[Copybara] allwpilib to mostrobotpy

.github/workflows/dist.yml

@@ -153,7 +153,7 @@ jobs:
         - "ubuntu-24.04"
         - "ubuntu-24.04-arm"
         - "macos-15"
-        - "windows-2022"
+        - "windows-2025"
         python_version:
         - "3.13"
 
@@ -201,7 +201,7 @@ jobs:
         - "ubuntu-24.04-arm"
         - "macos-15-intel" # x86_64
         - "macos-15" # arm64
-        - "windows-2022"
+        - "windows-2025"
         python_version:
         - '3.11'
         - '3.12'

examples/robot/DifferentialDrivePoseEstimator/drivetrain.py

@@ -59,7 +59,6 @@ def __init__(self, camera_to_object_topic: ntcore.DoubleArrayTopic) -> None:
         # Here we use DifferentialDrivePoseEstimator so that we can fuse odometry readings. The
         # numbers used below are robot specific, and should be tuned.
         self.pose_estimator = wpimath.DifferentialDrivePoseEstimator(
-            self.kinematics,
             self.imu.get_rotation2d(),
             self.left_encoder.get_distance(),
             self.right_encoder.get_distance(),

examples/robot/ElevatorExponentialProfile/robot.py

@@ -23,22 +23,20 @@ def __init__(self) -> None:
 
         # Create a motion profile with the given maximum voltage and characteristics kV, kA
         # These gains should match your feedforward kV, kA for best results.
-        self.profile = wpimath.ExponentialProfileMeterVolts(
-            wpimath.ExponentialProfileMeterVolts.Constraints.from_characteristics(
-                10, 1, 1
-            )
+        self.profile = wpimath.ExponentialProfile(
+            wpimath.ExponentialProfile.Constraints.from_characteristics(10, 1, 1)
         )
-        self.goal = wpimath.ExponentialProfileMeterVolts.State(0, 0)
-        self.setpoint = wpimath.ExponentialProfileMeterVolts.State(0, 0)
+        self.goal = wpimath.ExponentialProfile.State(0, 0)
+        self.setpoint = wpimath.ExponentialProfile.State(0, 0)
 
         # Note: These gains are fake, and will have to be tuned for your robot.
         self.motor.set_pid(1.3, 0.0, 0.7)
 
     def teleop_periodic(self) -> None:
         if self.joystick.get_raw_button_pressed(2):
-            self.goal = wpimath.ExponentialProfileMeterVolts.State(5, 0)
+            self.goal = wpimath.ExponentialProfile.State(5, 0)
         elif self.joystick.get_raw_button_pressed(3):
-            self.goal = wpimath.ExponentialProfileMeterVolts.State(0, 0)
+            self.goal = wpimath.ExponentialProfile.State(0, 0)
 
         # Retrieve the profiled setpoint for the next timestep. This setpoint moves
         # toward the goal while obeying the constraints.

examples/robot/ElevatorExponentialSimulation/subsystems/elevator.py

@@ -17,15 +17,15 @@ def __init__(self) -> None:
         # This gearbox represents a gearbox containing 4 Vex 775pro motors.
         self.elevator_gearbox = wpimath.DCMotor.neo(2)
 
-        self.profile = wpimath.ExponentialProfileMeterVolts(
-            wpimath.ExponentialProfileMeterVolts.Constraints.from_characteristics(
+        self.profile = wpimath.ExponentialProfile(
+            wpimath.ExponentialProfile.Constraints.from_characteristics(
                 constants.ELEVATOR_MAX_V,
                 constants.ELEVATOR_KV,
                 constants.ELEVATOR_KA,
             )
         )
 
-        self.setpoint = wpimath.ExponentialProfileMeterVolts.State(0, 0)
+        self.setpoint = wpimath.ExponentialProfile.State(0, 0)
 
         # Standard classes for controlling our elevator
         self.pid_controller = wpimath.PIDController(
@@ -104,7 +104,7 @@ def reach_goal(self, goal: float) -> None:
 
         :param goal: the position to maintain
         """
-        goal_state = wpimath.ExponentialProfileMeterVolts.State(goal, 0)
+        goal_state = wpimath.ExponentialProfile.State(goal, 0)
 
         next_state = self.profile.calculate(0.020, self.setpoint, goal_state)
 
@@ -126,9 +126,7 @@ def stop(self) -> None:
 
     def reset(self) -> None:
         """Reset Exponential profile to begin from current position on enable."""
-        self.setpoint = wpimath.ExponentialProfileMeterVolts.State(
-            self.encoder.get_distance(), 0
-        )
+        self.setpoint = wpimath.ExponentialProfile.State(self.encoder.get_distance(), 0)
 
     def update_telemetry(self) -> None:
         """Update telemetry, including the mechanism visualization."""

examples/robot/ElevatorProfiledPID/robot.py

@@ -25,7 +25,7 @@ class MyRobot(wpilib.TimedRobot):
     def __init__(self) -> None:
         super().__init__()
         self.joystick = wpilib.Joystick(1)
-        self.encoder = wpilib.Encoder(1, 2)
+        self.encoder = wpilib.Encoder(2, 3)
         self.motor = wpilib.PWMSparkMax(1)
 
         # Create a PID controller whose setpoint's change is subject to maximum

examples/robot/Encoder/robot.py

@@ -28,27 +28,14 @@ def __init__(self):
         """Robot initialization function"""
         super().__init__()
 
-        self.encoder = wpilib.Encoder(1, 2, False, wpilib.Encoder.EncodingType.X4)
-
-        # Defines the number of samples to average when determining the rate.
-        # On a quadrature encoder, values range from 1-255;
-        # larger values result in smoother but potentially
-        # less accurate rates than lower values.
-        self.encoder.set_samples_to_average(5)
+        self.encoder = wpilib.Encoder(2, 3, False, wpilib.Encoder.EncodingType.X4)
 
         # Defines how far the mechanism attached to the encoder moves per pulse. In
         # this case, we assume that a 360 count encoder is directly
         # attached to a 3 inch diameter (1.5inch radius) wheel,
         # and that we want to measure distance in inches.
         self.encoder.set_distance_per_pulse(1.0 / 360.0 * 2.0 * math.pi * 1.5)
 
-        # Defines the lowest rate at which the encoder will
-        # not be considered stopped, for the purposes of
-        # the GetStopped() method. Units are in distance / second,
-        # where distance refers to the units of distance
-        # that you are using, in this case inches.
-        self.encoder.set_min_rate(1.0)
-
     def teleop_periodic(self):
         wpilib.SmartDashboard.put_number(
             "Encoder Distance", self.encoder.get_distance()

examples/robot/SimpleDifferentialDriveSimulation/robot.py

@@ -26,7 +26,7 @@ def __init__(self) -> None:
         self.timer = wpilib.Timer()
 
         # Called once at the beginning of the robot program.
-        self.trajectory = wpimath.TrajectoryGenerator.generate_trajectory(
+        self.trajectory = wpimath.DrivetrainSplineTrajectoryGenerator.generate(
             wpimath.Pose2d(2, 2, wpimath.Rotation2d()),
             [],
             wpimath.Pose2d(6, 4, wpimath.Rotation2d()),

rdev.toml

@@ -22,7 +22,7 @@ wrapper = "2027.0.0a6.post4"
 
 [params]
 
-wpilib_bin_version = "2027.0.0-alpha-6-167-gdb3a9c428"
+wpilib_bin_version = "2027.0.0-alpha-6-218-g3fa405550"
 wpilib_bin_url = "https://frcmaven.wpi.edu/artifactory/development-2027"
 # wpilib_bin_url = "https://frcmaven.wpi.edu/artifactory/development-2027"
 

snippets/robot/QuickVision/robot.py

@@ -13,9 +13,9 @@ class MyRobot(wpilib.TimedRobot):
     """
     Uses the CameraServer class to automatically capture video from a USB webcam and send it to the
     dashboard without doing any vision processing. This is the easiest way to get camera images
-    to the dashboard. Just add this to the robot_init() method in your program.
+    to the dashboard. Just add this to the robot class constructor.
     """
 
-    def __init__(self):
+    def __init__(self) -> None:
         super().__init__()
         CameraServer().launch()

subprojects/robotpy-cscore/pyproject.toml

@@ -44,7 +44,7 @@ version_file = "cscore/version.py"
 artifact_id = "cscore-cpp"
 group_id = "org.wpilib.cscore"
 repo_url = "https://frcmaven.wpi.edu/artifactory/development-2027"
-version = "2027.0.0-alpha-6-167-gdb3a9c428"
+version = "2027.0.0-alpha-6-218-g3fa405550"
 
 staticlibs = ["cscore"]
 extract_to = "lib"
@@ -53,7 +53,7 @@ extract_to = "lib"
 artifact_id = "cameraserver-cpp"
 group_id = "org.wpilib.cameraserver"
 repo_url = "https://frcmaven.wpi.edu/artifactory/development-2027"
-version = "2027.0.0-alpha-6-167-gdb3a9c428"
+version = "2027.0.0-alpha-6-218-g3fa405550"
 
 staticlibs = ["cameraserver"]
 extract_to = "lib"

subprojects/robotpy-hal/hal/_initialize.py

@@ -6,4 +6,4 @@
 if _sse:
     _wpi_hal.set_show_extensions_not_found_messages(False)
 
-_wpi_hal.initialize(500, 0)
+_wpi_hal.initialize()

subprojects/robotpy-hal/semiwrap/UsageReporting.yml

@@ -6,3 +6,28 @@ functions:
     overloads:
       std::string_view, std::string_view:
       std::string_view, int, std::string_view:
+  HAL_PublishCanVersion:
+    overloads:
+      uint8_t, uint32_t, std::string_view, std::string_view:
+        cpp_code: |
+          [](uint8_t busId, uint32_t deviceId, std::string_view name,
+             std::string_view version) {
+            py::gil_scoped_release release;
+            return HAL_PublishCanVersion(busId, deviceId, name, version);
+          }
+  HAL_PublishVersion:
+    overloads:
+      std::string_view, std::string_view:
+        cpp_code: |
+          [](std::string_view name, std::string_view version) {
+            py::gil_scoped_release release;
+            return HAL_PublishVersion(name, version);
+          }
+  HAL_PublishWpilibVersion:
+    overloads:
+      std::string_view:
+        cpp_code: |
+          [](std::string_view version) {
+            py::gil_scoped_release release;
+            return HAL_PublishWpilibVersion(version);
+          }

subprojects/robotpy-halsim-ds-socket/pyproject.toml

@@ -30,7 +30,7 @@ version_file = "halsim_ds_socket/version.py"
 artifact_id = "halsim_ds_socket"
 group_id = "org.wpilib.halsim"
 repo_url = "https://frcmaven.wpi.edu/artifactory/development-2027"
-version = "2027.0.0-alpha-6-167-gdb3a9c428"
+version = "2027.0.0-alpha-6-218-g3fa405550"
 use_headers = false
 
 extract_to = "halsim_ds_socket"

subprojects/robotpy-halsim-ws/pyproject.toml

@@ -35,7 +35,7 @@ version_file = "halsim_ws/version.py"
 artifact_id = "halsim_ws_server"
 group_id = "org.wpilib.halsim"
 repo_url = "https://frcmaven.wpi.edu/artifactory/development-2027"
-version = "2027.0.0-alpha-6-167-gdb3a9c428"
+version = "2027.0.0-alpha-6-218-g3fa405550"
 use_headers = false
 
 extract_to = "halsim_ws/server"
@@ -45,7 +45,7 @@ libs = ["halsim_ws_server"]
 artifact_id = "halsim_ws_client"
 group_id = "org.wpilib.halsim"
 repo_url = "https://frcmaven.wpi.edu/artifactory/development-2027"
-version = "2027.0.0-alpha-6-167-gdb3a9c428"
+version = "2027.0.0-alpha-6-218-g3fa405550"
 use_headers = false
 
 extract_to = "halsim_ws/client"

subprojects/robotpy-native-apriltag/pyproject.toml

@@ -27,7 +27,7 @@ packages = ["src/native"]
 artifact_id = "apriltag-cpp"
 group_id = "org.wpilib.apriltag"
 repo_url = "https://frcmaven.wpi.edu/artifactory/development-2027"
-version = "2027.0.0-alpha-6-167-gdb3a9c428"
+version = "2027.0.0-alpha-6-218-g3fa405550"
 
 extract_to = "src/native/apriltag"
 libs = ["apriltag"]

subprojects/robotpy-native-datalog/pyproject.toml

@@ -26,7 +26,7 @@ packages = ["src/native"]
 artifact_id = "datalog-cpp"
 group_id = "org.wpilib.datalog"
 repo_url = "https://frcmaven.wpi.edu/artifactory/development-2027"
-version = "2027.0.0-alpha-6-167-gdb3a9c428"
+version = "2027.0.0-alpha-6-218-g3fa405550"
 
 extract_to = "src/native/datalog"
 libs = ["datalog"]

subprojects/robotpy-native-halsim-gui/pyproject.toml

@@ -29,7 +29,7 @@ packages = ["src/native"]
 artifact_id = "halsim_gui"
 group_id = "org.wpilib.halsim"
 repo_url = "https://frcmaven.wpi.edu/artifactory/development-2027"
-version = "2027.0.0-alpha-6-167-gdb3a9c428"
+version = "2027.0.0-alpha-6-218-g3fa405550"
 use_headers = true
 
 extract_to = "src/native/halsim_gui"

subprojects/robotpy-native-ntcore/pyproject.toml

@@ -29,7 +29,7 @@ packages = ["src/native"]
 artifact_id = "ntcore-cpp"
 group_id = "org.wpilib.ntcore"
 repo_url = "https://frcmaven.wpi.edu/artifactory/development-2027"
-version = "2027.0.0-alpha-6-167-gdb3a9c428"
+version = "2027.0.0-alpha-6-218-g3fa405550"
 
 extract_to = "src/native/ntcore"
 libs = ["ntcore"]

subprojects/robotpy-native-romi/pyproject.toml

@@ -25,7 +25,7 @@ packages = ["src/native"]
 artifact_id = "romiVendordep-cpp"
 group_id = "org.wpilib.romiVendordep"
 repo_url = "https://frcmaven.wpi.edu/artifactory/development-2027"
-version = "2027.0.0-alpha-6-167-gdb3a9c428"
+version = "2027.0.0-alpha-6-218-g3fa405550"
 
 extract_to = "src/native/romi"
 libs = ["romiVendordep"]

subprojects/robotpy-native-wpihal/pyproject.toml

@@ -27,7 +27,7 @@ packages = ["src/native"]
 artifact_id = "hal-cpp"
 group_id = "org.wpilib.hal"
 repo_url = "https://frcmaven.wpi.edu/artifactory/development-2027"
-version = "2027.0.0-alpha-6-167-gdb3a9c428"
+version = "2027.0.0-alpha-6-218-g3fa405550"
 
 extract_to = "src/native/wpihal"
 libs = ["wpiHal"]

subprojects/robotpy-native-wpilib/pyproject.toml

@@ -33,7 +33,7 @@ packages = ["src/native"]
 artifact_id = "wpilibc-cpp"
 group_id = "org.wpilib.wpilibc"
 repo_url = "https://frcmaven.wpi.edu/artifactory/development-2027"
-version = "2027.0.0-alpha-6-167-gdb3a9c428"
+version = "2027.0.0-alpha-6-218-g3fa405550"
 
 extract_to = "src/native/wpilib"
 libs = ["wpilibc"]

subprojects/robotpy-native-wpimath/pyproject.toml

@@ -25,7 +25,7 @@ packages = ["src/native"]
 artifact_id = "wpimath-cpp"
 group_id = "org.wpilib.wpimath"
 repo_url = "https://frcmaven.wpi.edu/artifactory/development-2027"
-version = "2027.0.0-alpha-6-167-gdb3a9c428"
+version = "2027.0.0-alpha-6-218-g3fa405550"
 
 extract_to = "src/native/wpimath"
 libs = ["wpimath"]

subprojects/robotpy-native-wpinet/pyproject.toml

@@ -25,7 +25,7 @@ packages = ["src/native"]
 artifact_id = "wpinet-cpp"
 group_id = "org.wpilib.wpinet"
 repo_url = "https://frcmaven.wpi.edu/artifactory/development-2027"
-version = "2027.0.0-alpha-6-167-gdb3a9c428"
+version = "2027.0.0-alpha-6-218-g3fa405550"
 
 extract_to = "src/native/wpinet"
 libs = ["wpinet"]

subprojects/robotpy-native-wpiutil/pyproject.toml

@@ -24,7 +24,7 @@ packages = ["src/native"]
 artifact_id = "wpiutil-cpp"
 group_id = "org.wpilib.wpiutil"
 repo_url = "https://frcmaven.wpi.edu/artifactory/development-2027"
-version = "2027.0.0-alpha-6-167-gdb3a9c428"
+version = "2027.0.0-alpha-6-218-g3fa405550"
 
 extract_to = "src/native/wpiutil"
 libs = ["wpiutil"]

subprojects/robotpy-native-xrp/pyproject.toml

@@ -25,7 +25,7 @@ packages = ["src/native"]
 artifact_id = "xrpVendordep-cpp"
 group_id = "org.wpilib.xrpVendordep"
 repo_url = "https://frcmaven.wpi.edu/artifactory/development-2027"
-version = "2027.0.0-alpha-6-167-gdb3a9c428"
+version = "2027.0.0-alpha-6-218-g3fa405550"
 
 extract_to = "src/native/xrp"
 libs = ["xrpVendordep"]

subprojects/robotpy-wpilib/semiwrap/CounterBase.yml

@@ -6,7 +6,5 @@ classes:
       CounterBase:
       Get:
       Reset:
-      GetPeriod:
-      SetMaxPeriod:
       GetStopped:
       GetDirection:

subprojects/robotpy-wpilib/semiwrap/DifferentialDrive.yml

@@ -37,7 +37,9 @@ classes:
         import wpilib.drive
 
         class Robot(wpilib.TimedRobot):
-            def robotInit(self):
+            def __init__(self) -> None:
+                super().__init__()
+
                 self.front_left = wpilib.PWMVictorSPX(1)
                 self.rear_left = wpilib.PWMVictorSPX(2)
                 self.left = wpilib.MotorControllerGroup(self.front_left, self.rear_left)
@@ -53,7 +55,9 @@ classes:
         import wpilib.drive
 
         class Robot(wpilib.TimedRobot):
-            def robotInit(self):
+            def __init__(self) -> None:
+                super().__init__()
+
                 self.front_left = wpilib.PWMVictorSPX(1)
                 self.mid_left = wpilib.PWMVictorSPX(2)
                 self.rear_left = wpilib.PWMVictorSPX(3)

subprojects/robotpy-wpilib/semiwrap/Encoder.yml

@@ -24,20 +24,15 @@ classes:
                 default: wpi::Encoder::EncodingType::X4
       Get:
       Reset:
-      GetPeriod:
-      SetMaxPeriod:
       GetStopped:
       GetDirection:
       GetRaw:
       GetEncodingScale:
       GetDistance:
       GetRate:
-      SetMinRate:
       SetDistancePerPulse:
       GetDistancePerPulse:
       SetReverseDirection:
-      SetSamplesToAverage:
-      GetSamplesToAverage:
       SetSimDevice:
       GetFPGAIndex:
       InitSendable: