Start 2027

.github/workflows/test.yml

@@ -22,7 +22,7 @@ jobs:
     runs-on: ${{ matrix.os }}
     strategy:
       matrix:
-        os: ["ubuntu-22.04", "macos-14", "windows-2022"]
+        os: ["ubuntu-24.04", "macos-14", "windows-2022"]
         python_version:
         - '3.9'
         - '3.10'
@@ -37,7 +37,7 @@ jobs:
         python-version: ${{ matrix.python_version }}
     - name: Install deps
       run: |
-        pip install 'robotpy[commands2,romi]<2026.0.0,>=2025.0.0b3' numpy pytest
+        pip install 'robotpy[commands2,romi]<2028,>=2027.0.0a2' numpy pytest
     - name: Run tests
       run: bash run_tests.sh
       shell: bash

AddressableLED/robot.py

@@ -12,9 +12,8 @@
 
 class MyRobot(wpilib.TimedRobot):
     def robotInit(self):
-        # PWM Port 9
-        # Must be a PWM header, not MXP or DIO
-        self.led = wpilib.AddressableLED(9)
+        # SmartIO port 1
+        self.led = wpilib.AddressableLED(1)
 
         # LED Data
         self.ledData = [wpilib.AddressableLED.LEDData() for _ in range(kLEDBuffer)]
@@ -28,7 +27,6 @@ def robotInit(self):
 
         # Set the data
         self.led.setData(self.ledData)
-        self.led.start()
 
     def robotPeriodic(self):
         # Fill the buffer with a rainbow

ArmSimulation/physics.py

@@ -67,7 +67,7 @@ def __init__(self, physics_controller: PhysicsInterface, robot: "MyRobot"):
             Constants.kArmEncoderDistPerPulse,
         )
         self.encoderSim = wpilib.simulation.EncoderSim(robot.arm.encoder)
-        self.motorSim = wpilib.simulation.PWMSim(robot.arm.motor.getChannel())
+        self.motorSim = wpilib.simulation.PWMMotorControllerSim(robot.arm.motor)
 
         # Create a Mechanism2d display of an Arm with a fixed ArmTower and moving Arm.
         self.mech2d = wpilib.Mechanism2d(60, 60)

CANPDP/robot.py

@@ -19,7 +19,7 @@ def robotInit(self):
         """Robot initialization function"""
 
         # Object for dealing with the Power Distribution Panel (PDP).
-        self.pdp = wpilib.PowerDistribution()
+        self.pdp = wpilib.PowerDistribution(0)
 
         # Put the PDP itself to the dashboard
         wpilib.SmartDashboard.putData("PDP", self.pdp)

DutyCycleInput/robot.py

@@ -12,7 +12,7 @@ class MyRobot(wpilib.TimedRobot):
     def robotInit(self):
         """Robot initialization function"""
 
-        self.dutyCycle = wpilib.DutyCycle(wpilib.DigitalInput(0))
+        self.dutyCycle = wpilib.DutyCycle(0)
 
     def robotPeriodic(self):
         # Duty Cycle Frequency in Hz

ElevatorSimulation/physics.py

@@ -56,7 +56,7 @@ def __init__(self, physics_controller: PhysicsInterface, robot: "MyRobot"):
             [0.01, 0.0],
         )
         self.encoderSim = wpilib.simulation.EncoderSim(robot.encoder)
-        self.motorSim = wpilib.simulation.PWMSim(robot.motor.getChannel())
+        self.motorSim = wpilib.simulation.PWMMotorControllerSim(robot.motor)
 
         # Create a Mechanism2d display of an elevator
         self.mech2d = wpilib.Mechanism2d(20, 50)

FlywheelBangBangController/physics.py

@@ -29,7 +29,9 @@ def __init__(self, physics_controller: PhysicsInterface, robot: "MyRobot"):
         self.physics_controller = physics_controller
 
         # Motors
-        self.flywheelMotor = wpilib.simulation.PWMSim(robot.flywheelMotor.getChannel())
+        self.flywheelMotor = wpilib.simulation.PWMMotorControllerSim(
+            robot.flywheelMotor.getChannel()
+        )
 
         # Sensors
         self.encoder = wpilib.simulation.EncoderSim(robot.encoder)

GameData/robot.py

@@ -8,6 +8,7 @@
 import wpilib
 import ntcore
 
+CAN_BUS = 0
 PNUE_MOD_TYPE = wpilib.PneumaticsModuleType.CTREPCM
 
 
@@ -18,10 +19,10 @@ class MyRobot(wpilib.TimedRobot):
 
     def robotInit(self):
         # A way of demonstrating the difference between the game data strings
-        self.blue = wpilib.Solenoid(PNUE_MOD_TYPE, 0)
-        self.red = wpilib.Solenoid(PNUE_MOD_TYPE, 1)
-        self.green = wpilib.Solenoid(PNUE_MOD_TYPE, 2)
-        self.yellow = wpilib.Solenoid(PNUE_MOD_TYPE, 3)
+        self.blue = wpilib.Solenoid(CAN_BUS, PNUE_MOD_TYPE, 0)
+        self.red = wpilib.Solenoid(CAN_BUS, PNUE_MOD_TYPE, 1)
+        self.green = wpilib.Solenoid(CAN_BUS, PNUE_MOD_TYPE, 2)
+        self.yellow = wpilib.Solenoid(CAN_BUS, PNUE_MOD_TYPE, 3)
         # Set game data to empty string by default
         self.gameData = ""
         # Get the SmartDashboard table from networktables

HatchbotInlined/physics.py

@@ -38,10 +38,10 @@ def __init__(self, physics_controller: PhysicsInterface, robot: "MyRobot"):
         self.physics_controller = physics_controller
 
         # Motors
-        self.l_motor = wpilib.simulation.PWMSim(
+        self.l_motor = wpilib.simulation.PWMMotorControllerSim(
             robot.container.driveSubsystem.left1.getChannel()
         )
-        self.r_motor = wpilib.simulation.PWMSim(
+        self.r_motor = wpilib.simulation.PWMMotorControllerSim(
             robot.container.driveSubsystem.right1.getChannel()
         )
 

HatchbotInlined/subsystems/hatchsubsystem.py

@@ -16,9 +16,10 @@ def __init__(self) -> None:
         super().__init__()
 
         self.hatchSolenoid = wpilib.DoubleSolenoid(
+            0,
             constants.kHatchSolenoidModule,
             constants.kHatchSolenoidModuleType,
-            *constants.kHatchSolenoidPorts
+            *constants.kHatchSolenoidPorts,
         )
 
     def grabHatch(self) -> commands2.Command:

HatchbotTraditional/physics.py

@@ -40,10 +40,10 @@ def __init__(self, physics_controller: PhysicsInterface, robot: "MyRobot"):
         self.physics_controller = physics_controller
 
         # Motors
-        self.l_motor = wpilib.simulation.PWMSim(
+        self.l_motor = wpilib.simulation.PWMMotorControllerSim(
             robot.container.drive.left1.getChannel()
         )
-        self.r_motor = wpilib.simulation.PWMSim(
+        self.r_motor = wpilib.simulation.PWMMotorControllerSim(
             robot.container.drive.right1.getChannel()
         )
 

HatchbotTraditional/subsystems/hatchsubsystem.py

@@ -15,9 +15,10 @@ def __init__(self) -> None:
         super().__init__()
 
         self.hatchSolenoid = wpilib.DoubleSolenoid(
+            0,
             constants.kHatchSolenoidModule,
             constants.kHatchSolenoidModuleType,
-            *constants.kHatchSolenoidPorts
+            *constants.kHatchSolenoidPorts,
         )
 
     def grabHatch(self) -> None:

Physics/src/physics.py

@@ -38,14 +38,14 @@ def __init__(self, physics_controller: PhysicsInterface, robot: "MyRobot"):
         self.physics_controller = physics_controller
 
         # Motors
-        self.l_motor = wpilib.simulation.PWMSim(robot.l_motor.getChannel())
-        self.r_motor = wpilib.simulation.PWMSim(robot.r_motor.getChannel())
+        self.l_motor = wpilib.simulation.PWMMotorControllerSim(robot.l_motor)
+        self.r_motor = wpilib.simulation.PWMMotorControllerSim(robot.r_motor)
 
         self.dio1 = wpilib.simulation.DIOSim(robot.limit1)
         self.dio2 = wpilib.simulation.DIOSim(robot.limit2)
         self.ain2 = wpilib.simulation.AnalogInputSim(robot.position)
 
-        self.motor = wpilib.simulation.PWMSim(robot.motor.getChannel())
+        self.motor = wpilib.simulation.PWMMotorControllerSim(robot.motor.getChannel())
 
         # Gyro
         self.gyro = wpilib.simulation.AnalogGyroSim(robot.gyro)

Physics4Wheel/src/physics.py

@@ -35,10 +35,10 @@ def __init__(self, physics_controller: PhysicsInterface, robot: "MyRobot"):
         self.physics_controller = physics_controller
 
         # Motors
-        self.lf_motor = wpilib.simulation.PWMSim(robot.lf_motor.getChannel())
-        # self.lr_motor = wpilib.simulation.PWMSim(2)
-        self.rf_motor = wpilib.simulation.PWMSim(robot.rf_motor.getChannel())
-        # self.rr_motor = wpilib.simulation.PWMSim(4)
+        self.lf_motor = wpilib.simulation.PWMMotorControllerSim(robot.lf_motor)
+        # self.lr_motor = wpilib.simulation.PWMMotorControllerSim(2)
+        self.rf_motor = wpilib.simulation.PWMMotorControllerSim(robot.rf_motor)
+        # self.rr_motor = wpilib.simulation.PWMMotorControllerSim(4)
 
         # Gyro
         self.gyro = wpilib.simulation.AnalogGyroSim(robot.gyro)

PhysicsCamSim/src/physics.py

@@ -16,7 +16,7 @@
 #
 
 from wpilib.simulation import (
-    PWMSim,
+    PWMMotorControllerSim,
     DifferentialDrivetrainSim,
     EncoderSim,
     AnalogGyroSim,
@@ -79,8 +79,8 @@ def __init__(self, physics_controller: PhysicsInterface, robot: "MyRobot"):
         )
 
         # Create the motors.
-        self.l_motor = PWMSim(robot.leftMotor.getChannel())
-        self.r_motor = PWMSim(robot.rightMotor.getChannel())
+        self.l_motor = PWMMotorControllerSim(robot.leftMotor.getChannel())
+        self.r_motor = PWMMotorControllerSim(robot.rightMotor.getChannel())
 
         self.gyroSim = AnalogGyroSim(robot.gyro)
 

PhysicsMecanum/src/physics.py

@@ -33,10 +33,10 @@ def __init__(self, physics_controller: PhysicsInterface, robot: "MyRobot"):
         self.physics_controller = physics_controller
 
         # Motors
-        self.lf_motor = wpilib.simulation.PWMSim(robot.frontLeftMotor.getChannel())
-        self.lr_motor = wpilib.simulation.PWMSim(robot.rearLeftMotor.getChannel())
-        self.rf_motor = wpilib.simulation.PWMSim(robot.frontRightMotor.getChannel())
-        self.rr_motor = wpilib.simulation.PWMSim(robot.rearRightMotor.getChannel())
+        self.lf_motor = wpilib.simulation.PWMMotorControllerSim(robot.frontLeftMotor)
+        self.lr_motor = wpilib.simulation.PWMMotorControllerSim(robot.rearLeftMotor)
+        self.rf_motor = wpilib.simulation.PWMMotorControllerSim(robot.frontRightMotor)
+        self.rr_motor = wpilib.simulation.PWMMotorControllerSim(robot.rearRightMotor)
 
         # Gyro
         self.gyro = wpilib.simulation.AnalogGyroSim(robot.gyro)

PhysicsSPI/src/physics.py

@@ -44,14 +44,14 @@ def __init__(self, physics_controller: PhysicsInterface, robot: "MyRobot"):
         self.physics_controller = physics_controller
 
         # Motors
-        self.l_motor = wpilib.simulation.PWMSim(robot.l_motor.getChannel())
-        self.r_motor = wpilib.simulation.PWMSim(robot.r_motor.getChannel())
+        self.l_motor = wpilib.simulation.PWMMotorControllerSim(robot.l_motor)
+        self.r_motor = wpilib.simulation.PWMMotorControllerSim(robot.r_motor)
 
         self.dio1 = wpilib.simulation.DIOSim(robot.limit1)
         self.dio2 = wpilib.simulation.DIOSim(robot.limit2)
         self.ain2 = wpilib.simulation.AnalogInputSim(robot.position)
 
-        self.motor = wpilib.simulation.PWMSim(robot.motor.getChannel())
+        self.motor = wpilib.simulation.PWMMotorControllerSim(robot.motor.getChannel())
 
         # Gyro
         self.gyro = wpilib.simulation.ADXRS450_GyroSim(robot.gyro)