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Add testing for examples
Fix getting-started, can-tank-drive, and can-arcade-drive for 2025 revlib Add header check and fix licenses
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‎.github/workflows/test.yml‎

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---
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name: test
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on:
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pull_request:
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push:
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branches:
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- main
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tags:
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- '*'
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jobs:
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check:
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runs-on: ubuntu-latest
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steps:
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- uses: actions/checkout@v4
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- uses: psf/black@stable
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check-file-headers:
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runs-on: ubuntu-latest
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steps:
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- uses: actions/checkout@v4
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- uses: actions/setup-python@v4
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with:
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python-version: 3.12
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- name: Check header
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run: python examples/check_header.py
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shell: bash
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test:
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runs-on: ${{ matrix.os }}
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strategy:
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matrix:
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os: ["ubuntu-22.04", "macos-13", "windows-2022"]
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python_version:
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- '3.9'
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- '3.10'
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- '3.11'
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- '3.12'
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- '3.13'
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steps:
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- uses: actions/checkout@v4
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- uses: actions/setup-python@v5
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with:
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python-version: ${{ matrix.python_version }}
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- name: Install deps
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run: |
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pip install 'robotpy[rev, commands2]<2026.0.0,>=2025.0.0b3' numpy pytest
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- name: Run tests
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run: bash examples/run_tests.sh
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shell: bash

‎examples/can-arcade-drive/robot.py‎

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# ----------------------------------------------------------------------------
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# Copyright (c) 2017-2018 FIRST. All Rights Reserved.
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# Open Source Software - may be modified and shared by FRC teams. The code
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# must be accompanied by the FIRST BSD license file in the root directory of
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# the project.
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# ----------------------------------------------------------------------------
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#!/usr/bin/env python3
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#
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# Copyright (c) FIRST and other WPILib contributors.
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# Open Source Software; you can modify and/or share it under the terms of
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# the WPILib BSD license file in the root directory of this project.
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#
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import rev
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import wpilib
@@ -25,34 +25,60 @@ def robotInit(self):
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#
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# The example below initializes four brushless motors with CAN IDs
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# 1, 2, 3, 4. Change these parameters to match your setup
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self.leftLeadMotor = rev.CANSparkMax(1, rev.CANSparkMax.MotorType.kBrushless)
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self.rightLeadMotor = rev.CANSparkMax(3, rev.CANSparkMax.MotorType.kBrushless)
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self.leftFollowMotor = rev.CANSparkMax(2, rev.CANSparkMax.MotorType.kBrushless)
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self.rightFollowMotor = rev.CANSparkMax(4, rev.CANSparkMax.MotorType.kBrushless)
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self.leftLeadMotor = rev.SparkMax(1, rev.SparkMax.MotorType.kBrushless)
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self.rightLeadMotor = rev.SparkMax(3, rev.SparkMax.MotorType.kBrushless)
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self.leftFollowMotor = rev.SparkMax(2, rev.SparkMax.MotorType.kBrushless)
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self.rightFollowMotor = rev.SparkMax(4, rev.SparkMax.MotorType.kBrushless)
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# Passing in the lead motors into DifferentialDrive allows any
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# commmands sent to the lead motors to be sent to the follower motors.
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self.driveTrain = DifferentialDrive(self.leftLeadMotor, self.rightLeadMotor)
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self.joystick = wpilib.Joystick(0)
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# The RestoreFactoryDefaults method can be used to reset the
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# configuration parameters in the SPARK MAX to their factory default
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# state. If no argument is passed, these parameters will not persist
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# between power cycles
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self.leftLeadMotor.restoreFactoryDefaults()
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self.rightLeadMotor.restoreFactoryDefaults()
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self.leftFollowMotor.restoreFactoryDefaults()
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self.rightFollowMotor.restoreFactoryDefaults()
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# In CAN mode, one SPARK MAX can be configured to follow another. This
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# is done by calling the follow() method on the SPARK MAX you want to
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# configure as a follower, and by passing as a parameter the SPARK MAX
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# you want to configure as a leader.
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# Create new SPARK MAX configuration objects. These will store the
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# configuration parameters for the SPARK MAXes that we will set below.
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self.globalConfig = rev.SparkMaxConfig()
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self.rightLeaderConfig = rev.SparkMaxConfig()
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self.leftFollowerConfig = rev.SparkMaxConfig()
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self.rightFollowerConfig = rev.SparkMaxConfig()
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# Apply the global config and invert since it is on the opposite side
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self.rightLeaderConfig.apply(self.globalConfig).inverted(True)
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# Apply the global config and set the leader SPARK for follower mode
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self.leftFollowerConfig.apply(self.globalConfig).follow(self.leftLeadMotor)
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# Apply the global config and set the leader SPARK for follower mode
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self.rightFollowerConfig.apply(self.globalConfig).follow(self.rightLeadMotor)
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# Apply the configuration to the SPARKs.
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#
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# kResetSafeParameters is used to get the SPARK MAX to a known state. This
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# is useful in case the SPARK MAX is replaced.
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#
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# This is shown in the example below, where one motor on each side of
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# our drive train is configured to follow a lead motor.
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self.leftFollowMotor.follow(self.leftLeadMotor)
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self.rightFollowMotor.follow(self.rightLeadMotor)
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# kPersistParameters is used to ensure the configuration is not lost when
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# the SPARK MAX loses power. This is useful for power cycles that may occur
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# mid-operation.
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self.leftLeadMotor.configure(
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self.globalConfig,
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rev._rev.SparkBase.ResetMode.kResetSafeParameters,
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rev._rev.SparkBase.PersistMode.kPersistParameters,
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)
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self.leftFollowMotor.configure(
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self.leftFollowerConfig,
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rev._rev.SparkBase.ResetMode.kResetSafeParameters,
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rev._rev.SparkBase.PersistMode.kPersistParameters,
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)
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self.rightLeadMotor.configure(
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self.rightLeaderConfig,
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rev._rev.SparkBase.ResetMode.kResetSafeParameters,
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rev._rev.SparkBase.PersistMode.kPersistParameters,
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)
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self.rightFollowMotor.configure(
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self.rightFollowerConfig,
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rev._rev.SparkBase.ResetMode.kResetSafeParameters,
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rev._rev.SparkBase.PersistMode.kPersistParameters,
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)
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def teleopPeriodic(self):
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# Drive with arcade style

‎examples/can-tank-drive/robot.py‎

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@@ -1,9 +1,9 @@
1-
# ----------------------------------------------------------------------------
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# Copyright (c) 2017-2018 FIRST. All Rights Reserved.
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# Open Source Software - may be modified and shared by FRC teams. The code
4-
# must be accompanied by the FIRST BSD license file in the root directory of
5-
# the project.
6-
# ----------------------------------------------------------------------------
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#!/usr/bin/env python3
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#
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# Copyright (c) FIRST and other WPILib contributors.
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# Open Source Software; you can modify and/or share it under the terms of
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# the WPILib BSD license file in the root directory of this project.
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#
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import rev
99
import wpilib
@@ -25,15 +25,22 @@ def robotInit(self):
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#
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# The example below initializes two brushless motors with CAN IDs
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# 1 and 2. Change these parameters to match your setup
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self.leftMotor = rev.CANSparkMax(1, rev.CANSparkMax.MotorType.kBrushless)
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self.rightMotor = rev.CANSparkMax(2, rev.CANSparkMax.MotorType.kBrushless)
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# The RestoreFactoryDefaults method can be used to reset the
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# configuration parameters in the SPARK MAX to their factory default
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# state. If no argument is passed, these parameters will not persist
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# between power cycles
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self.leftMotor.restoreFactoryDefaults()
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self.rightMotor.restoreFactoryDefaults()
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self.leftMotor = rev.SparkMax(1, rev.SparkMax.MotorType.kBrushless)
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self.rightMotor = rev.SparkMax(2, rev.SparkMax.MotorType.kBrushless)
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# Configure for factory defaults and invert right side motor
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self.globalConfig = rev.SparkMaxConfig()
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self.rightConfig = self.globalConfig.inverted(True)
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self.leftMotor.configure(
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self.globalConfig,
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rev._rev.SparkBase.ResetMode.kResetSafeParameters,
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rev._rev.SparkBase.PersistMode.kPersistParameters,
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)
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self.rightMotor.configure(
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self.rightConfig,
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rev._rev.SparkBase.ResetMode.kResetSafeParameters,
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rev._rev.SparkBase.PersistMode.kPersistParameters,
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)
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self.driveTrain = DifferentialDrive(self.leftMotor, self.rightMotor)
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self.l_stick = wpilib.Joystick(0)

‎examples/check_header.py‎

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#!/usr/bin/env python3
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#
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# Copyright (c) FIRST and other WPILib contributors.
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# Open Source Software; you can modify and/or share it under the terms of
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# the WPILib BSD license file in the root directory of this project.
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#
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from pathlib import Path
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def check_file_content(file_path):
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with open(file_path, "r") as file:
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lines = file.readlines()
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if file.name.endswith("robot.py"):
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expected_lines = [
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"#!/usr/bin/env python3\n",
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"#\n",
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"# Copyright (c) FIRST and other WPILib contributors.\n",
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"# Open Source Software; you can modify and/or share it under the terms of\n",
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"# the WPILib BSD license file in the root directory of this project.\n",
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"#\n",
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"\n",
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]
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else:
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expected_lines = [
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"#\n",
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"# Copyright (c) FIRST and other WPILib contributors.\n",
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"# Open Source Software; you can modify and/or share it under the terms of\n",
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"# the WPILib BSD license file in the root directory of this project.\n",
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"#\n",
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"\n",
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]
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if lines[: len(expected_lines)] != expected_lines:
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print(
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"\n".join(
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[
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f"{file_path}",
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"ERROR: File must start with the following lines",
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"------------------------------",
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"".join(expected_lines[:-1]),
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"------------------------------",
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"Found:",
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"".join(lines[: len(expected_lines)]),
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"------------------------------",
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]
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)
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)
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return False
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return True
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def main():
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current_directory = Path(__file__).parent
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python_files = [
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x
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for x in current_directory.glob("./**/*.py")
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if not x.parent == current_directory and x.stat().st_size != 0
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]
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non_compliant_files = [
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file for file in python_files if not check_file_content(file)
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]
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non_compliant_files.sort()
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if non_compliant_files:
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print("Non-compliant files:")
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for file in non_compliant_files:
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print(f"- {file}")
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exit(1) # Exit with an error code
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else:
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print("All files are compliant.")
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if __name__ == "__main__":
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main()

‎examples/color_match/robot.py‎

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#!/usr/bin/env python3
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# Copyright (c) 2017-2018 FIRST. All Rights Reserved.
4-
# Open Source Software - may be modified and shared by FRC teams. The code
5-
# must be accompanied by the FIRST BSD license file in the root directory of
6-
# the project.
2+
#
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# Copyright (c) FIRST and other WPILib contributors.
4+
# Open Source Software; you can modify and/or share it under the terms of
5+
# the WPILib BSD license file in the root directory of this project.
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#
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import wpilib
99
from rev import ColorSensorV3, ColorMatch

‎examples/get-set-params/robot.py‎

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# ----------------------------------------------------------------------------
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# Copyright (c) 2017-2018 FIRST. All Rights Reserved.
3-
# Open Source Software - may be modified and shared by FRC teams. The code
4-
# must be accompanied by the FIRST BSD license file in the root directory of
5-
# the project.
6-
# ----------------------------------------------------------------------------
1+
#!/usr/bin/env python3
2+
#
3+
# Copyright (c) FIRST and other WPILib contributors.
4+
# Open Source Software; you can modify and/or share it under the terms of
5+
# the WPILib BSD license file in the root directory of this project.
6+
#
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import rev
99
import wpilib

‎examples/getting-started/robot.py‎

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Original file line numberDiff line numberDiff line change
@@ -16,8 +16,8 @@ def robotInit(self):
1616
This function is called upon program startup and
1717
should be used for any initialization code.
1818
"""
19-
self.leftDrive = rev.CANSparkMax(1, rev.CANSparkMax.MotorType.kBrushless)
20-
self.rightDrive = rev.CANSparkMax(2, rev.CANSparkMax.MotorType.kBrushless)
19+
self.leftDrive = rev.SparkMax(1, rev.SparkMax.MotorType.kBrushless)
20+
self.rightDrive = rev.SparkMax(2, rev.SparkMax.MotorType.kBrushless)
2121
self.robotDrive = wpilib.drive.DifferentialDrive(
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self.leftDrive, self.rightDrive
2323
)

‎examples/limit-switch/robot.py‎

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1-
# ----------------------------------------------------------------------------
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# Copyright (c) 2017-2018 FIRST. All Rights Reserved.
3-
# Open Source Software - may be modified and shared by FRC teams. The code
4-
# must be accompanied by the FIRST BSD license file in the root directory of
5-
# the project.
6-
# ----------------------------------------------------------------------------
1+
#!/usr/bin/env python3
2+
#
3+
# Copyright (c) FIRST and other WPILib contributors.
4+
# Open Source Software; you can modify and/or share it under the terms of
5+
# the WPILib BSD license file in the root directory of this project.
6+
#
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88
import rev
99
import wpilib

‎examples/maxswerve/constants.py‎

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#
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# Copyright (c) FIRST and other WPILib contributors.
23
# Open Source Software; you can modify and/or share it under the terms of
34
# the WPILib BSD license file in the root directory of this project.
5+
#
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"""
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The constants module is a convenience place for teams to hold robot-wide

‎examples/maxswerve/robotcontainer.py‎

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#
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# Copyright (c) FIRST and other WPILib contributors.
3+
# Open Source Software; you can modify and/or share it under the terms of
4+
# the WPILib BSD license file in the root directory of this project.
5+
#
6+
17
import math
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39
import commands2

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