Update examples for 2027

- Most of this was done with Codex so there may be some errors, but I manually reviewed all of it

Author: virtuald

examples/robot/AddressableLED/robot.py

@@ -6,49 +6,40 @@
 #
 
 import wpilib
-
-kLEDBuffer = 60
+import wpimath.units
 
 
 class MyRobot(wpilib.TimedRobot):
-    def robotInit(self):
-        # PWM Port 9
-        # Must be a PWM header, not MXP or DIO
-        self.led = wpilib.AddressableLED(9)
-
-        # LED Data
-        self.ledData = [wpilib.AddressableLED.LEDData() for _ in range(kLEDBuffer)]
+    def __init__(self) -> None:
+        super().__init__()
 
-        # Store what the last hue of the first pixel is
-        self.rainbowFirstPixelHue = 0
+        # SmartIO port 1
+        self.led = wpilib.AddressableLED(1)
 
-        # Default to a length of 60, start empty output
-        # Length is expensive to set, so only set it once, then just update data
-        self.led.setLength(kLEDBuffer)
+        # Reuse buffer
+        # Default to a length of 60
+        self.ledData = [wpilib.AddressableLED.LEDData() for _ in range(60)]
+        self.led.setLength(len(self.ledData))
 
         # Set the data
         self.led.setData(self.ledData)
-        self.led.start()
-
-    def robotPeriodic(self):
-        # Fill the buffer with a rainbow
-        self.rainbow()
-
-        # Set the LEDs
-        self.led.setData(self.ledData)
 
-    def rainbow(self):
-        # For every pixel
-        for i in range(kLEDBuffer):
-            # Calculate the hue - hue is easier for rainbows because the color
-            # shape is a circle so only one value needs to precess
-            hue = (self.rainbowFirstPixelHue + (i * 180 / kLEDBuffer)) % 180
+        # Create an LED pattern that will display a rainbow across
+        # all hues at maximum saturation and half brightness
+        self.rainbow = wpilib.LEDPattern.rainbow(255, 128)
 
-            # Set the value
-            self.ledData[i].setHSV(int(hue), 255, 128)
+        # Our LED strip has a density of 120 LEDs per meter
+        self.kLedSpacing = 1 / 120.0
 
-        # Increase by to make the rainbow "move"
-        self.rainbowFirstPixelHue += 3
+        # Create a new pattern that scrolls the rainbow pattern across the LED strip, moving at a
+        # speed of 1 meter per second.
+        self.scrollingRainbow = self.rainbow.scrollAtAbsoluteSpeed(
+            1,
+            self.kLedSpacing,
+        )
 
-        # Check bounds
-        self.rainbowFirstPixelHue %= 180
+    def robotPeriodic(self) -> None:
+        # Update the buffer with the rainbow animation
+        self.scrollingRainbow.applyTo(self.ledData)
+        # Set the LEDs
+        self.led.setData(self.ledData)

examples/robot/AprilTagsVision/robot.py

@@ -14,9 +14,11 @@ class MyRobot(wpilib.TimedRobot):
     """
     This is a demo program showing the detection of AprilTags. The image is acquired from the USB
     camera, then any detected AprilTags are marked up on the image and sent to the dashboard.
-    Be aware that the performance on this is much worse than a coprocessor solution!"""
+    Be aware that the performance on this is much worse than a coprocessor solution!
+    """
 
-    def robotInit(self):
+    def __init__(self):
+        super().__init__()
         # Your image processing code will be launched via a stub that will set up logging and initialize NetworkTables
         # to talk to your robot code.
         # https://robotpy.readthedocs.io/en/stable/vision/roborio.html#important-notes

examples/robot/AprilTagsVision/vision.py

@@ -23,8 +23,10 @@
 def main():
     detector = robotpy_apriltag.AprilTagDetector()
 
-    # Look for tag36h11, correct 3 error bits
-    detector.addFamily("tag36h11", 3)
+    # look for tag36h11, correct 1 error bit (hamming distance 1)
+    # hamming 1 allocates 781KB, 2 allocates 27.4 MB, 3 allocates 932 MB
+    # max of 1 recommended for RoboRIO 1, while hamming 2 is feasible on the RoboRIO 2
+    detector.addFamily("tag36h11", 1)
 
     # Set up Pose Estimator - parameters are for a Microsoft Lifecam HD-3000
     # (https://www.chiefdelphi.com/t/wpilib-apriltagdetector-sample-code/421411/21)
@@ -54,85 +56,96 @@ def main():
     grayMat = np.zeros(shape=(480, 640), dtype=np.uint8)
 
     # Instantiate once
-    tags = []  # The list where the tags will be stored
-    outlineColor = (0, 255, 0)  # Color of Tag Outline
-    crossColor = (0, 0, 25)  # Color of Cross
+    tags = []
+    outlineColor = (0, 255, 0)
+    crossColor = (0, 0, 255)
 
     # Output the list to Network Tables
     tagsTable = ntcore.NetworkTableInstance.getDefault().getTable("apriltags")
     pubTags = tagsTable.getIntegerArrayTopic("tags").publish()
 
-    while True:
-        # Tell the CvSink to grab a frame from the camera and put it
-        # in the source mat.  If there is an error notify the output.
-        if cvSink.grabFrame(mat) == 0:
-            # Send the output frame the error
-            outputStream.notifyError(cvSink.getError())
-
-            # Skip the rest of the current iteration
-            continue
-
-        cv2.cvtColor(mat, cv2.COLOR_RGB2GRAY, dst=grayMat)
-
-        detections = detector.detect(grayMat)
-
-        tags.clear()
-
-        for detection in detections:
-            # Remember the tag we saw
-            tags.append(detection.getId())
-
-            # Draw lines around the tag
-            for i in range(4):
-                j = (i + 1) % 4
-                point1 = (int(detection.getCorner(i).x), int(detection.getCorner(i).y))
-                point2 = (int(detection.getCorner(j).x), int(detection.getCorner(j).y))
-                mat = cv2.line(mat, point1, point2, outlineColor, 2)
-
-            # Mark the center of the tag
-            cx = int(detection.getCenter().x)
-            cy = int(detection.getCenter().y)
-            ll = 10
-            mat = cv2.line(
-                mat,
-                (cx - ll, cy),
-                (cx + ll, cy),
-                crossColor,
-                2,
-            )
-            mat = cv2.line(
-                mat,
-                (cx, cy - ll),
-                (cx, cy + ll),
-                crossColor,
-                2,
-            )
-
-            # Identify the tag
-            mat = cv2.putText(
-                mat,
-                str(detection.getId()),
-                (cx + ll, cy),
-                cv2.FONT_HERSHEY_SIMPLEX,
-                1,
-                crossColor,
-                3,
-            )
-
-            # Determine Tag Pose
-            pose = estimator.estimate(detection)
-
-            # put pose into dashboard
-            rot = pose.rotation()
-            tagsTable.getEntry(f"pose_{detection.getId()}").setDoubleArray(
-                [pose.X(), pose.Y(), pose.Z(), rot.X(), rot.Y(), rot.Z()]
-            )
-
-        # Put List of Tags onto Dashboard
-        pubTags.set(tags)
-
-        # Give output stream a new image to display
-        outputStream.putFrame(mat)
+    try:
+        while True:
+            # Tell the CvSink to grab a frame from the camera and put it
+            # in the source mat.  If there is an error notify the output.
+            if cvSink.grabFrame(mat) == 0:
+                # Send the output frame the error
+                outputStream.notifyError(cvSink.getError())
+
+                # Skip the rest of the current iteration
+                continue
+
+            cv2.cvtColor(mat, cv2.COLOR_RGB2GRAY, dst=grayMat)
+
+            detections = detector.detect(grayMat)
+
+            # have not seen any tags yet
+            tags.clear()
+
+            for detection in detections:
+                # remember we saw this tag
+                tags.append(detection.getId())
+
+                # draw lines around the tag
+                for i in range(4):
+                    j = (i + 1) % 4
+                    point1 = (
+                        int(detection.getCorner(i).x),
+                        int(detection.getCorner(i).y),
+                    )
+                    point2 = (
+                        int(detection.getCorner(j).x),
+                        int(detection.getCorner(j).y),
+                    )
+                    mat = cv2.line(mat, point1, point2, outlineColor, 2)
+
+                # mark the center of the tag
+                cx = int(detection.getCenter().x)
+                cy = int(detection.getCenter().y)
+                ll = 10
+                mat = cv2.line(
+                    mat,
+                    (cx - ll, cy),
+                    (cx + ll, cy),
+                    crossColor,
+                    2,
+                )
+                mat = cv2.line(
+                    mat,
+                    (cx, cy - ll),
+                    (cx, cy + ll),
+                    crossColor,
+                    2,
+                )
+
+                # identify the tag
+                mat = cv2.putText(
+                    mat,
+                    str(detection.getId()),
+                    (cx + ll, cy),
+                    cv2.FONT_HERSHEY_SIMPLEX,
+                    1,
+                    crossColor,
+                    3,
+                )
+
+                # determine pose
+                pose = estimator.estimate(detection)
+
+                # put pose into dashboard
+                rot = pose.rotation()
+                tagsTable.getEntry(f"pose_{detection.getId()}").setDoubleArray(
+                    [pose.X(), pose.Y(), pose.Z(), rot.X(), rot.Y(), rot.Z()]
+                )
+
+            # put list of tags onto dashboard
+            pubTags.set(tags)
+
+            # Give output stream a new image to display
+            outputStream.putFrame(mat)
+    finally:
+        pubTags.close()
+        detector.close()
 
     # The camera code will be killed when the robot.py program exits. If you wish to perform cleanup,
     # you should register an atexit handler. The child process will NOT be launched when running the robot code in

examples/robot/ArcadeDrive/robot.py

@@ -6,7 +6,6 @@
 #
 
 import wpilib
-import wpilib.drive
 
 
 class MyRobot(wpilib.TimedRobot):
@@ -15,12 +14,13 @@ class MyRobot(wpilib.TimedRobot):
     Runs the motors with arcade steering.
     """
 
-    def robotInit(self):
+    def __init__(self):
         """Robot initialization function"""
+        super().__init__()
 
         leftMotor = wpilib.PWMSparkMax(0)
         rightMotor = wpilib.PWMSparkMax(1)
-        self.robotDrive = wpilib.drive.DifferentialDrive(leftMotor, rightMotor)
+        self.robotDrive = wpilib.DifferentialDrive(leftMotor, rightMotor)
         self.stick = wpilib.Joystick(0)
 
         # We need to invert one side of the drivetrain so that positive voltages
@@ -32,4 +32,4 @@ def teleopPeriodic(self):
         # Drive with arcade drive.
         # 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())
+        self.robotDrive.arcadeDrive(-self.stick.getY(), -self.stick.getX())

examples/robot/ArcadeDriveXboxController/robot.py

@@ -6,7 +6,6 @@
 #
 
 import wpilib
-import wpilib.drive
 
 
 class MyRobot(wpilib.TimedRobot):
@@ -15,12 +14,13 @@ class MyRobot(wpilib.TimedRobot):
     Runs the motors with split arcade steering and an Xbox controller.
     """
 
-    def robotInit(self):
+    def __init__(self):
         """Robot initialization function"""
+        super().__init__()
 
         leftMotor = wpilib.PWMSparkMax(0)
         rightMotor = wpilib.PWMSparkMax(1)
-        self.robotDrive = wpilib.drive.DifferentialDrive(leftMotor, rightMotor)
+        self.robotDrive = wpilib.DifferentialDrive(leftMotor, rightMotor)
         self.driverController = wpilib.XboxController(0)
 
         # We need to invert one side of the drivetrain so that positive voltages