Merge pull request #89 from robotpy/fix-examples-and-update

Fix examples and update

Author: virtuald

.github/workflows/dist.yml

@@ -6,12 +6,13 @@ on:
   push:
     branches:
     - main
+    - '2027'
     tags:
     - '*'
 
 jobs:
   ci:
-    uses: robotpy/build-actions/.github/workflows/package-ci.yml@v2026
+    uses: robotpy/build-actions/.github/workflows/package-ci.yml@v2027
     with:
       artifactory_repo_type: vendor
       enable_raspbian: false

examples/can-arcade-drive/robot.py

@@ -7,32 +7,35 @@
 
 import rev
 import wpilib
-from wpilib.drive import DifferentialDrive
 
 
 class Robot(wpilib.TimedRobot):
-    def robotInit(self):
+    def __init__(self):
+        super().__init__()
         # SPARK MAX controllers are intialized over CAN by constructing a
         # CANSparkMax object
         #
-        # The CAN ID, which can be configured using the SPARK MAX Client, is passed
-        # as the first parameter
+        # The CAN bus ID is passed as the first parameter, and the device ID,
+        # which can be configured using the SPARK MAX Client, is passed as the
+        # second parameter.
         #
-        # The motor type is passed as the second parameter.
+        # The motor type is passed as the third parameter.
         # Motor type can either be:
         #   rev.CANSparkMax.MotorType.kBrushless
         #   rev.CANSparkMax.MotorType.kBrushed
         #
         # The example below initializes four brushless motors with CAN IDs
         # 1, 2, 3, 4. Change these parameters to match your setup
-        self.leftLeadMotor = rev.SparkMax(1, rev.SparkMax.MotorType.kBrushless)
-        self.rightLeadMotor = rev.SparkMax(3, rev.SparkMax.MotorType.kBrushless)
-        self.leftFollowMotor = rev.SparkMax(2, rev.SparkMax.MotorType.kBrushless)
-        self.rightFollowMotor = rev.SparkMax(4, rev.SparkMax.MotorType.kBrushless)
+        self.leftLeadMotor = rev.SparkMax(0, 1, rev.SparkMax.MotorType.kBrushless)
+        self.rightLeadMotor = rev.SparkMax(0, 3, rev.SparkMax.MotorType.kBrushless)
+        self.leftFollowMotor = rev.SparkMax(0, 2, rev.SparkMax.MotorType.kBrushless)
+        self.rightFollowMotor = rev.SparkMax(0, 4, rev.SparkMax.MotorType.kBrushless)
 
         # Passing in the lead motors into DifferentialDrive allows any
         # commmands sent to the lead motors to be sent to the follower motors.
-        self.driveTrain = DifferentialDrive(self.leftLeadMotor, self.rightLeadMotor)
+        self.driveTrain = wpilib.DifferentialDrive(
+            self.leftLeadMotor, self.rightLeadMotor
+        )
         self.joystick = wpilib.Joystick(0)
 
         # Create new SPARK MAX configuration objects. These will store the

examples/can-tank-drive/robot.py

@@ -7,26 +7,27 @@
 
 import rev
 import wpilib
-from wpilib.drive import DifferentialDrive
 
 
 class Robot(wpilib.TimedRobot):
-    def robotInit(self):
+    def __init__(self):
+        super().__init__()
         # SPARK MAX controllers are intialized over CAN by constructing a
         # CANSparkMax object
         #
-        # The CAN ID, which can be configured using the SPARK MAX Client, is passed
-        # as the first parameter
+        # The CAN bus ID is passed as the first parameter, and the device ID,
+        # which can be configured using the SPARK MAX Client, is passed as the
+        # second parameter.
         #
-        # The motor type is passed as the second parameter.
+        # The motor type is passed as the third parameter.
         # Motor type can either be:
         #   rev.CANSparkMax.MotorType.kBrushless
         #   rev.CANSparkMax.MotorType.kBrushed
         #
         # The example below initializes two brushless motors with CAN IDs
         # 1 and 2. Change these parameters to match your setup
-        self.leftMotor = rev.SparkMax(1, rev.SparkMax.MotorType.kBrushless)
-        self.rightMotor = rev.SparkMax(2, rev.SparkMax.MotorType.kBrushless)
+        self.leftMotor = rev.SparkMax(0, 1, rev.SparkMax.MotorType.kBrushless)
+        self.rightMotor = rev.SparkMax(0, 2, rev.SparkMax.MotorType.kBrushless)
 
         # Configure for factory defaults and invert right side motor
         self.globalConfig = rev.SparkMaxConfig()
@@ -42,7 +43,7 @@ def robotInit(self):
             rev.PersistMode.kPersistParameters,
         )
 
-        self.driveTrain = DifferentialDrive(self.leftMotor, self.rightMotor)
+        self.driveTrain = wpilib.DifferentialDrive(self.leftMotor, self.rightMotor)
         self.l_stick = wpilib.Joystick(0)
         self.r_stick = wpilib.Joystick(1)
 

examples/getting-started/robot.py

@@ -6,22 +6,20 @@
 #
 
 import wpilib
-import wpilib.drive
 import rev
 
 
 class MyRobot(wpilib.TimedRobot):
-    def robotInit(self):
+    def __init__(self):
+        super().__init__()
         """
         This function is called upon program startup and
         should be used for any initialization code.
         """
-        self.leftDrive = rev.SparkMax(1, rev.SparkMax.MotorType.kBrushless)
-        self.rightDrive = rev.SparkMax(2, rev.SparkMax.MotorType.kBrushless)
-        self.robotDrive = wpilib.drive.DifferentialDrive(
-            self.leftDrive, self.rightDrive
-        )
-        self.controller = wpilib.XboxController(0)
+        self.leftDrive = rev.SparkMax(0, 1, rev.SparkMax.MotorType.kBrushless)
+        self.rightDrive = rev.SparkMax(0, 2, rev.SparkMax.MotorType.kBrushless)
+        self.robotDrive = wpilib.DifferentialDrive(self.leftDrive, self.rightDrive)
+        self.controller = wpilib.Gamepad(0)
         self.timer = wpilib.Timer()
 
         # We need to invert one side of the drivetrain so that positive voltages

examples/limit-switch/robot.py

@@ -14,9 +14,10 @@
 
 
 class Robot(wpilib.TimedRobot):
-    def robotInit(self):
+    def __init__(self):
+        super().__init__()
         # Create motor
-        self.motor = rev.SparkMax(1, rev.SparkMax.MotorType.kBrushless)
+        self.motor = rev.SparkMax(0, 1, rev.SparkMax.MotorType.kBrushless)
 
         self.joystick = wpilib.Joystick(0)
 
@@ -60,8 +61,8 @@ def robotInit(self):
         )
 
     def teleopPeriodic(self):
-        # Pair motor and the joystick's Y Axis
-        self.motor.set(self.joystick.getY())
+        # Pair motor output and the joystick's Y Axis
+        self.motor.setVoltage(self.joystick.getY() * 12)
 
         # enable/disable limit switches based on value read from SmartDashboard
         if self.prevForwardLimitEnabled != wpilib.SmartDashboard.getBoolean(
@@ -101,10 +102,10 @@ def teleopPeriodic(self):
         # pressed. It will also return true if you do not have a switch
         # connected. get() will return false when the switch is released.
         wpilib.SmartDashboard.putBoolean(
-            "Forward Limit Switch", self.forwardLimit.get()
+            "Forward Limit Switch", self.forwardLimit.get().get()
         )
         wpilib.SmartDashboard.putBoolean(
-            "Reverse Limit Switch", self.reverseLimit.get()
+            "Reverse Limit Switch", self.reverseLimit.get().get()
         )
 
 

examples/run_examples.py

@@ -25,9 +25,9 @@
 script_dir = os.path.dirname(__file__)
 
 robot_files = []
-for root, dirs, files in os.walk("."):
+for root, dirs, files in os.walk(script_dir):
     if "robot.py" in files:
-        robot_files.append(os.path.relpath(root, "."))
+        robot_files.append(os.path.relpath(root, script_dir))
 
 for file in robot_files:
     print("found: " + file)
@@ -39,5 +39,5 @@
 for test in TESTS:
     print(f"Running test: {test}")
     os.chdir(os.path.join(script_dir, test))
-    subprocess.run([sys.executable, "-m", "robotpy", "test", "--builtin"])
+    subprocess.check_call([sys.executable, "-m", "robotpy", "test", "--builtin"])
     os.chdir(script_dir)

pyproject.toml

@@ -4,9 +4,9 @@ requires = [
     "hatchling",
     "hatch-vcs",
     "semiwrap~=0.3.0",
-    "hatch-meson~=0.1.0",
+    "hatch-meson~=0.1.2",
     "hatch-robotpy~=0.2.1",
-    "wpilib~=2026.2.1",
+    "wpilib==2027.0.0a6.post1",
 ]
 
 
@@ -16,7 +16,7 @@ dynamic = ["version"]
 description = "REVLib for RobotPy"
 license = "BSD-3-Clause"
 dependencies = [
-    "wpilib>=2026.2.1,<2027",
+    "wpilib==2027.0.0a6.post1",
 ]
 
 [[project.authors]]
@@ -44,23 +44,23 @@ packages = ["rev"]
 artifact_id = "REVLib-cpp"
 group_id = "com.revrobotics.frc"
 repo_url = "https://maven.revrobotics.com"
-version = "2026.0.4"
+version = "2027.0.0-alpha-3"
 staticlibs = ["REVLib"]
 extract_to = "lib"
 
 [[tool.hatch.build.hooks.robotpy.maven_lib_download]]
 artifact_id = "REVLib-driver"
 group_id = "com.revrobotics.frc"
 repo_url = "https://maven.revrobotics.com"
-version = "2026.0.4"
+version = "2027.0.0-alpha-3"
 staticlibs = [ "REVLibDriver"]
 extract_to = "lib"
 
 [[tool.hatch.build.hooks.robotpy.maven_lib_download]]
 artifact_id = "RevLibBackendDriver"
 group_id = "com.revrobotics.frc"
 repo_url = "https://maven.revrobotics.com"
-version = "2026.0.4"
+version = "2027.0.0-alpha-3"
 staticlibs = [
     "BackendDriver",
 ]
@@ -71,7 +71,7 @@ use_headers = false
 artifact_id = "RevLibWpiBackendDriver"
 group_id = "com.revrobotics.frc"
 repo_url = "https://maven.revrobotics.com"
-version = "2026.0.4"
+version = "2027.0.0-alpha-3"
 staticlibs = [
     "REVLibWpi",
 ]
@@ -145,6 +145,9 @@ includes = [
 
 [tool.semiwrap.extension_modules."rev._rev".headers]
 
+# first
+A301 = "first/A301.h"
+
 # rev
 AbsoluteEncoder = "rev/AbsoluteEncoder.h"
 AnalogInput = "rev/AnalogInput.h"
@@ -236,4 +239,5 @@ SparkRelativeEncoderSim = "rev/sim/SparkRelativeEncoderSim.h"
 SparkSimFaultManager = "rev/sim/SparkSimFaultManager.h"
 
 # rev/util
+Signal = "rev/util/Signal.h"
 StatusLogger = "rev/util/StatusLogger.h"

rev/__init__.py

@@ -4,6 +4,7 @@
 
 # autogenerated by 'semiwrap create-imports rev rev._rev'
 from ._rev import (
+    A301,
     AbsoluteEncoder,
     AbsoluteEncoderConfig,
     AbsoluteEncoderConfigAccessor,
@@ -25,6 +26,7 @@
     DetachedEncoderLowLevel,
     DetachedEncoderSim,
     DetachedSignalsConfig,
+    DetachedSignalsConfigAccessor,
     EncoderConfig,
     EncoderConfigAccessor,
     ExternalEncoderConfig,
@@ -52,6 +54,36 @@
     ServoHubParameter,
     ServoHubSim,
     ServoHubSimFaultManager,
+    Signal_A301Faults,
+    Signal_A301Warnings,
+    Signal_ClosedLoopSlot,
+    Signal_DetachedFaults,
+    Signal_DetachedPeriodicStatus1,
+    Signal_DetachedPeriodicStatus2,
+    Signal_DetachedPeriodicStatus3,
+    Signal_DetachedPeriodicStatus4,
+    Signal_ServoHubFaults,
+    Signal_ServoHubPeriodicStatus0,
+    Signal_ServoHubPeriodicStatus1,
+    Signal_ServoHubPeriodicStatus2,
+    Signal_ServoHubPeriodicStatus3,
+    Signal_ServoHubPeriodicStatus4,
+    Signal_ServoHubWarnings,
+    Signal_SparkFaults,
+    Signal_SparkPeriodicStatus0,
+    Signal_SparkPeriodicStatus1,
+    Signal_SparkPeriodicStatus2,
+    Signal_SparkPeriodicStatus3,
+    Signal_SparkPeriodicStatus4,
+    Signal_SparkPeriodicStatus5,
+    Signal_SparkPeriodicStatus6,
+    Signal_SparkPeriodicStatus7,
+    Signal_SparkPeriodicStatus8,
+    Signal_SparkPeriodicStatus9,
+    Signal_SparkWarnings,
+    Signal_bool,
+    Signal_double,
+    Signal_int,
     SignalsConfig,
     SignalsConfigAccessor,
     SoftLimitConfig,
@@ -90,6 +122,7 @@
 )
 
 __all__ = [
+    "A301",
     "AbsoluteEncoder",
     "AbsoluteEncoderConfig",
     "AbsoluteEncoderConfigAccessor",
@@ -111,6 +144,7 @@
     "DetachedEncoderLowLevel",
     "DetachedEncoderSim",
     "DetachedSignalsConfig",
+    "DetachedSignalsConfigAccessor",
     "EncoderConfig",
     "EncoderConfigAccessor",
     "ExternalEncoderConfig",
@@ -138,6 +172,36 @@
     "ServoHubParameter",
     "ServoHubSim",
     "ServoHubSimFaultManager",
+    "Signal_A301Faults",
+    "Signal_A301Warnings",
+    "Signal_ClosedLoopSlot",
+    "Signal_DetachedFaults",
+    "Signal_DetachedPeriodicStatus1",
+    "Signal_DetachedPeriodicStatus2",
+    "Signal_DetachedPeriodicStatus3",
+    "Signal_DetachedPeriodicStatus4",
+    "Signal_ServoHubFaults",
+    "Signal_ServoHubPeriodicStatus0",
+    "Signal_ServoHubPeriodicStatus1",
+    "Signal_ServoHubPeriodicStatus2",
+    "Signal_ServoHubPeriodicStatus3",
+    "Signal_ServoHubPeriodicStatus4",
+    "Signal_ServoHubWarnings",
+    "Signal_SparkFaults",
+    "Signal_SparkPeriodicStatus0",
+    "Signal_SparkPeriodicStatus1",
+    "Signal_SparkPeriodicStatus2",
+    "Signal_SparkPeriodicStatus3",
+    "Signal_SparkPeriodicStatus4",
+    "Signal_SparkPeriodicStatus5",
+    "Signal_SparkPeriodicStatus6",
+    "Signal_SparkPeriodicStatus7",
+    "Signal_SparkPeriodicStatus8",
+    "Signal_SparkPeriodicStatus9",
+    "Signal_SparkWarnings",
+    "Signal_bool",
+    "Signal_double",
+    "Signal_int",
     "SignalsConfig",
     "SignalsConfigAccessor",
     "SoftLimitConfig",