for mechanisms.
• Improve autonomous start-pose validation and bound odometry and vision processing so stale sensor work cannot accumulate indefinitely.
• Update tests, installation and CAN wiring guidance, and 2027 season assets.

Compatibility and follow-up

This branch currently uses GradleRIO 2027.0.0-alpha-6 and a Commands V2 vendordep. Choreo, YAGSL, NavX/Studica, and several other integrations are disabled pending compatible 2027 releases. Teams must verify CAN assignments and drive behavior on their hardware before deployment. The kickoff release will require a further dependency and API update.
Validation
The autonomous localization commit reports a passing build with 43 tests; the latest CAN-layout commit reports passing targeted constants and utility tests. I did not rerun the test suite while drafting this description.