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[python] Fixup python examples / build (#2509)

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## Description

This fixes up and renables the python examples builds.

Main fixes
- Test shell script just straight up didn't do what it was intended to
do
- Replace analog imus (and half refactored sims) with OnboardIMU
- Fixes swerve velocities function signature
- "regenerates" the default robotpy test

## Meta

Merge checklist:
- [x] Pull Request title is [short, imperative
summary](https://cbea.ms/git-commit/) of proposed changes
- [x] The description documents the _what_ and _why_, including events
that led to this PR
- [ ] If this PR changes behavior or adds a feature, user documentation
is updated
- [ ] If this PR touches photon-serde, all messages have been
regenerated and hashes have not changed unexpectedly
- [ ] If this PR touches configuration, this is backwards compatible
with all settings going back to the previous seasons's last release
(seasons end after champs ends)
- [ ] If this PR touches pipeline settings or anything related to data
exchange, the frontend typing is updated
- [ ] If this PR addresses a bug, a regression test for it is added
- [ ] If this PR adds a dependency, the license has been checked for
compatibility and steps taken to follow it

---------

Co-authored-by: Matt Morley <matthew.morley.ca@gmail.com>
Co-authored-by: David Vo <auscompgeek@users.noreply.github.com>
This commit is contained in:
PJ Reiniger
2026-05-27 17:29:26 -04:00
committed by GitHub
parent ae22742f05
commit 7b30c9306e
18 changed files with 173 additions and 109 deletions
Download Patch File Download Diff File Expand all files Collapse all files

23
photonlib-python-examples/aimandrange/drivetrain.py
View File

@@ -53,8 +53,8 @@ class Drivetrain:
self.debugField = wpilib.Field2d()
wpilib.SmartDashboard.putData("Drivetrain Debug", self.debugField)
self.gyro = wpilib.AnalogGyro(0)
self.simGyro = wpilib.simulation.OnboardIMUSim(self.gyro)
self.gyro = wpilib.OnboardIMU(wpilib.OnboardIMU.MountOrientation.FLAT)
self.simGyro = wpilib.simulation.OnboardIMUSim()
self._yaw = 0.0
self.kinematics = wpimath.SwerveDrive4Kinematics(
@@ -77,7 +77,7 @@ class Drivetrain:
self.targetChassisVelocities = wpimath.ChassisVelocities()
self.gyro.reset()
self.gyro.resetYaw()
def drive(
self,
@@ -126,13 +126,20 @@ class Drivetrain:
),
)
def getModuleVelocities(self) -> list[wpimath.SwerveModuleVelocity]:
return [
def getModuleVelocities(
self,
) -> tuple[
wpimath.SwerveModuleVelocity,
wpimath.SwerveModuleVelocity,
wpimath.SwerveModuleVelocity,
wpimath.SwerveModuleVelocity,
]:
return (
self.frontLeft.getVelocity(),
self.frontRight.getVelocity(),
self.backLeft.getVelocity(),
self.backRight.getVelocity(),
]
)
def getModulePoses(self) -> list[wpimath.Pose2d]:
p = self.odometry.getPose()
@@ -197,6 +204,6 @@ class Drivetrain:
self.backLeft.simulationPeriodic()
self.backRight.simulationPeriodic()
rate = -1.0 * self.getChassisVelocities().omega_dps
self.simGyro.setRate(rate)
self.simGyro.setGyroRateZ(rate)
self._yaw += rate * 0.02
self.simGyro.setYaw(self._yaw)
self.simGyro.setYaw(math.radians(self._yaw))

4
photonlib-python-examples/aimandrange/robot.py
View File

@@ -92,6 +92,6 @@ class MyRobot(wpilib.TimedRobot):
self.swerve.drive(xSpeed, ySpeed, rot, True, self.getPeriod())
def _simulationPeriodic(self) -> None:
def simulationPeriodic(self) -> None:
self.swerve.simulationPeriodic()
return super()._simulationPeriodic()
return super().simulationPeriodic()

18
photonlib-python-examples/aimandrange/swervemodule.py
View File

@@ -95,12 +95,16 @@ class SwerveModule:
# Simulation Support
self.simDriveEncoder = wpilib.simulation.EncoderSim(self.driveEncoder)
self.simTurningEncoder = wpilib.simulation.EncoderSim(self.turningEncoder)
self.simDrivingMotor = wpilib.simulation.PWMSim(driveMotorChannel)
self.simTurningMotor = wpilib.simulation.PWMSim(turningMotorChannel)
self.simDrivingMotor = wpilib.simulation.PWMMotorControllerSim(
driveMotorChannel
)
self.simTurningMotor = wpilib.simulation.PWMMotorControllerSim(
turningMotorChannel
)
self.simDrivingMotorFilter = wpimath.LinearFilter.singlePoleIIR(0.1, 0.02)
self.simTurningMotorFilter = wpimath.LinearFilter.singlePoleIIR(0.0001, 0.02)
self.simTurningEncoderPos = 0
self.simDrivingEncoderPos = 0
self.simTurningEncoderPos = 0.0
self.simDrivingEncoderPos = 0.0
def getVelocity(self) -> wpimath.SwerveModuleVelocity:
"""Returns the current state of the module.
@@ -188,10 +192,12 @@ class SwerveModule:
def simulationPeriodic(self) -> None:
driveVoltage = (
self.simDrivingMotor.getSpeed() * wpilib.RobotController.getBatteryVoltage()
self.simDrivingMotor.getThrottle()
* wpilib.RobotController.getBatteryVoltage()
)
turnVoltage = (
self.simTurningMotor.getSpeed() * wpilib.RobotController.getBatteryVoltage()
self.simTurningMotor.getThrottle()
* wpilib.RobotController.getBatteryVoltage()
)
driveSpdRaw = (
driveVoltage / 12.0 * self.driveFeedforward.maxAchievableVelocity(12.0, 0)

4
photonlib-python-examples/aimandrange/tests/pyfrc_test.py
View File

@@ -1,4 +0,0 @@
"""
This test module imports tests that come with pyfrc, and can be used
to test basic functionality of just about any robot.
"""

6
photonlib-python-examples/aimandrange/tests/robot_test.py Normal file
View File

@@ -0,0 +1,6 @@
"""
This test module imports tests that come with wpilib, and can be used
to test basic functionality of just about any robot.
"""
from wpilib.testing.robot_tests import * # noqa

23
photonlib-python-examples/aimattarget/drivetrain.py
View File

@@ -53,8 +53,8 @@ class Drivetrain:
self.debugField = wpilib.Field2d()
wpilib.SmartDashboard.putData("Drivetrain Debug", self.debugField)
self.gyro = wpilib.AnalogGyro(0)
self.simGyro = wpilib.simulation.OnboardIMUSim(self.gyro)
self.gyro = wpilib.OnboardIMU(wpilib.OnboardIMU.MountOrientation.FLAT)
self.simGyro = wpilib.simulation.OnboardIMUSim()
self._yaw = 0.0
self.kinematics = wpimath.SwerveDrive4Kinematics(
@@ -77,7 +77,7 @@ class Drivetrain:
self.targetChassisVelocities = wpimath.ChassisVelocities()
self.gyro.reset()
self.gyro.resetYaw()
def drive(
self,
@@ -126,13 +126,20 @@ class Drivetrain:
),
)
def getModuleVelocities(self) -> list[wpimath.SwerveModuleVelocity]:
return [
def getModuleVelocities(
self,
) -> tuple[
wpimath.SwerveModuleVelocity,
wpimath.SwerveModuleVelocity,
wpimath.SwerveModuleVelocity,
wpimath.SwerveModuleVelocity,
]:
return (
self.frontLeft.getVelocity(),
self.frontRight.getVelocity(),
self.backLeft.getVelocity(),
self.backRight.getVelocity(),
]
)
def getModulePoses(self) -> list[wpimath.Pose2d]:
p = self.odometry.getPose()
@@ -197,6 +204,6 @@ class Drivetrain:
self.backLeft.simulationPeriodic()
self.backRight.simulationPeriodic()
rate = -1.0 * self.getChassisVelocities().omega_dps
self.simGyro.setRate(rate)
self.simGyro.setGyroRateZ(rate)
self._yaw += rate * 0.02
self.simGyro.setYaw(self._yaw)
self.simGyro.setYaw(math.radians(self._yaw))

4
photonlib-python-examples/aimattarget/robot.py
View File

@@ -69,6 +69,6 @@ class MyRobot(wpilib.TimedRobot):
self.swerve.drive(xSpeed, ySpeed, rot, True, self.getPeriod())
def _simulationPeriodic(self) -> None:
def simulationPeriodic(self) -> None:
self.swerve.simulationPeriodic()
return super()._simulationPeriodic()
return super().simulationPeriodic()

18
photonlib-python-examples/aimattarget/swervemodule.py
View File

@@ -95,12 +95,16 @@ class SwerveModule:
# Simulation Support
self.simDriveEncoder = wpilib.simulation.EncoderSim(self.driveEncoder)
self.simTurningEncoder = wpilib.simulation.EncoderSim(self.turningEncoder)
self.simDrivingMotor = wpilib.simulation.PWMSim(driveMotorChannel)
self.simTurningMotor = wpilib.simulation.PWMSim(turningMotorChannel)
self.simDrivingMotor = wpilib.simulation.PWMMotorControllerSim(
driveMotorChannel
)
self.simTurningMotor = wpilib.simulation.PWMMotorControllerSim(
turningMotorChannel
)
self.simDrivingMotorFilter = wpimath.LinearFilter.singlePoleIIR(0.1, 0.02)
self.simTurningMotorFilter = wpimath.LinearFilter.singlePoleIIR(0.0001, 0.02)
self.simTurningEncoderPos = 0
self.simDrivingEncoderPos = 0
self.simTurningEncoderPos = 0.0
self.simDrivingEncoderPos = 0.0
def getVelocity(self) -> wpimath.SwerveModuleVelocity:
"""Returns the current state of the module.
@@ -188,10 +192,12 @@ class SwerveModule:
def simulationPeriodic(self) -> None:
driveVoltage = (
self.simDrivingMotor.getSpeed() * wpilib.RobotController.getBatteryVoltage()
self.simDrivingMotor.getThrottle()
* wpilib.RobotController.getBatteryVoltage()
)
turnVoltage = (
self.simTurningMotor.getSpeed() * wpilib.RobotController.getBatteryVoltage()
self.simTurningMotor.getThrottle()
* wpilib.RobotController.getBatteryVoltage()
)
driveSpdRaw = (
driveVoltage / 12.0 * self.driveFeedforward.maxAchievableVelocity(12.0, 0)

4
photonlib-python-examples/aimattarget/tests/pyfrc_test.py
View File

@@ -1,4 +0,0 @@
"""
This test module imports tests that come with pyfrc, and can be used
to test basic functionality of just about any robot.
"""

6
photonlib-python-examples/aimattarget/tests/robot_test.py Normal file
View File

@@ -0,0 +1,6 @@
"""
This test module imports tests that come with wpilib, and can be used
to test basic functionality of just about any robot.
"""
from wpilib.testing.robot_tests import * # noqa

32
photonlib-python-examples/poseest/drivetrain.py
View File

@@ -58,8 +58,8 @@ class Drivetrain:
self.debugField = wpilib.Field2d()
wpilib.SmartDashboard.putData("Drivetrain Debug", self.debugField)
self.gyro = wpilib.AnalogGyro(0)
self.simGyro = wpilib.simulation.OnboardIMUSim(self.gyro)
self.gyro = wpilib.OnboardIMU(wpilib.OnboardIMU.MountOrientation.FLAT)
self.simGyro = wpilib.simulation.OnboardIMUSim()
self._yaw = 0.0
self.kinematics = wpimath.SwerveDrive4Kinematics(
@@ -78,11 +78,12 @@ class Drivetrain:
self.backLeft.getPosition(),
self.backRight.getPosition(),
),
wpimath.Pose2d(),
)
self.targetChassisVelocities = wpimath.ChassisVelocities()
self.gyro.reset()
self.gyro.resetYaw()
def drive(
self,
@@ -121,7 +122,7 @@ class Drivetrain:
def updateOdometry(self) -> None:
"""Updates the field relative position of the robot."""
self.odometry.update(
self.poseEst.update(
self.gyro.getRotation2d(),
(
self.frontLeft.getPosition(),
@@ -132,7 +133,7 @@ class Drivetrain:
)
def addVisionPoseEstimate(self, pose: wpimath.Pose3d, timestamp: float) -> None:
self.poseEst.addVisionMeasurement(pose, timestamp)
self.poseEst.addVisionMeasurement(pose.toPose2d(), timestamp)
def resetPose(self) -> None:
self.poseEst.resetPosition(
@@ -146,13 +147,20 @@ class Drivetrain:
kInitialPose,
)
def getModuleVelocities(self) -> list[wpimath.SwerveModuleVelocity]:
return [
def getModuleVelocities(
self,
) -> tuple[
wpimath.SwerveModuleVelocity,
wpimath.SwerveModuleVelocity,
wpimath.SwerveModuleVelocity,
wpimath.SwerveModuleVelocity,
]:
return (
self.frontLeft.getVelocity(),
self.frontRight.getVelocity(),
self.backLeft.getVelocity(),
self.backRight.getVelocity(),
]
)
def getModulePoses(self) -> list[wpimath.Pose2d]:
p = self.poseEst.getEstimatedPosition()
@@ -181,7 +189,7 @@ class Drivetrain:
def log(self):
table = "Drive/"
pose = self.odometry.getPose()
pose = self.poseEst.getEstimatedPosition()
wpilib.SmartDashboard.putNumber(table + "X", pose.X())
wpilib.SmartDashboard.putNumber(table + "Y", pose.Y())
wpilib.SmartDashboard.putNumber(table + "Heading", pose.rotation().degrees())
@@ -208,7 +216,7 @@ class Drivetrain:
self.backLeft.log()
self.backRight.log()
self.debugField.getRobotObject().setPose(self.odometry.getPose())
self.debugField.getRobotObject().setPose(self.poseEst.getEstimatedPosition())
self.debugField.getObject("SwerveModules").setPoses(self.getModulePoses())
def simulationPeriodic(self):
@@ -217,6 +225,6 @@ class Drivetrain:
self.backLeft.simulationPeriodic()
self.backRight.simulationPeriodic()
rate = -1.0 * self.getChassisVelocities().omega_dps
self.simGyro.setRate(rate)
self.simGyro.setGyroRateZ(rate)
self._yaw += rate * 0.02
self.simGyro.setYaw(self._yaw)
self.simGyro.setYaw(math.radians(self._yaw))

11
photonlib-python-examples/poseest/robot.py
View File

@@ -55,9 +55,10 @@ class MyRobot(wpilib.TimedRobot):
if camEstPose is None:
camEstPose = self.camPoseEst.estimateLowestAmbiguityPose(result)
self.swerve.addVisionPoseEstimate(
camEstPose.estimatedPose, camEstPose.timestampSeconds
)
if camEstPose:
self.swerve.addVisionPoseEstimate(
camEstPose.estimatedPose, camEstPose.timestampSeconds
)
self.swerve.updateOdometry()
self.swerve.log()
@@ -69,6 +70,6 @@ class MyRobot(wpilib.TimedRobot):
self.swerve.drive(xSpeed, ySpeed, rot, True, self.getPeriod())
def _simulationPeriodic(self) -> None:
def simulationPeriodic(self) -> None:
self.swerve.simulationPeriodic()
return super()._simulationPeriodic()
return super().simulationPeriodic()

24
photonlib-python-examples/poseest/swervemodule.py
View File

@@ -1,4 +1,4 @@
Speeds ###################################################################################
###################################################################################
# MIT License
#
# Copyright (c) PhotonVision
@@ -95,12 +95,16 @@ class SwerveModule:
# Simulation Support
self.simDriveEncoder = wpilib.simulation.EncoderSim(self.driveEncoder)
self.simTurningEncoder = wpilib.simulation.EncoderSim(self.turningEncoder)
self.simDrivingMotor = wpilib.simulation.PWMSim(driveMotorChannel)
self.simTurningMotor = wpilib.simulation.PWMSim(turningMotorChannel)
self.simDrivingMotor = wpilib.simulation.PWMMotorControllerSim(
driveMotorChannel
)
self.simTurningMotor = wpilib.simulation.PWMMotorControllerSim(
turningMotorChannel
)
self.simDrivingMotorFilter = wpimath.LinearFilter.singlePoleIIR(0.1, 0.02)
self.simTurningMotorFilter = wpimath.LinearFilter.singlePoleIIR(0.0001, 0.02)
self.simTurningEncoderPos = 0
self.simDrivingEncoderPos = 0
self.simTurningEncoderPos = 0.0
self.simDrivingEncoderPos = 0.0
def getVelocity(self) -> wpimath.SwerveModuleVelocity:
"""Returns the current state of the module.
@@ -155,6 +159,10 @@ class SwerveModule:
self.turningEncoder.getDistance(), self.desiredVelocity.angle.radians()
)
turnFeedforward = self.turnFeedforward.calculate(
self.turningPIDController.getSetpoint()
)
self.driveMotor.setVoltage(driveOutput + driveFeedforward)
self.turningMotor.setVoltage(turnOutput + turnFeedforward)
@@ -188,10 +196,12 @@ class SwerveModule:
def simulationPeriodic(self) -> None:
driveVoltage = (
self.simDrivingMotor.getSpeed() * wpilib.RobotController.getBatteryVoltage()
self.simDrivingMotor.getThrottle()
* wpilib.RobotController.getBatteryVoltage()
)
turnVoltage = (
self.simTurningMotor.getSpeed() * wpilib.RobotController.getBatteryVoltage()
self.simTurningMotor.getThrottle()
* wpilib.RobotController.getBatteryVoltage()
)
driveSpdRaw = (
driveVoltage / 12.0 * self.driveFeedforward.maxAchievableVelocity(12.0, 0)

4
photonlib-python-examples/poseest/tests/pyfrc_test.py
View File

@@ -1,4 +0,0 @@
"""
This test module imports tests that come with pyfrc, and can be used
to test basic functionality of just about any robot.
"""

6
photonlib-python-examples/poseest/tests/robot_test.py Normal file
View File

@@ -0,0 +1,6 @@
"""
This test module imports tests that come with wpilib, and can be used
to test basic functionality of just about any robot.
"""
from wpilib.testing.robot_tests import * # noqa

2
photonlib-python-examples/run.sh
View File

@@ -11,4 +11,4 @@ cd $1
# Run the example
mypy --show-column-numbers --config-file ../../photon-lib/py/pyproject.toml .
python3 robot.py sim
python3 -m robotpy sim

14
photonlib-python-examples/test.sh Executable file
View File

@@ -0,0 +1,14 @@
set -e
# Check if the first argument is provided
if [ $# -eq 0 ]
then
echo "Error: No example-to-run provided."
exit 1
fi
# Move to the right example folder
cd $1
# Run the example
mypy --show-column-numbers --config-file ../../photon-lib/py/pyproject.toml .
python3 -m robotpy test