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

## 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>

.github/workflows/python.yml

@@ -78,55 +78,54 @@ jobs:
       - name: Run mypy type checking
         run: mypy --show-column-numbers --config-file photon-lib/py/pyproject.toml photon-lib
 
-  # build-python-examples:
+  build-python-examples:
-  #   needs: build-py
+    needs: build-py
-  #   strategy:
+    strategy:
-  #     matrix:
+      matrix:
-  #       os: [ubuntu-24.04, windows-2022, macos-14]
+        os: [ubuntu-24.04, windows-2022, macos-14]
-  #   runs-on: ${{ matrix.os }}
+    runs-on: ${{ matrix.os }}
 
-  #   steps:
+    steps:
 
-  #     - name: Checkout code
+      - name: Checkout code
-  #       uses: actions/checkout@v6
+        uses: actions/checkout@v6
-  #       with:
+        with:
-  #         fetch-depth: 0
+          fetch-depth: 0
 
-  #     - name: Set up Python
+      - name: Set up Python
-  #       uses: actions/setup-python@v6
+        uses: actions/setup-python@v6
-  #       with:
+        with:
-  #         python-version: 3.14
+          python-version: 3.14
 
-  #     - name: Install dependencies
+      - name: Install dependencies
-  #       run: |
+        run: |
-  #         python -m pip install --upgrade pip
+          python -m pip install --upgrade pip
-  #         python -m pip install mypy
+          python -m pip install mypy
 
-  #     - name: Download artifacts
+      - name: Download artifacts
-  #       uses: actions/download-artifact@v8
+        uses: actions/download-artifact@v8
-  #       with:
+        with:
-  #         name: dist
+          name: dist
-  #         path: ./photon-lib/py/dist/
+          path: ./photon-lib/py/dist/
 
-  #     - name: Install PhotonLibPy package
+      - name: Install PhotonLibPy package
-  #       working-directory: ./photon-lib/py
+        working-directory: ./photon-lib/py
-  #       shell: bash
+        shell: bash
-  #       run: |
+        run: |
-  #           pip install --no-cache-dir dist/*.whl
+            pip install --no-cache-dir dist/*.whl
 
-  #     - name: Build Python examples
+      - name: Build Python examples
-  #       working-directory: photonlib-python-examples
+        working-directory: photonlib-python-examples
-  #       shell: bash
+        shell: bash
-  #       run: |
+        run: |
-  #         for folder in */;
+          for folder in */;
-  #         do
+          do
-  #           echo $folder
+            echo $folder
-  #           ./run.sh $folder
+            ./test.sh $folder
-  #         done
+          done
 
   deploy:
-    # TODO: BRING BACK PYTHON EXAMPLES
+    needs: [test-py, build-python-examples]
-    needs: [test-py]
     runs-on: ubuntu-24.04
     # Only upload on tags
     if: startsWith(github.ref, 'refs/tags/v')

photonlib-python-examples/aimandrange/drivetrain.py

@@ -53,8 +53,8 @@ class Drivetrain:
         self.debugField = wpilib.Field2d()
         wpilib.SmartDashboard.putData("Drivetrain Debug", self.debugField)
 
-        self.gyro = wpilib.AnalogGyro(0)
+        self.gyro = wpilib.OnboardIMU(wpilib.OnboardIMU.MountOrientation.FLAT)
-        self.simGyro = wpilib.simulation.OnboardIMUSim(self.gyro)
+        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]:
+    def getModuleVelocities(
-        return [
+        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))

photonlib-python-examples/aimandrange/robot.py

@@ -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()

photonlib-python-examples/aimandrange/swervemodule.py

@@ -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.simDrivingMotor = wpilib.simulation.PWMMotorControllerSim(
-        self.simTurningMotor = wpilib.simulation.PWMSim(turningMotorChannel)
+            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.simTurningEncoderPos = 0.0
-        self.simDrivingEncoderPos = 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)

photonlib-python-examples/aimandrange/tests/pyfrc_test.py

@@ -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.
-"""

photonlib-python-examples/aimandrange/tests/robot_test.py

@@ -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

photonlib-python-examples/aimattarget/drivetrain.py

@@ -53,8 +53,8 @@ class Drivetrain:
         self.debugField = wpilib.Field2d()
         wpilib.SmartDashboard.putData("Drivetrain Debug", self.debugField)
 
-        self.gyro = wpilib.AnalogGyro(0)
+        self.gyro = wpilib.OnboardIMU(wpilib.OnboardIMU.MountOrientation.FLAT)
-        self.simGyro = wpilib.simulation.OnboardIMUSim(self.gyro)
+        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]:
+    def getModuleVelocities(
-        return [
+        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))

photonlib-python-examples/aimattarget/robot.py

@@ -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()

photonlib-python-examples/aimattarget/swervemodule.py

@@ -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.simDrivingMotor = wpilib.simulation.PWMMotorControllerSim(
-        self.simTurningMotor = wpilib.simulation.PWMSim(turningMotorChannel)
+            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.simTurningEncoderPos = 0.0
-        self.simDrivingEncoderPos = 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)

photonlib-python-examples/aimattarget/tests/pyfrc_test.py

@@ -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.
-"""

photonlib-python-examples/aimattarget/tests/robot_test.py

@@ -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

photonlib-python-examples/poseest/drivetrain.py

@@ -58,8 +58,8 @@ class Drivetrain:
         self.debugField = wpilib.Field2d()
         wpilib.SmartDashboard.putData("Drivetrain Debug", self.debugField)
 
-        self.gyro = wpilib.AnalogGyro(0)
+        self.gyro = wpilib.OnboardIMU(wpilib.OnboardIMU.MountOrientation.FLAT)
-        self.simGyro = wpilib.simulation.OnboardIMUSim(self.gyro)
+        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]:
+    def getModuleVelocities(
-        return [
+        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))

photonlib-python-examples/poseest/robot.py

@@ -55,9 +55,10 @@ class MyRobot(wpilib.TimedRobot):
             if camEstPose is None:
                 camEstPose = self.camPoseEst.estimateLowestAmbiguityPose(result)
 
-            self.swerve.addVisionPoseEstimate(
+            if camEstPose:
-                camEstPose.estimatedPose, camEstPose.timestampSeconds
+                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()

photonlib-python-examples/poseest/swervemodule.py

@@ -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.simDrivingMotor = wpilib.simulation.PWMMotorControllerSim(
-        self.simTurningMotor = wpilib.simulation.PWMSim(turningMotorChannel)
+            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.simTurningEncoderPos = 0.0
-        self.simDrivingEncoderPos = 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)

photonlib-python-examples/poseest/tests/pyfrc_test.py

@@ -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.
-"""

photonlib-python-examples/poseest/tests/robot_test.py

@@ -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

photonlib-python-examples/run.sh

@@ -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

photonlib-python-examples/test.sh

@@ -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