Merge pull request #106 from robotpy/remove-wpilib-run

Remove wpilib.run for 2024

.github/workflows/test.yml

@@ -33,8 +33,8 @@ jobs:
       matrix:
         os: ["ubuntu-22.04", "macos-12", "windows-2022"]
         python_version:
-        # - '3.8'
-        # - '3.9'
+        - '3.8'
+        - '3.9'
         - '3.10'
         - '3.11'
         - '3.12'
@@ -48,7 +48,7 @@ jobs:
     - name: Install deps
       run: |
         pip install -U pip
-        pip install 'robotpy[commands2]<2025.0.0,>=2024.0.0b3' numpy pytest
+        pip install 'robotpy[commands2]<2025.0.0,>=2024.0.0b4.post1' numpy pytest
     - name: Run tests
       run: bash run_tests.sh
       shell: bash

.gitignore

@@ -10,6 +10,9 @@ deploy.json
 .project
 .pydevproject
 
+pyproject.toml
+wpilib_preferences.json
+
 imgui.ini
 simgui*.json
 

AddressableLED/robot.py

@@ -52,7 +52,3 @@ def rainbow(self):
 
         # Check bounds
         self.rainbowFirstPixelHue %= 180
-
-
-if __name__ == "__main__":
-    wpilib.run(MyRobot)

ArcadeDrive/robot.py

@@ -33,7 +33,3 @@ def teleopPeriodic(self):
         # That means that the Y axis drives forward
         # and backward, and the X turns left and right.
         self.robotDrive.arcadeDrive(self.stick.getY(), self.stick.getX())
-
-
-if __name__ == "__main__":
-    wpilib.run(MyRobot)

ArcadeDriveXboxController/robot.py

@@ -35,7 +35,3 @@ def teleopPeriodic(self):
         self.robotDrive.arcadeDrive(
             -self.driverController.getLeftY(), -self.driverController.getRightX()
         )
-
-
-if __name__ == "__main__":
-    wpilib.run(MyRobot)

ArmBot/robot.py

@@ -14,7 +14,6 @@
 
 class MyRobot(commands2.TimedCommandRobot):
     """
-    Our default robot class, pass it to wpilib.run
     Command v2 robots are encouraged to inherit from TimedCommandRobot, which
     has an implementation of robotPeriodic which runs the scheduler for you
     """
@@ -78,7 +77,3 @@ def teleopPeriodic(self) -> None:
     def testInit(self) -> None:
         # Cancels all running commands at the start of test mode
         commands2.CommandScheduler.getInstance().cancelAll()
-
-
-if __name__ == "__main__":
-    wpilib.run(MyRobot)

ArmBotOffboard/robot.py

@@ -14,7 +14,6 @@
 
 class MyRobot(commands2.TimedCommandRobot):
     """
-    Our default robot class, pass it to wpilib.run
     Command v2 robots are encouraged to inherit from TimedCommandRobot, which
     has an implementation of robotPeriodic which runs the scheduler for you
     """
@@ -65,7 +64,3 @@ def teleopPeriodic(self) -> None:
     def testInit(self) -> None:
         # Cancels all running commands at the start of test mode
         commands2.CommandScheduler.getInstance().cancelAll()
-
-
-if __name__ == "__main__":
-    wpilib.run(MyRobot)

ArmSimulation/robot.py

@@ -30,7 +30,3 @@ def teleopPeriodic(self):
     def disabledInit(self):
         # This just makes sure that our simulation code knows that the motor's off.
         self.arm.stop()
-
-
-if __name__ == "__main__":
-    wpilib.run(MyRobot)

CANPDP/robot.py

@@ -53,7 +53,3 @@ def robotPeriodic(self):
         # Energy is the power summed over time with units Joules.
         totalEnergy = self.pdp.getTotalEnergy()
         wpilib.SmartDashboard.putNumber("Total Energy", totalEnergy)
-
-
-if __name__ == "__main__":
-    wpilib.run(MyRobot)

CONTRIBUTING.md

@@ -26,8 +26,9 @@ Testing:
 General:
 
 * We always try to stay as close to the original examples as possible
-* `Main.java` is never needed, it is equivalent to `wpilib.run(MyRobot)`
+* `Main.java` is never needed
 * `robot.py` should have `#!/usr/bin/env python3` as the very first line
+  * This will go away soon as it is no longer needed in 2024
   * Note: Other files such as `vision.py` or `robotcontainer.py` should not start with `#!/usr/bin/env python3`
 * Don't ever check in files for your IDE (.vscode, .idea, etc)
 * Copy over the copyright statement from the original file

DifferentialDriveBot/robot.py

@@ -43,7 +43,3 @@ def teleopPeriodic(self):
         )
 
         self.drive.drive(xSpeed, rot)
-
-
-if __name__ == "__main__":
-    wpilib.run(MyRobot)

DigitalCommunication/robot.py

@@ -46,7 +46,3 @@ def robotPeriodic(self):
         # pull alert port high if match time remaining is between 30 and 25 seconds
         matchTime = wpilib.DriverStation.getMatchTime()
         self.alertOutput.set(30 >= matchTime >= 25)
-
-
-if __name__ == "__main__":
-    wpilib.run(MyRobot)

DriveDistanceOffboard/robot.py

@@ -23,7 +23,6 @@
 
 class MyRobot(commands2.TimedCommandRobot):
     """
-    Our default robot class, pass it to wpilib.run
     Command v2 robots are encouraged to inherit from TimedCommandRobot, which
     has an implementation of robotPeriodic which runs the scheduler for you
     """
@@ -72,7 +71,3 @@ def teleopPeriodic(self) -> None:
     def testInit(self) -> None:
         # Cancels all running commands at the start of test mode
         commands2.CommandScheduler.getInstance().cancelAll()
-
-
-if __name__ == "__main__":
-    wpilib.run(MyRobot)

DutyCycleEncoder/robot.py

@@ -33,7 +33,3 @@ def robotPeriodic(self):
         wpilib.SmartDashboard.putNumber("Frequency", frequency)
         wpilib.SmartDashboard.putNumber("Output", output)
         wpilib.SmartDashboard.putNumber("Distance", distance)
-
-
-if __name__ == "__main__":
-    wpilib.run(MyRobot)

DutyCycleInput/robot.py

@@ -24,7 +24,3 @@ def robotPeriodic(self):
 
         wpilib.SmartDashboard.putNumber("Frequency", frequency)
         wpilib.SmartDashboard.putNumber("Duty Cycle", output)
-
-
-if __name__ == "__main__":
-    wpilib.run(MyRobot)

ElevatorProfiledPID/robot.py

@@ -36,7 +36,3 @@ def teleopPeriodic(self) -> None:
 
         # Run controller and update motor output
         self.motor.set(self.controller.calculate(self.encoder.getDistance()))
-
-
-if __name__ == "__main__":
-    wpilib.run(MyRobot)

ElevatorSimulation/robot.py

@@ -49,7 +49,3 @@ def teleopPeriodic(self) -> None:
     def disabledInit(self) -> None:
         # This just makes sure that our simulation code knows that the motor is off
         self.motor.set(0)
-
-
-if __name__ == "__main__":
-    wpilib.run(MyRobot)

ElevatorTrapezoidProfile/robot.py

@@ -51,7 +51,3 @@ def teleopPeriodic(self):
             self.setpoint.position,
             self.feedforward.calculate(self.setpoint.velocity) / 12,
         )
-
-
-if __name__ == "__main__":
-    wpilib.run(MyRobot)

Encoder/robot.py

@@ -51,7 +51,3 @@ def robotInit(self):
     def teleopPeriodic(self):
         wpilib.SmartDashboard.putNumber("Encoder Distance", self.encoder.getDistance())
         wpilib.SmartDashboard.putNumber("Encoder Rate", self.encoder.getRate())
-
-
-if __name__ == "__main__":
-    wpilib.run(MyRobot)

FlywheelBangBangController/robot.py

@@ -83,7 +83,3 @@ def teleopPeriodic(self):
         self.flywheelMotor.setVoltage(
             bangOutput + 0.9 * self.feedforward.calculate(setpoint)
         )
-
-
-if __name__ == "__main__":
-    wpilib.run(MyRobot)

FrisbeeBot/robot.py

@@ -23,7 +23,6 @@
 
 class MyRobot(commands2.TimedCommandRobot):
     """
-    Our default robot class, pass it to wpilib.run
     Command v2 robots are encouraged to inherit from TimedCommandRobot, which
     has an implementation of robotPeriodic which runs the scheduler for you
     """
@@ -72,7 +71,3 @@ def teleopPeriodic(self) -> None:
     def testInit(self) -> None:
         # Cancels all running commands at the start of test mode
         commands2.CommandScheduler.getInstance().cancelAll()
-
-
-if __name__ == "__main__":
-    wpilib.run(MyRobot)

GameData/robot.py

@@ -39,7 +39,3 @@ def teleopPeriodic(self):
         self.red.set(self.gameData == "R")
         self.green.set(self.gameData == "G")
         self.yellow.set(self.gameData == "Y")
-
-
-if __name__ == "__main__":
-    wpilib.run(MyRobot)

GettingStarted/robot.py

@@ -56,7 +56,3 @@ def testInit(self):
 
     def testPeriodic(self):
         """This function is called periodically during test mode."""
-
-
-if __name__ == "__main__":
-    wpilib.run(MyRobot)

Gyro/robot.py

@@ -49,7 +49,3 @@ def teleopPeriodic(self):
         # from the error between the setpoint and the gyro angle.
         turningValue = (self.kAngleSetpoint - self.gyro.getAngle()) * self.kP
         self.myRobot.arcadeDrive(-self.joystick.getY(), -turningValue)
-
-
-if __name__ == "__main__":
-    wpilib.run(MyRobot)

GyroDriveCommands/robot.py

@@ -23,7 +23,6 @@
 
 class MyRobot(commands2.TimedCommandRobot):
     """
-    Our default robot class, pass it to wpilib.run
     Command v2 robots are encouraged to inherit from TimedCommandRobot, which
     has an implementation of robotPeriodic which runs the scheduler for you
     """
@@ -72,7 +71,3 @@ def teleopPeriodic(self) -> None:
     def testInit(self) -> None:
         # Cancels all running commands at the start of test mode
         commands2.CommandScheduler.getInstance().cancelAll()
-
-
-if __name__ == "__main__":
-    wpilib.run(MyRobot)

GyroMecanum/robot.py

@@ -54,7 +54,3 @@ def teleopPeriodic(self):
             -self.joystick.getZ(),
             self.gyro.getRotation2d(),
         )
-
-
-if __name__ == "__main__":
-    wpilib.run(MyRobot)

HatchbotInlined/robot.py

@@ -14,8 +14,6 @@
 
 class MyRobot(commands2.TimedCommandRobot):
     """
-    Our default robot class, pass it to wpilib.run
-
     Command v2 robots are encouraged to inherit from TimedCommandRobot, which
     has an implementation of robotPeriodic which runs the scheduler for you
     """
@@ -62,7 +60,3 @@ def teleopPeriodic(self) -> None:
     def testInit(self) -> None:
         # Cancels all running commands at the start of test mode
         commands2.CommandScheduler.getInstance().cancelAll()
-
-
-if __name__ == "__main__":
-    wpilib.run(MyRobot)

HatchbotTraditional/robot.py

@@ -14,8 +14,6 @@
 
 class MyRobot(commands2.TimedCommandRobot):
     """
-    Our default robot class, pass it to wpilib.run
-
     Command v2 robots are encouraged to inherit from TimedCommandRobot, which
     has an implementation of robotPeriodic which runs the scheduler for you
     """
@@ -62,7 +60,3 @@ def teleopPeriodic(self) -> None:
     def testInit(self) -> None:
         # Cancels all running commands at the start of test mode
         commands2.CommandScheduler.getInstance().cancelAll()
-
-
-if __name__ == "__main__":
-    wpilib.run(MyRobot)

HidRumble/robot.py

@@ -27,7 +27,3 @@ def disabledInit(self):
         # Stop the rumble when entering disabled
         self.hid.setRumble(wpilib.XboxController.RumbleType.kLeftRumble, 0.0)
         self.hid.setRumble(wpilib.XboxController.RumbleType.kRightRumble, 0.0)
-
-
-if __name__ == "__main__":
-    wpilib.run(MyRobot)

I2CCommunication/robot.py

@@ -53,7 +53,3 @@ def robotPeriodic(self):
         stateMessage = f"{allianceString}{enabledString}{autoString}{matchTime:03f}"
 
         self.writeString(stateMessage)
-
-
-if __name__ == "__main__":
-    wpilib.run(MyRobot)

IntermediateVision/robot.py

@@ -17,7 +17,3 @@ class MyRobot(wpilib.TimedRobot):
 
     def robotInit(self):
         wpilib.CameraServer.launch("vision.py:main")
-
-
-if __name__ == "__main__":
-    wpilib.run(MyRobot)

MagicbotSimple/robot.py

@@ -47,7 +47,3 @@ def teleopPeriodic(self):
                 self.component2.do_something()
         except:
             self.onException()
-
-
-if __name__ == "__main__":
-    wpilib.run(MyRobot)

MecanumBot/robot.py

@@ -55,7 +55,3 @@ def _driveWithJoystick(self, fieldRelative: bool):
         )
 
         self.mecanum.drive(xSpeed, ySpeed, rot, fieldRelative, self.getPeriod())
-
-
-if __name__ == "__main__":
-    wpilib.run(MyRobot)

MecanumDrive/robot.py

@@ -49,7 +49,3 @@ def teleopPeriodic(self):
             -self.stick.getX(),
             -self.stick.getZ(),
         )
-
-
-if __name__ == "__main__":
-    wpilib.run(MyRobot)

MecanumDriveXbox/robot.py

@@ -63,7 +63,3 @@ def teleopPeriodic(self):
         """Alternatively, to match the driver station enumeration, you may use  ---> self.drive.driveCartesian(
             self.stick.getRawAxis(1), self.stick.getRawAxis(3), self.stick.getRawAxis(2), 0
         )"""
-
-
-if __name__ == "__main__":
-    wpilib.run(MyRobot)

Mechanism2d/robot.py

@@ -56,7 +56,3 @@ def robotPeriodic(self):
     def teleopPeriodic(self):
         self.elevatorMotor.set(self.joystick.getRawAxis(0))
         self.wristMotor.set(self.joystick.getRawAxis(1))
-
-
-if __name__ == "__main__":
-    wpilib.run(MyRobot)

MotorControl/robot.py

@@ -43,7 +43,3 @@ def robotPeriodic(self):
 
     def teleopPeriodic(self):
         self.motor.set(self.joystick.getY())
-
-
-if __name__ == "__main__":
-    wpilib.run(MyRobot)

Physics/src/robot.py

@@ -62,7 +62,3 @@ def teleopPeriodic(self):
             y = min(0, y)
 
         self.motor.set(y)
-
-
-if __name__ == "__main__":
-    wpilib.run(MyRobot)

Physics4Wheel/src/robot.py

@@ -46,7 +46,3 @@ def autonomousPeriodic(self):
     def teleopPeriodic(self):
         """Called when operation control mode is enabled"""
         self.drive.tankDrive(-self.lstick.getY(), -self.rstick.getY())
-
-
-if __name__ == "__main__":
-    wpilib.run(MyRobot)

PhysicsCamSim/src/robot.py

@@ -116,7 +116,3 @@ def teleopPeriodic(self):
             self.robot_drive.arcadeDrive(
                 self.stick.getY() * -1, self.stick.getX(), squareInputs=True
             )
-
-
-if __name__ == "__main__":
-    wpilib.run(MyRobot)