[copybara] Resync allwpilib

examples/robot/ArcadeDriveXboxController/robot.py

@@ -21,7 +21,7 @@ def __init__(self):
         leftMotor = wpilib.PWMSparkMax(0)
         rightMotor = wpilib.PWMSparkMax(1)
         self.robotDrive = wpilib.DifferentialDrive(leftMotor, rightMotor)
-        self.driverController = wpilib.XboxController(0)
+        self.driverController = wpilib.NiDsXboxController(0)
 
         # We need to invert one side of the drivetrain so that positive voltages
         # result in both sides moving forward. Depending on how your robot's

examples/robot/DifferentialDriveBot/robot.py

@@ -15,7 +15,7 @@ class MyRobot(wpilib.TimedRobot):
     def __init__(self) -> None:
         super().__init__()
 
-        self.controller = wpilib.XboxController(0)
+        self.controller = wpilib.NiDsXboxController(0)
         self.drive = Drivetrain()
 
         # Slew rate limiters to make joystick inputs more gentle; 1/3 sec from 0 to 1.

examples/robot/DifferentialDrivePoseEstimator/drivetrain.py

@@ -74,7 +74,7 @@ def __init__(self, cameraToObjectTopic: ntcore.DoubleArrayTopic) -> None:
         # Simulation classes
         self.leftEncoderSim = wpilib.simulation.EncoderSim(self.leftEncoder)
         self.rightEncoderSim = wpilib.simulation.EncoderSim(self.rightEncoder)
-        self.drivetrainSystem = wpimath.LinearSystemId.identifyDrivetrainSystem(
+        self.drivetrainSystem = wpimath.Models.differentialDriveFromSysId(
             1.98, 0.2, 1.5, 0.3
         )
         self.drivetrainSimulator = wpilib.simulation.DifferentialDrivetrainSim(

examples/robot/DifferentialDrivePoseEstimator/robot.py

@@ -19,7 +19,7 @@ def __init__(self) -> None:
         self.inst = ntcore.NetworkTableInstance.getDefault()
         self.doubleArrayTopic = self.inst.getDoubleArrayTopic("m_doubleArrayTopic")
 
-        self.controller = wpilib.XboxController(0)
+        self.controller = wpilib.NiDsXboxController(0)
         self.drive = Drivetrain(self.doubleArrayTopic)
 
         # Slew rate limiters to make joystick inputs more gentle; 1/3 sec from 0 to 1.

examples/robot/DriveDistanceOffboard/robotcontainer.py

@@ -33,7 +33,7 @@ def __init__(self):
         )
 
         # The driver's controller
-        self.driverController = commands2.button.CommandXboxController(
+        self.driverController = commands2.button.CommandNiDsXboxController(
             constants.OIConstants.kDriverControllerPort
         )
 
@@ -58,7 +58,7 @@ def configureButtonBindings(self):
         """
         Use this method to define your button->command mappings. Buttons can be created via the button
         factories on commands2.button.CommandGenericHID or one of its
-        subclasses (commands2.button.CommandJoystick or command2.button.CommandXboxController).
+        subclasses (commands2.button.CommandJoystick or command2.button.CommandNiDsXboxController).
         """
 
         # Configure your button bindings here

examples/robot/FlywheelBangBangController/robot.py

@@ -63,7 +63,7 @@ def __init__(self) -> None:
 
         self.gearbox = wpimath.DCMotor.NEO(1)
 
-        self.plant = wpimath.LinearSystemId.flywheelSystem(
+        self.plant = wpimath.Models.flywheelFromPhysicalConstants(
             self.gearbox, self.kFlywheelGearing, self.kFlywheelMomentOfInertia
         )
 

examples/robot/GettingStarted/robot.py

@@ -18,7 +18,7 @@ def __init__(self):
         self.leftDrive = wpilib.PWMSparkMax(0)
         self.rightDrive = wpilib.PWMSparkMax(1)
         self.robotDrive = wpilib.DifferentialDrive(self.leftDrive, self.rightDrive)
-        self.controller = wpilib.XboxController(0)
+        self.controller = wpilib.NiDsXboxController(0)
         self.timer = wpilib.Timer()
 
         # We need to invert one side of the drivetrain so that positive voltages

examples/robot/HatchbotInlined/robotcontainer.py

@@ -42,7 +42,7 @@ def __init__(self) -> None:
         )
 
         # The driver's controller
-        self.driverController = commands2.button.CommandPS4Controller(
+        self.driverController = commands2.button.CommandNiDsPS4Controller(
             constants.kDriverControllerPort
         )
 

examples/robot/HatchbotTraditional/robotcontainer.py

@@ -32,7 +32,7 @@ class RobotContainer:
 
     def __init__(self) -> None:
         # The driver's controller
-        # self.driverController = wpilib.XboxController(constants.kDriverControllerPort)
+        # self.driverController = wpilib.NiDsXboxController(constants.kDriverControllerPort)
         self.driverController = wpilib.Joystick(constants.kDriverControllerPort)
 
         # The robot's subsystems

examples/robot/HidRumble/robot.py

@@ -17,14 +17,14 @@ def __init__(self):
         """Robot initialization function"""
         super().__init__()
 
-        self.hid = wpilib.XboxController(0)
+        self.hid = wpilib.NiDsXboxController(0)
 
     def autonomousInit(self):
         # Turn on rumble at the start of auto
-        self.hid.setRumble(wpilib.XboxController.RumbleType.kLeftRumble, 1.0)
-        self.hid.setRumble(wpilib.XboxController.RumbleType.kRightRumble, 1.0)
+        self.hid.setRumble(wpilib.NiDsXboxController.RumbleType.kLeftRumble, 1.0)
+        self.hid.setRumble(wpilib.NiDsXboxController.RumbleType.kRightRumble, 1.0)
 
     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)
+        self.hid.setRumble(wpilib.NiDsXboxController.RumbleType.kLeftRumble, 0.0)
+        self.hid.setRumble(wpilib.NiDsXboxController.RumbleType.kRightRumble, 0.0)

examples/robot/MecanumBot/robot.py

@@ -15,7 +15,7 @@ class MyRobot(wpilib.TimedRobot):
     def __init__(self) -> None:
         super().__init__()
 
-        self.controller = wpilib.XboxController(0)
+        self.controller = wpilib.NiDsXboxController(0)
         self.mecanum = Drivetrain()
 
         # Slew rate limiters to make joystick inputs more gentle; 1/3 sec from 0 to 1.

examples/robot/MecanumDrivePoseEstimator/robot.py

@@ -15,7 +15,7 @@ class MyRobot(wpilib.TimedRobot):
     def __init__(self) -> None:
         super().__init__()
 
-        self.controller = wpilib.XboxController(0)
+        self.controller = wpilib.NiDsXboxController(0)
         self.mecanum = Drivetrain()
 
         # Slew rate limiters to make joystick inputs more gentle; 1/3 sec from 0 to 1.

examples/robot/RapidReactCommandBot/rapidreactcommandbot.py

@@ -5,7 +5,7 @@
 #
 
 import commands2
-from commands2.button import CommandXboxController, Trigger
+from commands2.button import CommandNiDsXboxController, Trigger
 
 from constants import AutoConstants, OIConstants, ShooterConstants
 from subsystems.drive import Drive
@@ -31,7 +31,9 @@ def __init__(self) -> None:
         self.pneumatics = Pneumatics()
 
         # The driver's controller
-        self.driverController = CommandXboxController(OIConstants.kDriverControllerPort)
+        self.driverController = CommandNiDsXboxController(
+            OIConstants.kDriverControllerPort
+        )
 
     def configureBindings(self) -> None:
         """Use this method to define bindings between conditions and commands. These are useful for

examples/robot/SimpleDifferentialDriveSimulation/drivetrain.py

@@ -52,7 +52,7 @@ def __init__(self) -> None:
         self.leftEncoderSim = wpilib.simulation.EncoderSim(self.leftEncoder)
         self.rightEncoderSim = wpilib.simulation.EncoderSim(self.rightEncoder)
         self.fieldSim = wpilib.Field2d()
-        self.drivetrainSystem = wpimath.LinearSystemId.identifyDrivetrainSystem(
+        self.drivetrainSystem = wpimath.Models.differentialDriveFromSysId(
             1.98, 0.2, 1.5, 0.3
         )
         self.drivetrainSimulator = wpilib.simulation.DifferentialDrivetrainSim(

examples/robot/SimpleDifferentialDriveSimulation/robot.py

@@ -14,7 +14,7 @@
 class MyRobot(wpilib.TimedRobot):
     def __init__(self) -> None:
         super().__init__()
-        self.controller = wpilib.XboxController(0)
+        self.controller = wpilib.NiDsXboxController(0)
 
         # Slew rate limiters to make joystick inputs more gentle; 1/3 sec from 0
         # to 1.

examples/robot/StateSpaceArm/robot.py

@@ -46,7 +46,7 @@ def __init__(self) -> None:
         # States: [position, velocity], in radians and radians per second.
         # Inputs (what we can "put in"): [voltage], in volts.
         # Outputs (what we can measure): [position], in radians.
-        self.armPlant = wpimath.LinearSystemId.singleJointedArmSystem(
+        self.armPlant = wpimath.Models.singleJointedArmFromPhysicalConstants(
             wpimath.DCMotor.NEO(2),
             kArmMOI,
             kArmGearing,

examples/robot/StateSpaceElevator/robot.py

@@ -52,7 +52,7 @@ def __init__(self) -> None:
         # Outputs (what we can measure): [position], in meters.
 
         # This elevator is driven by two NEO motors.
-        self.elevatorPlant = wpimath.LinearSystemId.elevatorSystem(
+        self.elevatorPlant = wpimath.Models.elevatorFromPhysicalConstants(
             wpimath.DCMotor.NEO(2),
             kCarriageMass,
             kDrumRadius,

examples/robot/StateSpaceFlywheel/robot.py

@@ -39,7 +39,7 @@ def __init__(self) -> None:
         # States: [velocity], in radians per second.
         # Inputs (what we can "put in"): [voltage], in volts.
         # Outputs (what we can measure): [velocity], in radians per second.
-        self.flywheelPlant = wpimath.LinearSystemId.flywheelSystem(
+        self.flywheelPlant = wpimath.Models.flywheelFromPhysicalConstants(
             wpimath.DCMotor.NEO(2),
             kFlywheelMomentOfInertia,
             kFlywheelGearing,

examples/robot/StateSpaceFlywheelSysId/robot.py

@@ -39,9 +39,7 @@ def __init__(self) -> None:
         # Outputs (what we can measure): [velocity], in radians per second.
         #
         # The Kv and Ka constants are found using the FRC Characterization toolsuite.
-        self.flywheelPlant = wpimath.LinearSystemId.identifyVelocitySystemRadians(
-            kFlywheelKv, kFlywheelKa
-        )
+        self.flywheelPlant = wpimath.Models.flywheelFromSysId(kFlywheelKv, kFlywheelKa)
 
         # The observer fuses our encoder data and voltage inputs to reject noise.
         self.observer = wpimath.KalmanFilter_1_1_1(

examples/robot/SwerveBot/robot.py

@@ -14,7 +14,7 @@ class MyRobot(wpilib.TimedRobot):
     def __init__(self) -> None:
         """Robot initialization function"""
         super().__init__()
-        self.controller = wpilib.XboxController(0)
+        self.controller = wpilib.NiDsXboxController(0)
         self.swerve = drivetrain.Drivetrain()
 
         # Slew rate limiters to make joystick inputs more gentle; 1/3 sec from 0 to 1.

examples/robot/SwerveDrivePoseEstimator/robot.py

@@ -15,7 +15,7 @@ class MyRobot(wpilib.TimedRobot):
     def __init__(self) -> None:
         super().__init__()
 
-        self.controller = wpilib.XboxController(0)
+        self.controller = wpilib.NiDsXboxController(0)
         self.swerve = Drivetrain()
 
         # Slew rate limiters to make joystick inputs more gentle; 1/3 sec from 0 to 1.

examples/robot/SysId/sysidroutinebot.py

@@ -5,7 +5,7 @@
 #
 
 from commands2 import Command
-from commands2.button import CommandXboxController
+from commands2.button import CommandNiDsXboxController
 from commands2.sysid import SysIdRoutine
 
 from subsystems.drive import Drive
@@ -27,7 +27,7 @@ def __init__(self) -> None:
         self.shooter = Shooter()
 
         # The driver's controller
-        self.controller = CommandXboxController(OIConstants.kDriverControllerPort)
+        self.controller = CommandNiDsXboxController(OIConstants.kDriverControllerPort)
 
     def configureBindings(self) -> None:
         """Use this method to define bindings between conditions and commands. These are useful for

examples/robot/TankDriveXboxController/robot.py

@@ -21,7 +21,7 @@ def __init__(self):
         leftMotor = wpilib.PWMSparkMax(0)
         rightMotor = wpilib.PWMSparkMax(1)
         self.robotDrive = wpilib.DifferentialDrive(leftMotor, rightMotor)
-        self.driverController = wpilib.XboxController(0)
+        self.driverController = wpilib.NiDsXboxController(0)
 
         # We need to invert one side of the drivetrain so that positive voltages
         # result in both sides moving forward. Depending on how your robot's

rdev.toml

@@ -22,7 +22,7 @@ wrapper = "2027.0.0a3"
 
 [params]
 
-wpilib_bin_version = "2027.0.0-alpha-3-192-g0fd8210b5"
+wpilib_bin_version = "2027.0.0-alpha-3-212-g227c89ab2"
 wpilib_bin_url = "https://frcmaven.wpi.edu/artifactory/development-2027"
 # wpilib_bin_url = "https://frcmaven.wpi.edu/artifactory/development-2027"
 

subprojects/robotpy-commands-v2/commands2/button/__init__.py

@@ -1,7 +1,7 @@
 from .commandgenerichid import CommandGenericHID
 from .commandjoystick import CommandJoystick
-from .commandps4controller import CommandPS4Controller
-from .commandxboxcontroller import CommandXboxController
+from .commandnidsps4controller import CommandNiDsPS4Controller
+from .commandnidsxboxcontroller import CommandNiDsXboxController
 from .joystickbutton import JoystickButton
 from .networkbutton import NetworkButton
 from .povbutton import POVButton
@@ -11,8 +11,8 @@
     "Trigger",
     "CommandGenericHID",
     "CommandJoystick",
-    "CommandPS4Controller",
-    "CommandXboxController",
+    "CommandNiDsPS4Controller",
+    "CommandNiDsXboxController",
     "JoystickButton",
     "NetworkButton",
     "POVButton",

subprojects/robotpy-commands-v2/commands2/button/commandps4controller.py → subprojects/robotpy-commands-v2/commands2/button/commandnidsps4controller.py

@@ -1,19 +1,19 @@
-# validated: 2024-01-20 DS d426873ed15b button/CommandPS4Controller.java
+# validated: 2024-01-20 DS d426873ed15b button/CommandNiDsPS4Controller.java
 from typing import Optional
 
-from wpilib import EventLoop, PS4Controller
+from wpilib import EventLoop, NiDsPS4Controller
 
 from ..commandscheduler import CommandScheduler
 from .commandgenerichid import CommandGenericHID
 from .trigger import Trigger
 
 
-class CommandPS4Controller(CommandGenericHID):
+class CommandNiDsPS4Controller(CommandGenericHID):
     """
-    A version of PS4Controller with Trigger factories for command-based.
+    A version of NI DS PS4Controller with Trigger factories for command-based.
     """
 
-    _hid: PS4Controller
+    _hid: NiDsPS4Controller
 
     def __init__(self, port: int):
         """
@@ -22,9 +22,9 @@ def __init__(self, port: int):
         :param port: The port index on the Driver Station that the device is plugged into.
         """
         super().__init__(port)
-        self._hid = PS4Controller(port)
+        self._hid = NiDsPS4Controller(port)
 
-    def getHID(self) -> PS4Controller:
+    def getHID(self) -> NiDsPS4Controller:
         """
         Get the underlying GenericHID object.
 

subprojects/robotpy-commands-v2/commands2/button/commandxboxcontroller.py → subprojects/robotpy-commands-v2/commands2/button/commandnidsxboxcontroller.py

@@ -1,19 +1,19 @@
 # validated: 2024-01-20 DS 3ba501f9478a button/CommandXboxController.java
 from typing import Optional
 
-from wpilib import EventLoop, XboxController
+from wpilib import EventLoop, NiDsXboxController
 
 from ..commandscheduler import CommandScheduler
 from .commandgenerichid import CommandGenericHID
 from .trigger import Trigger
 
 
-class CommandXboxController(CommandGenericHID):
+class CommandNiDsXboxController(CommandGenericHID):
     """
-    A version of XboxController with Trigger factories for command-based.
+    A version of NI DS XboxController with Trigger factories for command-based.
     """
 
-    _hid: XboxController
+    _hid: NiDsXboxController
 
     def __init__(self, port: int):
         """
@@ -22,9 +22,9 @@ def __init__(self, port: int):
         :param port: The port index on the Driver Station that the controller is plugged into.
         """
         super().__init__(port)
-        self._hid = XboxController(port)
+        self._hid = NiDsXboxController(port)
 
-    def getHID(self) -> XboxController:
+    def getHID(self) -> NiDsXboxController:
         """
         Get the underlying GenericHID object.
 
@@ -44,7 +44,7 @@ def leftBumper(self, loop: Optional[EventLoop] = None) -> Trigger:
         """
         if loop is None:
             loop = CommandScheduler.getInstance().getDefaultButtonLoop()
-        return Trigger(loop, lambda: self._hid.getLeftBumper())
+        return Trigger(loop, lambda: self._hid.getLeftBumperButton())
 
     def rightBumper(self, loop: Optional[EventLoop] = None) -> Trigger:
         """
@@ -58,7 +58,7 @@ def rightBumper(self, loop: Optional[EventLoop] = None) -> Trigger:
         """
         if loop is None:
             loop = CommandScheduler.getInstance().getDefaultButtonLoop()
-        return Trigger(loop, lambda: self._hid.getRightBumper())
+        return Trigger(loop, lambda: self._hid.getRightBumperButton())
 
     def leftStick(self, loop: Optional[EventLoop] = None) -> Trigger:
         """

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-3-192-g0fd8210b5"
+version = "2027.0.0-alpha-3-212-g227c89ab2"
 
 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-3-192-g0fd8210b5"
+version = "2027.0.0-alpha-3-212-g227c89ab2"
 
 staticlibs = ["cameraserver"]
 extract_to = "lib"

subprojects/robotpy-hal/semiwrap/DriverStation.yml

@@ -43,3 +43,4 @@ functions:
   HAL_ObserveUserProgram:
   GetControlWord:
   GetUncachedControlWord:
+  HAL_GetGameData: