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Merged
virtuald merged 3 commits into from
Jan 10, 2026
Merged

Update to 2026 dependencies #135

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3540fe3
Update to 2026 dependencies
auscompgeek Jan 10, 2026
59c6c58
Use Spark Max instead of Jaguar in physics examples
auscompgeek Jan 10, 2026
830e870
Fix flywheel example
virtuald Jan 10, 2026
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4 changes: 2 additions & 2 deletions .github/workflows/test.yml
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Original file line number Diff line number Diff line change
Expand Up @@ -24,11 +24,11 @@ jobs:
matrix:
os: ["ubuntu-22.04", "macos-14", "windows-2022"]
python_version:
- '3.9'
- '3.10'
- '3.11'
- '3.12'
- '3.13'
- '3.14'

steps:
- uses: actions/checkout@v5
Expand All @@ -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]<2027,>=2026.1.1' numpy pytest
- name: Run tests
run: bash run_tests.sh
shell: bash
6 changes: 3 additions & 3 deletions Physics/src/robot.py
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Expand Up @@ -18,15 +18,15 @@ def robotInit(self):
self.lstick = wpilib.Joystick(0)
self.rstick = wpilib.Joystick(1)

self.l_motor = wpilib.Jaguar(1)
self.r_motor = wpilib.Jaguar(2)
self.l_motor = wpilib.PWMSparkMax(1)
self.r_motor = wpilib.PWMSparkMax(2)

# Position gets automatically updated as robot moves
self.gyro = wpilib.AnalogGyro(1)

self.drive = wpilib.drive.DifferentialDrive(self.l_motor, self.r_motor)

self.motor = wpilib.Jaguar(4)
self.motor = wpilib.PWMSparkMax(4)

self.limit1 = wpilib.DigitalInput(1)
self.limit2 = wpilib.DigitalInput(2)
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8 changes: 4 additions & 4 deletions Physics4Wheel/src/robot.py
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Expand Up @@ -19,10 +19,10 @@ def robotInit(self):
self.rstick = wpilib.Joystick(1)

# Define front and rear motors
self.lf_motor = wpilib.Jaguar(1)
self.lr_motor = wpilib.Jaguar(2)
self.rf_motor = wpilib.Jaguar(3)
self.rr_motor = wpilib.Jaguar(4)
self.lf_motor = wpilib.PWMSparkMax(1)
self.lr_motor = wpilib.PWMSparkMax(2)
self.rf_motor = wpilib.PWMSparkMax(3)
self.rr_motor = wpilib.PWMSparkMax(4)

# add the followers to the left and right motors
self.lf_motor.addFollower(self.lr_motor)
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6 changes: 3 additions & 3 deletions PhysicsSPI/src/robot.py
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Expand Up @@ -18,15 +18,15 @@ def robotInit(self):
self.lstick = wpilib.Joystick(0)
self.rstick = wpilib.Joystick(1)

self.l_motor = wpilib.Jaguar(1)
self.r_motor = wpilib.Jaguar(2)
self.l_motor = wpilib.PWMSparkMax(1)
self.r_motor = wpilib.PWMSparkMax(2)

# Position gets automatically updated as robot moves
self.gyro = wpilib.ADXRS450_Gyro()

self.drive = wpilib.drive.DifferentialDrive(self.l_motor, self.r_motor)

self.motor = wpilib.Jaguar(4)
self.motor = wpilib.PWMSparkMax(4)

self.limit1 = wpilib.DigitalInput(1)
self.limit2 = wpilib.DigitalInput(2)
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2 changes: 1 addition & 1 deletion StateSpaceFlywheelSysId/robot.py
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Expand Up @@ -103,5 +103,5 @@ def teleopPeriodic(self) -> None:
# Send the new calculated voltage to the motors.
# voltage = duty cycle * battery voltage, so
# duty cycle = voltage / battery voltage
nextVoltage = self.loop.U()
nextVoltage = self.loop.U()[0]
self.motor.setVoltage(nextVoltage)