Update examples for 2024

- Some of the command based examples don't work because the command
  framework is incomplete. See robotpy/robotpy-commands-v2#28

.github/workflows/test.yml

@@ -13,28 +13,31 @@ jobs:
   check:
     runs-on: ubuntu-latest
     steps:
-    - uses: actions/checkout@v3
+    - uses: actions/checkout@v4
     - uses: psf/black@stable
 
   test:
     runs-on: ${{ matrix.os }}
     strategy:
       matrix:
-        os: [windows-latest, macos-latest, ubuntu-22.04]
-        python_version: [3.7, 3.8, 3.9, "3.10", "3.11"]
+        os: ["ubuntu-22.04", "macos-12", "windows-2022"]
+        python_version:
+        - '3.8'
+        - '3.9'
+        - '3.10'
+        - '3.11'
+        - '3.12'
 
     steps:
-    - uses: actions/checkout@v3
+    - uses: actions/checkout@v4
     - uses: actions/setup-python@v4
       with:
         python-version: ${{ matrix.python_version }}
         architecture: ${{ matrix.architecture }}
     - name: Install deps
       run: |
-        pip install numpy
         pip install -U pip
-        pip install 'robotpy[commands2]<2024.0.0,>=2023.1.1.0' pytest
-        #pip install 'robotpy[commands2,romi]<2024.0.0,>=2023.0.0b3' pytest
+        pip install 'robotpy[commands2]<2025.0.0,>=2024.0.0b3.post1' numpy pytest
     - name: Run tests
       run: bash run_tests.sh
       shell: bash

arm-simulation/physics.py

@@ -54,6 +54,7 @@ def __init__(self, physics_controller: PhysicsInterface, robot: "MyRobot"):
             math.radians(-75),
             math.radians(255),
             True,
+            0,
         )
         self.encoderSim = wpilib.simulation.EncoderSim(robot.encoder)
         self.motorSim = wpilib.simulation.PWMSim(robot.motor.getChannel())

commands-v2/armbot/subsystems/drivesubsystem.py

@@ -9,7 +9,7 @@
 import constants
 
 
-class DriveSubsystem(commands2.SubsystemBase):
+class DriveSubsystem(commands2.Subsystem):
     # Creates a new DriveSubsystem
     def __init__(self) -> None:
         super().__init__()

commands-v2/armbotoffboard/subsystems/drivesubsystem.py

@@ -10,7 +10,7 @@
 import typing
 
 
-class DriveSubsystem(commands2.SubsystemBase):
+class DriveSubsystem(commands2.Subsystem):
     def __init__(self) -> None:
         super().__init__()
 

commands-v2/drive-distance-offboard/subsystems/drivesubsystem.py

@@ -13,7 +13,7 @@
 import examplesmartmotorcontroller
 
 
-class DriveSubsystem(commands2.SubsystemBase):
+class DriveSubsystem(commands2.Subsystem):
     def __init__(self) -> None:
         """Creates a new DriveSubsystem"""
         super().__init__()

commands-v2/frisbee-bot/subsystems/drivesubsystem.py

@@ -10,7 +10,7 @@
 import constants
 
 
-class DriveSubsystem(commands2.SubsystemBase):
+class DriveSubsystem(commands2.Subsystem):
     def __init__(self) -> None:
         """Creates a new DriveSubsystem"""
         super().__init__()

commands-v2/gyro-drive-commands/subsystems/drivesubsystem.py

@@ -11,7 +11,7 @@
 import constants
 
 
-class DriveSubsystem(commands2.SubsystemBase):
+class DriveSubsystem(commands2.Subsystem):
     def __init__(self) -> None:
         """Creates a new DriveSubsystem"""
         super().__init__()

commands-v2/hatchbot-inlined/commands/autos.py

@@ -20,6 +20,7 @@ class Autos:
     def __init__(self) -> None:
         raise Exception("This is a utility class!")
 
+    @staticmethod
     def simpleAuto(drive: subsystems.drivesubsystem.DriveSubsystem):
         """A simple auto routine that drives forward a specified distance, and then stops."""
         return commands2.FunctionalCommand(
@@ -35,42 +36,41 @@ def simpleAuto(drive: subsystems.drivesubsystem.DriveSubsystem):
             # Require the drive subsystem
         )
 
+    @staticmethod
     def complexAuto(
         driveSubsystem: subsystems.drivesubsystem.DriveSubsystem,
         hatchSubsystem: subsystems.hatchsubsystem.HatchSubsystem,
     ):
         """A complex auto routine that drives forward, drops a hatch, and then drives backward."""
         return commands2.cmd.sequence(
-            [
-                # Drive forward up to the front of the cargo ship
-                commands2.FunctionalCommand(
-                    # Reset encoders on command start
-                    driveSubsystem.resetEncoders,
-                    # Drive forward while the command is executing
-                    lambda: driveSubsystem.arcadeDrive(constants.kAutoDriveSpeed, 0),
-                    # Stop driving at the end of the command
-                    lambda interrupt: driveSubsystem.arcadeDrive(0, 0),
-                    # End the command when the robot's driven distance exceeds the desired value
-                    lambda: driveSubsystem.getAverageEncoderDistance()
-                    >= constants.kAutoDriveDistanceInches,
-                    # Require the drive subsystem
-                    [driveSubsystem],
-                ),
-                # Release the hatch
-                hatchSubsystem.releaseHatch(),
-                # Drive backward the specified distance
-                commands2.FunctionalCommand(
-                    # Reset encoders on command start
-                    driveSubsystem.resetEncoders,
-                    # Drive backwards while the command is executing
-                    lambda: driveSubsystem.arcadeDrive(-constants.kAutoDriveSpeed, 0),
-                    # Stop driving at the end of the command
-                    lambda interrupt: driveSubsystem.arcadeDrive(0, 0),
-                    # End the command when the robot's driven distance exceeds the desired value
-                    lambda: abs(driveSubsystem.getAverageEncoderDistance())
-                    >= constants.kAutoBackupDistanceInches,
-                    # Require the drive subsystem
-                    [driveSubsystem],
-                ),
-            ]
+            # Drive forward up to the front of the cargo ship
+            commands2.FunctionalCommand(
+                # Reset encoders on command start
+                driveSubsystem.resetEncoders,
+                # Drive forward while the command is executing
+                lambda: driveSubsystem.arcadeDrive(constants.kAutoDriveSpeed, 0),
+                # Stop driving at the end of the command
+                lambda interrupt: driveSubsystem.arcadeDrive(0, 0),
+                # End the command when the robot's driven distance exceeds the desired value
+                lambda: driveSubsystem.getAverageEncoderDistance()
+                >= constants.kAutoDriveDistanceInches,
+                # Require the drive subsystem
+                driveSubsystem,
+            ),
+            # Release the hatch
+            hatchSubsystem.releaseHatch(),
+            # Drive backward the specified distance
+            commands2.FunctionalCommand(
+                # Reset encoders on command start
+                driveSubsystem.resetEncoders,
+                # Drive backwards while the command is executing
+                lambda: driveSubsystem.arcadeDrive(-constants.kAutoDriveSpeed, 0),
+                # Stop driving at the end of the command
+                lambda interrupt: driveSubsystem.arcadeDrive(0, 0),
+                # End the command when the robot's driven distance exceeds the desired value
+                lambda: abs(driveSubsystem.getAverageEncoderDistance())
+                >= constants.kAutoBackupDistanceInches,
+                # Require the drive subsystem
+                driveSubsystem,
+            ),
         )

commands-v2/hatchbot-inlined/physics.py

@@ -11,8 +11,7 @@
 
 import wpilib
 import wpilib.simulation
-from wpimath.system import LinearSystemId
-from wpimath.system.plant import DCMotor
+from wpimath.system.plant import DCMotor, LinearSystemId
 
 import constants
 

commands-v2/hatchbot-inlined/robotcontainer.py

@@ -54,7 +54,7 @@ def __init__(self) -> None:
                     -self.driverController.getLeftY(),
                     -self.driverController.getRightX(),
                 ),
-                [self.driveSubsystem],
+                self.driveSubsystem,
             )
         )
 

commands-v2/hatchbot-inlined/subsystems/drivesubsystem.py

@@ -5,7 +5,7 @@
 import constants
 
 
-class DriveSubsystem(commands2.SubsystemBase):
+class DriveSubsystem(commands2.Subsystem):
     def __init__(self) -> None:
         super().__init__()
 

commands-v2/hatchbot-inlined/subsystems/hatchsubsystem.py

@@ -5,7 +5,7 @@
 import constants
 
 
-class HatchSubsystem(commands2.SubsystemBase):
+class HatchSubsystem(commands2.Subsystem):
     def __init__(self) -> None:
         super().__init__()
 
@@ -18,11 +18,11 @@ def __init__(self) -> None:
     def grabHatch(self) -> commands2.Command:
         """Grabs the hatch"""
         return commands2.cmd.runOnce(
-            lambda: self.hatchSolenoid.set(wpilib.DoubleSolenoid.Value.kForward), [self]
+            lambda: self.hatchSolenoid.set(wpilib.DoubleSolenoid.Value.kForward), self
         )
 
     def releaseHatch(self) -> commands2.Command:
         """Releases the hatch"""
         return commands2.cmd.runOnce(
-            lambda: self.hatchSolenoid.set(wpilib.DoubleSolenoid.Value.kReverse), [self]
+            lambda: self.hatchSolenoid.set(wpilib.DoubleSolenoid.Value.kReverse), self
         )

commands-v2/hatchbot/commands/defaultdrive.py

@@ -3,7 +3,7 @@
 from subsystems.drivesubsystem import DriveSubsystem
 
 
-class DefaultDrive(commands2.CommandBase):
+class DefaultDrive(commands2.Command):
     def __init__(
         self,
         drive: DriveSubsystem,
@@ -16,7 +16,7 @@ def __init__(
         self.forward = forward
         self.rotation = rotation
 
-        self.addRequirements([self.drive])
+        self.addRequirements(self.drive)
 
     def execute(self) -> None:
         self.drive.arcadeDrive(self.forward(), self.rotation())

commands-v2/hatchbot/commands/drivedistance.py

@@ -3,7 +3,7 @@
 from subsystems.drivesubsystem import DriveSubsystem
 
 
-class DriveDistance(commands2.CommandBase):
+class DriveDistance(commands2.Command):
     def __init__(self, inches: float, speed: float, drive: DriveSubsystem) -> None:
         super().__init__()
         self.distance = inches

commands-v2/hatchbot/commands/grabhatch.py

@@ -2,7 +2,7 @@
 from subsystems.hatchsubsystem import HatchSubsystem
 
 
-class GrabHatch(commands2.CommandBase):
+class GrabHatch(commands2.Command):
     def __init__(self, hatch: HatchSubsystem) -> None:
         super().__init__()
         self.hatch = hatch

commands-v2/hatchbot/commands/halvedrivespeed.py

@@ -3,7 +3,7 @@
 from subsystems.drivesubsystem import DriveSubsystem
 
 
-class HalveDriveSpeed(commands2.CommandBase):
+class HalveDriveSpeed(commands2.Command):
     def __init__(self, drive: DriveSubsystem) -> None:
         super().__init__()
         self.drive = drive

commands-v2/hatchbot/physics.py

@@ -11,8 +11,7 @@
 
 import wpilib
 import wpilib.simulation
-from wpimath.system import LinearSystemId
-from wpimath.system.plant import DCMotor
+from wpimath.system.plant import DCMotor, LinearSystemId
 
 import constants
 

commands-v2/hatchbot/robotcontainer.py

@@ -72,15 +72,15 @@ def configureButtonBindings(self):
         and then passing it to a JoystickButton.
         """
 
-        commands2.button.JoystickButton(self.driverController, 1).whenPressed(
+        commands2.button.JoystickButton(self.driverController, 1).onTrue(
             GrabHatch(self.hatch)
         )
 
-        commands2.button.JoystickButton(self.driverController, 2).whenPressed(
+        commands2.button.JoystickButton(self.driverController, 2).onTrue(
             ReleaseHatch(self.hatch)
         )
 
-        commands2.button.JoystickButton(self.driverController, 3).whenHeld(
+        commands2.button.JoystickButton(self.driverController, 3).whileTrue(
             HalveDriveSpeed(self.drive)
         )
 

commands-v2/hatchbot/subsystems/drivesubsystem.py

@@ -5,7 +5,7 @@
 import constants
 
 
-class DriveSubsystem(commands2.SubsystemBase):
+class DriveSubsystem(commands2.Subsystem):
     def __init__(self) -> None:
         super().__init__()
 

commands-v2/hatchbot/subsystems/hatchsubsystem.py

@@ -4,7 +4,7 @@
 import constants
 
 
-class HatchSubsystem(commands2.SubsystemBase):
+class HatchSubsystem(commands2.Subsystem):
     def __init__(self) -> None:
         super().__init__()
 

commands-v2/ramsete/subsystems/drivetrain.py

@@ -1,4 +1,4 @@
-from commands2 import SubsystemBase
+from commands2 import Subsystem
 
 from wpilib import MotorControllerGroup, PWMSparkMax, Encoder, AnalogGyro
 from wpilib.drive import DifferentialDrive
@@ -9,7 +9,7 @@
 import constants
 
 
-class Drivetrain(SubsystemBase):
+class Drivetrain(Subsystem):
     def __init__(self):
         super().__init__()
 

commands-v2/romi/commands/arcadedrive.py

@@ -7,7 +7,7 @@
 from subsystems.drivetrain import Drivetrain
 
 
-class ArcadeDrive(commands2.CommandBase):
+class ArcadeDrive(commands2.Command):
     def __init__(
         self,
         drive: Drivetrain,

commands-v2/romi/commands/drivedistance.py

@@ -7,7 +7,7 @@
 from subsystems.drivetrain import Drivetrain
 
 
-class DriveDistance(commands2.CommandBase):
+class DriveDistance(commands2.Command):
     def __init__(self, speed: float, inches: float, drive: Drivetrain) -> None:
         """Creates a new DriveDistance. This command will drive your your robot for a desired distance at
         a desired speed.

commands-v2/romi/commands/drivetime.py

@@ -8,7 +8,7 @@
 from subsystems.drivetrain import Drivetrain
 
 
-class DriveTime(commands2.CommandBase):
+class DriveTime(commands2.Command):
     """Creates a new DriveTime. This command will drive your robot for a desired speed and time."""
 
     def __init__(self, speed: float, time: float, drive: Drivetrain) -> None:

commands-v2/romi/commands/turndegrees.py

@@ -8,7 +8,7 @@
 from subsystems.drivetrain import Drivetrain
 
 
-class TurnDegrees(commands2.CommandBase):
+class TurnDegrees(commands2.Command):
     def __init__(self, speed: float, degrees: float, drive: Drivetrain) -> None:
         """Creates a new TurnDegrees. This command will turn your robot for a desired rotation (in
         degrees) and rotational speed.

commands-v2/romi/commands/turntime.py

@@ -8,7 +8,7 @@
 from subsystems.drivetrain import Drivetrain
 
 
-class TurnTime(commands2.CommandBase):
+class TurnTime(commands2.Command):
     """Creates a new TurnTime command. This command will turn your robot for a
     desired rotational speed and time.
     """

commands-v2/romi/robotcontainer.py

@@ -73,7 +73,7 @@ def _configureButtonBindings(self):
         self.chooser.addOption("Auto Routine Time", AutonomousTime(self.drivetrain))
         wpilib.SmartDashboard.putData(self.chooser)
 
-    def getAutonomousCommand(self) -> typing.Optional[commands2.CommandBase]:
+    def getAutonomousCommand(self) -> typing.Optional[commands2.Command]:
         return self.chooser.getSelected()
 
     def getArcadeDriveCommand(self) -> ArcadeDrive:

commands-v2/romi/subsystems/drivetrain.py

@@ -10,7 +10,7 @@
 import romi
 
 
-class Drivetrain(commands2.SubsystemBase):
+class Drivetrain(commands2.Subsystem):
     kCountsPerRevolution = 1440.0
     kWheelDiameterInch = 2.75591