diff --git a/apriltag/src/main/python/pyproject.toml b/apriltag/src/main/python/pyproject.toml
index 83e4728f68..d59a934d35 100644
--- a/apriltag/src/main/python/pyproject.toml
+++ b/apriltag/src/main/python/pyproject.toml
@@ -1,7 +1,7 @@
 [build-system]
 build-backend = "hatchling.build"
 requires = [
-    "semiwrap~=0.2.1",
+    "semiwrap~=0.2.6",
     "hatch-meson~=0.1.0",
     "hatch-robotpy~=0.2.1",
     "hatchling",
diff --git a/apriltag/src/main/python/semiwrap/AprilTagDetector.yml b/apriltag/src/main/python/semiwrap/AprilTagDetector.yml
index df9e1d970d..c614eb3e47 100644
--- a/apriltag/src/main/python/semiwrap/AprilTagDetector.yml
+++ b/apriltag/src/main/python/semiwrap/AprilTagDetector.yml
@@ -59,6 +59,9 @@ classes:
           :return: list of results
         )doc"
       )
+      .def("close", [](AprilTagDetector &self) {
+        self = AprilTagDetector();
+      }, py::doc("Frees all resources associated with this detector"))
   wpi::apriltag::AprilTagDetector::Config:
     attributes:
       numThreads:
diff --git a/commandsv2/src/main/python/LICENSE b/commandsv2/src/main/python/LICENSE
new file mode 100644
index 0000000000..3d5a824cad
--- /dev/null
+++ b/commandsv2/src/main/python/LICENSE
@@ -0,0 +1,24 @@
+Copyright (c) 2009-2021 FIRST and other WPILib contributors
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+   * Redistributions of source code must retain the above copyright
+     notice, this list of conditions and the following disclaimer.
+   * Redistributions in binary form must reproduce the above copyright
+     notice, this list of conditions and the following disclaimer in the
+     documentation and/or other materials provided with the distribution.
+   * Neither the name of FIRST, WPILib, nor the names of other WPILib
+     contributors may be used to endorse or promote products derived from
+     this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY FIRST AND OTHER WPILIB CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY NONINFRINGEMENT AND FITNESS FOR A PARTICULAR
+PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL FIRST OR CONTRIBUTORS BE LIABLE FOR
+ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
diff --git a/commandsv2/src/main/python/README.md b/commandsv2/src/main/python/README.md
new file mode 100644
index 0000000000..4af1fccb1d
--- /dev/null
+++ b/commandsv2/src/main/python/README.md
@@ -0,0 +1,7 @@
+robotpy-commands-v2
+===================
+
+Python wrappers around a modified version of the new WPILib commands library.
+
+* Documentation @ https://robotpy.readthedocs.io/projects/commands-v2
+* Examples @ https://github.com/robotpy/examples/tree/main/commands-v2
diff --git a/commandsv2/src/main/python/commands2/button/commandgenerichid.py b/commandsv2/src/main/python/commands2/button/commandgenerichid.py
index 61561de955..eb0014e3cf 100644
--- a/commandsv2/src/main/python/commands2/button/commandgenerichid.py
+++ b/commandsv2/src/main/python/commands2/button/commandgenerichid.py
@@ -9,7 +9,7 @@ from .trigger import Trigger
 
 class CommandGenericHID:
     """
-    A version of :class:`wpilib.interfaces.GenericHID` with :class:`.Trigger` factories for command-based.
+    A version of :class:`wpilib.GenericHID` with :class:`.Trigger` factories for command-based.
     """
 
     def __init__(self, port: int):
diff --git a/commandsv2/src/main/python/commands2/button/joystickbutton.py b/commandsv2/src/main/python/commands2/button/joystickbutton.py
index 4edd68d59f..3476959855 100644
--- a/commandsv2/src/main/python/commands2/button/joystickbutton.py
+++ b/commandsv2/src/main/python/commands2/button/joystickbutton.py
@@ -6,7 +6,7 @@ from .trigger import Trigger
 
 class JoystickButton(Trigger):
     """
-    A Button that gets its state from a :class:`wpilib.interfaces.GenericHID`.
+    A Button that gets its state from a :class:`wpilib.GenericHID`.
     """
 
     def __init__(self, joystick: GenericHID, buttonNumber: int):
@@ -14,6 +14,6 @@ class JoystickButton(Trigger):
         Creates a joystick button for triggering commands.
 
         :param joystick: The GenericHID object that has the button (e.g. Joystick, KinectStick, etc)
-        :param buttonNumber: The button number (see :func:`wpilib.interfaces.GenericHID.getRawButton`
+        :param buttonNumber: The button number (see :func:`wpilib.GenericHID.getRawButton`
         """
         super().__init__(lambda: joystick.getRawButton(buttonNumber))
diff --git a/commandsv2/src/main/python/commands2/button/networkbutton.py b/commandsv2/src/main/python/commands2/button/networkbutton.py
index 34fe28aaac..e54660ccf5 100644
--- a/commandsv2/src/main/python/commands2/button/networkbutton.py
+++ b/commandsv2/src/main/python/commands2/button/networkbutton.py
@@ -112,8 +112,7 @@ class NetworkButton(Trigger):
             if inst is not None and table is not None and field is not None:
                 return init_inst_table_field(inst, table, field)
 
-        raise TypeError(
-            f"""
+        raise TypeError(f"""
 TypeError: NetworkButton(): incompatible function arguments. The following argument types are supported:
     1. (self: NetworkButton, topic: BooleanTopic)
     2. (self: NetworkButton, sub: BooleanSubscriber)
@@ -122,5 +121,4 @@ TypeError: NetworkButton(): incompatible function arguments. The following argum
     5. (self: NetworkButton, inst: NetworkTableInstance, table: str, field: str)
 
 Invoked with: {format_args_kwargs(self, *args, **kwargs)}
-"""
-        )
+""")
diff --git a/commandsv2/src/main/python/commands2/button/povbutton.py b/commandsv2/src/main/python/commands2/button/povbutton.py
index 5696dcdf36..28b2b2d765 100644
--- a/commandsv2/src/main/python/commands2/button/povbutton.py
+++ b/commandsv2/src/main/python/commands2/button/povbutton.py
@@ -6,7 +6,7 @@ from .trigger import Trigger
 
 class POVButton(Trigger):
     """
-    A Button that gets its state from a POV on a :class:`wpilib.interfaces.GenericHID`.
+    A Button that gets its state from a POV on a :class:`wpilib.GenericHID`.
     """
 
     def __init__(self, joystick: GenericHID, angle: int, povNumber: int = 0):
@@ -15,6 +15,6 @@ class POVButton(Trigger):
 
         :param joystick: The GenericHID object that has the POV
         :param angle: The desired angle in degrees (e.g. 90, 270)
-        :param povNumber: The POV number (see :func:`wpilib.interfaces.GenericHID.getPOV`)
+        :param povNumber: The POV number (see :func:`wpilib.GenericHID.getPOV`)
         """
         super().__init__(lambda: joystick.getPOV(povNumber) == angle)
diff --git a/commandsv2/src/main/python/commands2/button/trigger.py b/commandsv2/src/main/python/commands2/button/trigger.py
index 85f65f3052..26356064ee 100644
--- a/commandsv2/src/main/python/commands2/button/trigger.py
+++ b/commandsv2/src/main/python/commands2/button/trigger.py
@@ -73,16 +73,29 @@ class Trigger:
             if loop is not None and condition is not None:
                 return init_loop_condition(loop, condition)
 
-        raise TypeError(
-            f"""
+        raise TypeError(f"""
 TypeError: Trigger(): incompatible function arguments. The following argument types are supported:
     1. (self: Trigger)
     2. (self: Trigger, condition: () -> bool)
     3. (self: Trigger, loop: EventLoop, condition: () -> bool)
 
 Invoked with: {format_args_kwargs(self, *args, **kwargs)}
-"""
-        )
+""")
+
+    def _add_binding(self, body: Callable[[bool, bool], None]) -> None:
+        """
+        Adds a binding to the EventLoop.
+
+        :param body: The body of the binding to add.
+        """
+
+        state = SimpleNamespace(previous=self._condition())
+
+        @self._loop.bind
+        def _():
+            current = self._condition()
+            body(state.previous, current)
+            state.previous = current
 
     def onTrue(self, command: Command) -> Self:
         """
@@ -92,14 +105,10 @@ Invoked with: {format_args_kwargs(self, *args, **kwargs)}
         :returns: this trigger, so calls can be chained
         """
 
-        state = SimpleNamespace(pressed_last=self._condition())
-
-        @self._loop.bind
-        def _():
-            pressed = self._condition()
-            if not state.pressed_last and pressed:
+        @self._add_binding
+        def _(previous, current):
+            if not previous and current:
                 command.schedule()
-            state.pressed_last = pressed
 
         return self
 
@@ -111,14 +120,10 @@ Invoked with: {format_args_kwargs(self, *args, **kwargs)}
         :returns: this trigger, so calls can be chained
         """
 
-        state = SimpleNamespace(pressed_last=self._condition())
-
-        @self._loop.bind
-        def _():
-            pressed = self._condition()
-            if state.pressed_last and not pressed:
+        @self._add_binding
+        def _(previous, current):
+            if previous and not current:
                 command.schedule()
-            state.pressed_last = pressed
 
         return self
 
@@ -130,17 +135,11 @@ Invoked with: {format_args_kwargs(self, *args, **kwargs)}
         :returns: this trigger, so calls can be chained
         """
 
-        state = SimpleNamespace(pressed_last=self._condition())
-
-        @self._loop.bind
-        def _():
-            pressed = self._condition()
-
-            if state.pressed_last != pressed:
+        @self._add_binding
+        def _(previous, current):
+            if previous != current:
                 command.schedule()
 
-            state.pressed_last = pressed
-
         return self
 
     def whileTrue(self, command: Command) -> Self:
@@ -155,16 +154,12 @@ Invoked with: {format_args_kwargs(self, *args, **kwargs)}
         :returns: this trigger, so calls can be chained
         """
 
-        state = SimpleNamespace(pressed_last=self._condition())
-
-        @self._loop.bind
-        def _():
-            pressed = self._condition()
-            if not state.pressed_last and pressed:
+        @self._add_binding
+        def _(previous, current):
+            if not previous and current:
                 command.schedule()
-            elif state.pressed_last and not pressed:
+            elif previous and not current:
                 command.cancel()
-            state.pressed_last = pressed
 
         return self
 
@@ -180,16 +175,12 @@ Invoked with: {format_args_kwargs(self, *args, **kwargs)}
         :returns: this trigger, so calls can be chained
         """
 
-        state = SimpleNamespace(pressed_last=self._condition())
-
-        @self._loop.bind
-        def _():
-            pressed = self._condition()
-            if state.pressed_last and not pressed:
+        @self._add_binding
+        def _(previous, current):
+            if previous and not current:
                 command.schedule()
-            elif not state.pressed_last and pressed:
+            elif not previous and current:
                 command.cancel()
-            state.pressed_last = pressed
 
         return self
 
@@ -201,17 +192,13 @@ Invoked with: {format_args_kwargs(self, *args, **kwargs)}
         :returns: this trigger, so calls can be chained
         """
 
-        state = SimpleNamespace(pressed_last=self._condition())
-
-        @self._loop.bind
-        def _():
-            pressed = self._condition()
-            if not state.pressed_last and pressed:
+        @self._add_binding
+        def _(previous, current):
+            if not previous and current:
                 if command.isScheduled():
                     command.cancel()
                 else:
                     command.schedule()
-            state.pressed_last = pressed
 
         return self
 
@@ -223,17 +210,13 @@ Invoked with: {format_args_kwargs(self, *args, **kwargs)}
         :returns: this trigger, so calls can be chained
         """
 
-        state = SimpleNamespace(pressed_last=self._condition())
-
-        @self._loop.bind
-        def _():
-            pressed = self._condition()
-            if state.pressed_last and not pressed:
+        @self._add_binding
+        def _(previous, current):
+            if previous and not current:
                 if command.isScheduled():
                     command.cancel()
                 else:
                     command.schedule()
-            state.pressed_last = pressed
 
         return self
 
diff --git a/commandsv2/src/main/python/commands2/commandscheduler.py b/commandsv2/src/main/python/commands2/commandscheduler.py
index d1203c8a4d..45d6985a4c 100644
--- a/commandsv2/src/main/python/commands2/commandscheduler.py
+++ b/commandsv2/src/main/python/commands2/commandscheduler.py
@@ -9,13 +9,14 @@ from typing import Any, Callable, Dict, Iterable, List, Optional, Set, Union
 import hal
 from typing_extensions import Self
 from wpilib import (
-    RobotBase,
     DriverStation,
     EventLoop,
+    RobotBase,
     TimedRobot,
     Watchdog,
     reportWarning,
 )
+
 from wpiutil import Sendable, SendableBuilder, SendableRegistry
 
 from .command import Command, InterruptionBehavior
diff --git a/commandsv2/src/main/python/commands2/proxycommand.py b/commandsv2/src/main/python/commands2/proxycommand.py
index 21d1cb1442..564f34b39f 100644
--- a/commandsv2/src/main/python/commands2/proxycommand.py
+++ b/commandsv2/src/main/python/commands2/proxycommand.py
@@ -79,15 +79,13 @@ class ProxyCommand(Command):
             elif callable(args[0]):
                 return init_supplier(args[0])
 
-        raise TypeError(
-            f"""
+        raise TypeError(f"""
 TypeError: ProxyCommand(): incompatible function arguments. The following argument types are supported:
     1. (self: ProxyCommand, supplier: () -> Command)
     2. (self: ProxyCommand, command: Command)
 
 Invoked with: {format_args_kwargs(self, *args, **kwargs)}
-"""
-        )
+""")
 
     def initialize(self):
         self._command = self._supplier()
diff --git a/commandsv2/src/main/python/commands2/sysid/__init__.py b/commandsv2/src/main/python/commands2/sysid/__init__.py
index 6a0719126c..8b4874df0d 100644
--- a/commandsv2/src/main/python/commands2/sysid/__init__.py
+++ b/commandsv2/src/main/python/commands2/sysid/__init__.py
@@ -1,4 +1,3 @@
 from .sysidroutine import SysIdRoutine
 
-
 __all__ = ["SysIdRoutine"]
diff --git a/commandsv2/src/main/python/commands2/sysid/sysidroutine.py b/commandsv2/src/main/python/commands2/sysid/sysidroutine.py
index 6b1b2b3bda..ac3f3436db 100644
--- a/commandsv2/src/main/python/commands2/sysid/sysidroutine.py
+++ b/commandsv2/src/main/python/commands2/sysid/sysidroutine.py
@@ -11,7 +11,6 @@ from wpimath.units import seconds, volts
 
 from typing import Callable, Optional
 
-
 volts_per_second = float
 
 
diff --git a/commandsv2/src/main/python/commands2/waituntilcommand.py b/commandsv2/src/main/python/commands2/waituntilcommand.py
index d97526773c..c195a550f7 100644
--- a/commandsv2/src/main/python/commands2/waituntilcommand.py
+++ b/commandsv2/src/main/python/commands2/waituntilcommand.py
@@ -63,15 +63,13 @@ class WaitUntilCommand(Command):
             elif callable(args[0]):
                 return init_condition(args[0])
 
-        raise TypeError(
-            f"""
+        raise TypeError(f"""
 TypeError: WaitUntilCommand(): incompatible function arguments. The following argument types are supported:
     1. (self: WaitUntilCommand, condition: () -> bool)
     2. (self: WaitUntilCommand, time: wpimath.units.seconds)
 
 Invoked with: {format_args_kwargs(self, *args, **kwargs)}
-"""
-        )
+""")
 
     def isFinished(self) -> bool:
         return self._condition()
diff --git a/commandsv2/src/main/python/pyproject.toml b/commandsv2/src/main/python/pyproject.toml
new file mode 100644
index 0000000000..737405e705
--- /dev/null
+++ b/commandsv2/src/main/python/pyproject.toml
@@ -0,0 +1,36 @@
+[build-system]
+requires = ["hatchling"]
+build-backend = "hatchling.build"
+
+[project]
+name = "robotpy-commands-v2"
+version = "0.0.0"
+description = "WPILib command framework v2"
+readme = "README.md"
+requires-python = ">=3.10"
+license = "BSD-3-Clause"
+license-files = ["LICENSE"]
+dependencies = [
+    "wpilib==0.0.0",
+    "typing_extensions>=4.1.0,<5",
+]
+
+[[project.authors]]
+name = "RobotPy Development Team"
+email = "robotpy@googlegroups.com"
+
+[[project.maintainers]]
+name = "RobotPy Development Team"
+email = "robotpy@googlegroups.com"
+
+[project.urls]
+"Source code" = "https://github.com/robotpy/robotpy-commands-v2"
+
+[tool.hatch.version]
+source = "vcs"
+
+[tool.hatch.build.targets.sdist]
+packages = ["commands2"]
+
+[tool.hatch.build.targets.wheel]
+packages = ["commands2"]
\ No newline at end of file
diff --git a/commandsv2/src/test/python/util.py b/commandsv2/src/test/python/util.py
index 0331840394..b90be4683a 100644
--- a/commandsv2/src/test/python/util.py
+++ b/commandsv2/src/test/python/util.py
@@ -5,7 +5,6 @@ import inspect
 import commands2
 from wpilib.simulation import DriverStationSim, pauseTiming, resumeTiming, stepTiming
 
-
 Y = TypeVar("Y")
 
 
diff --git a/datalog/src/main/python/pyproject.toml b/datalog/src/main/python/pyproject.toml
index 4bda639fd3..bb4edd68c5 100644
--- a/datalog/src/main/python/pyproject.toml
+++ b/datalog/src/main/python/pyproject.toml
@@ -1,7 +1,7 @@
 [build-system]
 build-backend = "hatchling.build"
 requires = [
-    "semiwrap~=0.2.1",
+    "semiwrap~=0.2.6",
     "hatch-meson~=0.1.0",
     "hatchling",
     "robotpy-native-datalog==0.0.0",
diff --git a/hal/src/main/python/hal/simulation/__init__.py b/hal/src/main/python/hal/simulation/__init__.py
index 9617a1f11c..3a624cee41 100644
--- a/hal/src/main/python/hal/simulation/__init__.py
+++ b/hal/src/main/python/hal/simulation/__init__.py
@@ -2,3 +2,5 @@ from . import _init__simulation
 from ._simulation import *
 
 del _init__simulation
+
+from .mockhooks import waitForProgramStart
diff --git a/hal/src/main/python/hal/simulation/mockhooks.py b/hal/src/main/python/hal/simulation/mockhooks.py
new file mode 100644
index 0000000000..fc4ef11b22
--- /dev/null
+++ b/hal/src/main/python/hal/simulation/mockhooks.py
@@ -0,0 +1,24 @@
+import time
+import typing as T
+
+from ._simulation import getProgramStarted
+
+
+def waitForProgramStart(timeout: T.Optional[float] = None, delta: float = 0.001):
+    """
+    Polls robot program and returns when it has reported that it started
+
+    :param timeout: Amount of time to wait
+    :param delta:   Amount of time to sleep between checks
+    """
+
+    # This is basically the same thing that the C version of this function
+    # does. Implemented in python so that CTRL-C works.
+
+    until = None
+    if timeout and timeout > 0:
+        until = time.monotonic() + timeout
+    while not getProgramStarted():
+        if until is not None and time.monotonic() > until:
+            raise TimeoutError("Program did not start")
+        time.sleep(delta)
diff --git a/hal/src/main/python/pyproject.toml b/hal/src/main/python/pyproject.toml
index 41c57f8a19..f46cb3a83b 100644
--- a/hal/src/main/python/pyproject.toml
+++ b/hal/src/main/python/pyproject.toml
@@ -1,7 +1,7 @@
 [build-system]
 build-backend = "hatchling.build"
 requires = [
-    "semiwrap~=0.2.1",
+    "semiwrap~=0.2.6",
     "hatch-meson~=0.1.0",
     "hatchling",
     "pyntcore==0.0.0",
diff --git a/hal/src/main/python/semiwrap/simulation/MockHooks.yml b/hal/src/main/python/semiwrap/simulation/MockHooks.yml
index 94aafdcf71..47d45a8475 100644
--- a/hal/src/main/python/semiwrap/simulation/MockHooks.yml
+++ b/hal/src/main/python/semiwrap/simulation/MockHooks.yml
@@ -8,6 +8,7 @@ strip_prefixes:
 functions:
   HALSIM_SetRuntimeType:
   HALSIM_WaitForProgramStart:
+    ignore: true
   HALSIM_SetProgramStarted:
   HALSIM_GetProgramStarted:
   HALSIM_SetProgramState:
diff --git a/ntcore/src/main/python/devtools/gen-pubsub.py b/ntcore/src/main/python/devtools/gen-pubsub.py
index 5a2ccaa62f..3a52551ef3 100755
--- a/ntcore/src/main/python/devtools/gen-pubsub.py
+++ b/ntcore/src/main/python/devtools/gen-pubsub.py
@@ -43,8 +43,7 @@ if __name__ == "__main__":
                 sphinxify.process_raw("\n".join(docs)).splitlines()
             )
 
-            print(
-                f"""
+            print(f"""
       // autogenerated by gen-pubsub.py
       .def(py::init([](
         {paramstr}
@@ -60,5 +59,4 @@ if __name__ == "__main__":
         )"
       )
         
-        """
-            )
+        """)
diff --git a/ntcore/src/main/python/pyproject.toml b/ntcore/src/main/python/pyproject.toml
index 1401c7c148..9a9331ef3f 100644
--- a/ntcore/src/main/python/pyproject.toml
+++ b/ntcore/src/main/python/pyproject.toml
@@ -1,7 +1,7 @@
 [build-system]
 build-backend = "hatchling.build"
 requires = [
-    "semiwrap~=0.2.1",
+    "semiwrap~=0.2.6",
     "hatch-meson~=0.1.0",
     "hatch-robotpy~=0.2.1",
     "hatchling",
diff --git a/ntcore/src/test/python/test_util.py b/ntcore/src/test/python/test_util.py
index fc0d35ec6c..1d74ffe6e1 100644
--- a/ntcore/src/test/python/test_util.py
+++ b/ntcore/src/test/python/test_util.py
@@ -3,7 +3,6 @@ import pytest
 from ntcore import NetworkTableInstance, NetworkTableType
 from ntcore.util import ntproperty, ChooserControl
 
-
 # def test_autoupdatevalue(nt):
 
 #     # tricksy: make sure that this works *before* initialization
diff --git a/requirements.txt b/requirements.txt
index a363a2a4ec..9007c4be32 100644
--- a/requirements.txt
+++ b/requirements.txt
@@ -1,7 +1,7 @@
 jinja2==3.1.6
 protobuf==5.28.3
 grpcio-tools==1.68.0
-semiwrap==0.2.4
+semiwrap==0.2.6
 pytest>=3.9
 pytest-reraise
 numpy
diff --git a/requirements_lock.txt b/requirements_lock.txt
index 1992b1a582..7b298aed41 100644
--- a/requirements_lock.txt
+++ b/requirements_lock.txt
@@ -37,9 +37,9 @@ click==8.3.1 \
     --hash=sha256:12ff4785d337a1bb490bb7e9c2b1ee5da3112e94a8622f26a6c77f5d2fc6842a \
     --hash=sha256:981153a64e25f12d547d3426c367a4857371575ee7ad18df2a6183ab0545b2a6
     # via black
-cxxheaderparser[pcpp]==1.6.2 \
-    --hash=sha256:4574f09908609a7bf5d93841fae6e677b803e9708f564ae599382c1f0e18c7ed \
-    --hash=sha256:92aae2b45cb96e4bb5b4be392cca73afef439f06d612c5da3a9cab6d7a13e4ae
+cxxheaderparser[pcpp]==1.7.0 \
+    --hash=sha256:2d0282e6f3cc25484acb2d737b3b5a646b947ae48cc0060242c50925d402f2ed \
+    --hash=sha256:3c8ade60cc0c102bdd3eeb26fbc9ae30c3ae9b74ce881fab91e8fe8647b1a5f4
     # via semiwrap
 dictdiffer==0.9.0 \
     --hash=sha256:17bacf5fbfe613ccf1b6d512bd766e6b21fb798822a133aa86098b8ac9997578 \
@@ -566,9 +566,9 @@ ruamel-yaml-clib==0.2.15 \
     --hash=sha256:fd4c928ddf6bce586285daa6d90680b9c291cfd045fc40aad34e445d57b1bf51 \
     --hash=sha256:fe239bdfdae2302e93bd6e8264bd9b71290218fff7084a9db250b55caaccf43f
     # via ruamel-yaml
-semiwrap==0.2.4 \
-    --hash=sha256:6f972a103271c3e751b71cfb07ddc032ee4451ef97e830ec466a7ccfb2f6318d \
-    --hash=sha256:b057280146b120bbad6d651a55e26aedcab5675e13aa52c32ff9c883dca37f56
+semiwrap==0.2.6 \
+    --hash=sha256:cc260ac824af2020f87cc95bc25e41d6486783fe886b43d846b801c034a8a0fb \
+    --hash=sha256:d6ce64193abe8db5743ec27873d65bc53a2a7f35d3c16ce91aa8e9ea21d2d05e
     # via -r requirements.txt
 sphinxify==0.12 \
     --hash=sha256:3ec299e78babac7d3457f47bf263411b48e10b9c8add18d7159fa0327cc4a061 \
diff --git a/requirements_windows_lock.txt b/requirements_windows_lock.txt
index ae79d03342..3c86f82470 100644
--- a/requirements_windows_lock.txt
+++ b/requirements_windows_lock.txt
@@ -44,9 +44,9 @@ colorama==0.4.6 \
     #   click
     #   pkgconf
     #   pytest
-cxxheaderparser[pcpp]==1.6.2 \
-    --hash=sha256:4574f09908609a7bf5d93841fae6e677b803e9708f564ae599382c1f0e18c7ed \
-    --hash=sha256:92aae2b45cb96e4bb5b4be392cca73afef439f06d612c5da3a9cab6d7a13e4ae
+cxxheaderparser[pcpp]==1.7.0 \
+    --hash=sha256:2d0282e6f3cc25484acb2d737b3b5a646b947ae48cc0060242c50925d402f2ed \
+    --hash=sha256:3c8ade60cc0c102bdd3eeb26fbc9ae30c3ae9b74ce881fab91e8fe8647b1a5f4
     # via semiwrap
 dictdiffer==0.9.0 \
     --hash=sha256:17bacf5fbfe613ccf1b6d512bd766e6b21fb798822a133aa86098b8ac9997578 \
@@ -570,9 +570,9 @@ ruamel-yaml-clib==0.2.15 \
     --hash=sha256:fd4c928ddf6bce586285daa6d90680b9c291cfd045fc40aad34e445d57b1bf51 \
     --hash=sha256:fe239bdfdae2302e93bd6e8264bd9b71290218fff7084a9db250b55caaccf43f
     # via ruamel-yaml
-semiwrap==0.2.4 \
-    --hash=sha256:6f972a103271c3e751b71cfb07ddc032ee4451ef97e830ec466a7ccfb2f6318d \
-    --hash=sha256:b057280146b120bbad6d651a55e26aedcab5675e13aa52c32ff9c883dca37f56
+semiwrap==0.2.6 \
+    --hash=sha256:cc260ac824af2020f87cc95bc25e41d6486783fe886b43d846b801c034a8a0fb \
+    --hash=sha256:d6ce64193abe8db5743ec27873d65bc53a2a7f35d3c16ce91aa8e9ea21d2d05e
     # via -r requirements.txt
 sphinxify==0.12 \
     --hash=sha256:3ec299e78babac7d3457f47bf263411b48e10b9c8add18d7159fa0327cc4a061 \
diff --git a/romiVendordep/src/main/python/pyproject.toml b/romiVendordep/src/main/python/pyproject.toml
index a1cf3be978..e1d92c7502 100644
--- a/romiVendordep/src/main/python/pyproject.toml
+++ b/romiVendordep/src/main/python/pyproject.toml
@@ -1,7 +1,7 @@
 [build-system]
 build-backend = "hatchling.build"
 requires = [
-    "semiwrap~=0.2.1",
+    "semiwrap~=0.2.6",
     "hatch-meson~=0.1.0",
     "hatch-robotpy~=0.2.1",
     "hatchling",
diff --git a/romiVendordep/src/main/python/romi/cli.py b/romiVendordep/src/main/python/romi/cli.py
index 04753e73bb..00a434d7fb 100644
--- a/romiVendordep/src/main/python/romi/cli.py
+++ b/romiVendordep/src/main/python/romi/cli.py
@@ -6,7 +6,6 @@ import typing
 
 import wpilib
 
-
 if sys.version_info < (3, 10):
 
     def entry_points(group):
diff --git a/simulation/halsim_gui/src/main/python/pyproject.toml b/simulation/halsim_gui/src/main/python/pyproject.toml
index 714efe734c..f2f1b537dd 100644
--- a/simulation/halsim_gui/src/main/python/pyproject.toml
+++ b/simulation/halsim_gui/src/main/python/pyproject.toml
@@ -1,7 +1,7 @@
 [build-system]
 build-backend = "hatchling.build"
 requires = [
-    "semiwrap~=0.2.1",
+    "semiwrap~=0.2.6",
     "hatch-meson~=0.1.0",
     "hatch-robotpy~=0.2.1",
     "hatchling",
diff --git a/wpilibc/src/main/python/pyproject.toml b/wpilibc/src/main/python/pyproject.toml
index 539838d2c5..44fdc4435e 100644
--- a/wpilibc/src/main/python/pyproject.toml
+++ b/wpilibc/src/main/python/pyproject.toml
@@ -1,7 +1,7 @@
 [build-system]
 build-backend = "hatchling.build"
 requires = [
-    "semiwrap~=0.2.1",
+    "semiwrap~=0.2.6",
     "hatch-meson~=0.1.0",
     "hatch-robotpy~=0.2.1",
     "hatchling",
diff --git a/wpilibc/src/main/python/semiwrap/BooleanEvent.yml b/wpilibc/src/main/python/semiwrap/BooleanEvent.yml
index 69dc7fd6f0..a93873dee6 100644
--- a/wpilibc/src/main/python/semiwrap/BooleanEvent.yml
+++ b/wpilibc/src/main/python/semiwrap/BooleanEvent.yml
@@ -19,3 +19,32 @@ classes:
       Rising:
       Falling:
       Debounce:
+    inline_code: |
+      .def("negate", [](BooleanEvent &self) {
+          return !self;
+        },
+        py::doc("Returns a BooleanEvent that is active when this event is inactive."))
+      .def("and_", [](BooleanEvent &self, BooleanEvent &other) {
+          return self && static_cast<std::function<bool()>>(other);
+      },
+        py::arg("other"),
+        py::doc("Compose this event with another event")
+      )
+      .def("and_", [](BooleanEvent &self, std::function<bool()> other) {
+          return self && other;
+      },
+        py::arg("other"),
+        py::doc("Compose this event with a callable")
+      )
+      .def("or_", [](BooleanEvent &self, BooleanEvent &other) {
+          return self || static_cast<std::function<bool()>>(other);
+      },
+        py::arg("other"),
+        py::doc("Compose this event with another event")
+      )
+      .def("or_", [](BooleanEvent &self, std::function<bool()> other) {
+        return self || other;
+      },
+        py::arg("other"),
+        py::doc("Compose this event with a callable")
+      )
diff --git a/wpilibc/src/main/python/semiwrap/simulation/SimHooks.yml b/wpilibc/src/main/python/semiwrap/simulation/SimHooks.yml
index 95a4ff2f5d..45568e89a4 100644
--- a/wpilibc/src/main/python/semiwrap/simulation/SimHooks.yml
+++ b/wpilibc/src/main/python/semiwrap/simulation/SimHooks.yml
@@ -1,6 +1,7 @@
 functions:
   SetRuntimeType:
   WaitForProgramStart:
+    ignore: true
   SetProgramStarted:
   GetProgramStarted:
   SetProgramState:
diff --git a/wpilibc/src/main/python/wpilib/_impl/cli_sim.py b/wpilibc/src/main/python/wpilib/_impl/cli_sim.py
index eca00373cf..c42d782a1d 100644
--- a/wpilibc/src/main/python/wpilib/_impl/cli_sim.py
+++ b/wpilibc/src/main/python/wpilib/_impl/cli_sim.py
@@ -7,7 +7,6 @@ import typing
 
 import wpilib
 
-
 logger = logging.getLogger("robot.sim")
 
 
diff --git a/wpilibc/src/main/python/wpilib/simulation/__init__.py b/wpilibc/src/main/python/wpilib/simulation/__init__.py
index 2d62011546..131d4729d7 100644
--- a/wpilibc/src/main/python/wpilib/simulation/__init__.py
+++ b/wpilibc/src/main/python/wpilib/simulation/__init__.py
@@ -56,7 +56,6 @@ from ._simulation import (
     setRuntimeType,
     stepTiming,
     stepTimingAsync,
-    waitForProgramStart,
 )
 
 __all__ = [
@@ -114,7 +113,10 @@ __all__ = [
     "setRuntimeType",
     "stepTiming",
     "stepTimingAsync",
-    "waitForProgramStart",
 ]
 
 del _init__simulation
+
+from hal.simulation import waitForProgramStart
+
+__all__ += ["waitForProgramStart"]
diff --git a/wpilibc/src/test/python/test_boolean_event.py b/wpilibc/src/test/python/test_boolean_event.py
new file mode 100644
index 0000000000..90592ad33f
--- /dev/null
+++ b/wpilibc/src/test/python/test_boolean_event.py
@@ -0,0 +1,476 @@
+from wpilib import BooleanEvent, EventLoop
+
+
+def test_binary_compositions():
+    loop = EventLoop()
+    and_counter = {"value": 0}
+    or_counter = {"value": 0}
+
+    def inc_and():
+        and_counter["value"] += 1
+
+    def inc_or():
+        or_counter["value"] += 1
+
+    assert and_counter["value"] == 0
+    assert or_counter["value"] == 0
+
+    BooleanEvent(loop, lambda: True).and_(lambda: False).ifHigh(inc_and)
+    BooleanEvent(loop, lambda: True).or_(lambda: False).ifHigh(inc_or)
+
+    loop.poll()
+
+    assert and_counter["value"] == 0
+    assert or_counter["value"] == 1
+
+
+def test_binary_compositions_with_edge_decorators():
+    loop = EventLoop()
+    bool1 = {"value": False}
+    bool2 = {"value": False}
+    bool3 = {"value": False}
+    bool4 = {"value": False}
+    counter = {"value": 0}
+
+    def inc():
+        counter["value"] += 1
+
+    event1 = BooleanEvent(loop, lambda: bool1["value"]).rising()
+    event2 = BooleanEvent(loop, lambda: bool2["value"]).rising()
+    event3 = BooleanEvent(loop, lambda: bool3["value"]).rising()
+    event4 = BooleanEvent(loop, lambda: bool4["value"]).rising()
+    event1.and_(event2).ifHigh(inc)
+    event3.or_(event4).ifHigh(inc)
+    assert counter["value"] == 0
+
+    bool1["value"] = True
+    bool2["value"] = True
+    bool3["value"] = True
+    bool4["value"] = True
+    loop.poll()
+
+    assert counter["value"] == 2
+
+    loop.poll()
+
+    assert counter["value"] == 2
+
+    bool1["value"] = False
+    bool2["value"] = False
+    bool3["value"] = False
+    bool4["value"] = False
+    loop.poll()
+
+    assert counter["value"] == 2
+
+    bool1["value"] = True
+    loop.poll()
+
+    assert counter["value"] == 2
+
+    bool2["value"] = True
+    loop.poll()
+
+    assert counter["value"] == 2
+
+    bool1["value"] = False
+    bool2["value"] = False
+    loop.poll()
+
+    assert counter["value"] == 2
+
+    bool1["value"] = True
+    bool2["value"] = True
+    loop.poll()
+
+    assert counter["value"] == 3
+
+    bool3["value"] = True
+    loop.poll()
+
+    assert counter["value"] == 4
+
+    loop.poll()
+
+    assert counter["value"] == 4
+
+    bool4["value"] = True
+    loop.poll()
+
+    assert counter["value"] == 5
+
+    loop.poll()
+
+    assert counter["value"] == 5
+
+
+def test_binary_composition_loop_semantics():
+    loop1 = EventLoop()
+    loop2 = EventLoop()
+    bool1 = {"value": True}
+    bool2 = {"value": True}
+    counter1 = {"value": 0}
+    counter2 = {"value": 0}
+
+    def inc1():
+        counter1["value"] += 1
+
+    def inc2():
+        counter2["value"] += 1
+
+    BooleanEvent(loop1, lambda: bool1["value"]).and_(
+        BooleanEvent(loop2, lambda: bool2["value"])
+    ).ifHigh(inc1)
+
+    BooleanEvent(loop2, lambda: bool2["value"]).and_(
+        BooleanEvent(loop1, lambda: bool1["value"])
+    ).ifHigh(inc2)
+
+    assert counter1["value"] == 0
+    assert counter2["value"] == 0
+
+    loop1.poll()
+
+    assert counter1["value"] == 1
+    assert counter2["value"] == 0
+
+    loop2.poll()
+
+    assert counter1["value"] == 1
+    assert counter2["value"] == 1
+
+    bool2["value"] = False
+    loop1.poll()
+
+    assert counter1["value"] == 2
+    assert counter2["value"] == 1
+
+    loop2.poll()
+
+    assert counter1["value"] == 2
+    assert counter2["value"] == 1
+
+    loop1.poll()
+
+    assert counter1["value"] == 2
+    assert counter2["value"] == 1
+
+    bool2["value"] = True
+    loop2.poll()
+
+    assert counter1["value"] == 2
+    assert counter2["value"] == 2
+
+    loop1.poll()
+
+    assert counter1["value"] == 3
+    assert counter2["value"] == 2
+
+    bool1["value"] = False
+    loop2.poll()
+
+    assert counter1["value"] == 3
+    assert counter2["value"] == 3
+
+    loop1.poll()
+
+    assert counter1["value"] == 3
+    assert counter2["value"] == 3
+
+    loop2.poll()
+
+    assert counter1["value"] == 3
+    assert counter2["value"] == 3
+
+
+def test_poll_ordering():
+    loop = EventLoop()
+    bool1 = {"value": True}
+    bool2 = {"value": True}
+    enable_assert = {"value": False}
+    counter = {"value": 0}
+
+    def action1():
+        if enable_assert["value"]:
+            counter["value"] += 1
+            assert counter["value"] % 3 == 1
+        return bool1["value"]
+
+    def action2():
+        if enable_assert["value"]:
+            counter["value"] += 1
+            assert counter["value"] % 3 == 2
+        return bool2["value"]
+
+    def action3():
+        if enable_assert["value"]:
+            counter["value"] += 1
+            assert counter["value"] % 3 == 0
+
+    BooleanEvent(loop, action1).and_(BooleanEvent(loop, action2)).ifHigh(action3)
+    enable_assert["value"] = True
+    loop.poll()
+    loop.poll()
+    loop.poll()
+    loop.poll()
+
+
+def test_edge_decorators():
+    loop = EventLoop()
+    flag = {"value": False}
+    counter = {"value": 0}
+
+    def inc():
+        counter["value"] += 1
+
+    def dec():
+        counter["value"] -= 1
+
+    BooleanEvent(loop, lambda: flag["value"]).falling().ifHigh(dec)
+    BooleanEvent(loop, lambda: flag["value"]).rising().ifHigh(inc)
+
+    assert counter["value"] == 0
+
+    flag["value"] = False
+    loop.poll()
+
+    assert counter["value"] == 0
+
+    flag["value"] = True
+    loop.poll()
+
+    assert counter["value"] == 1
+
+    flag["value"] = True
+    loop.poll()
+
+    assert counter["value"] == 1
+
+    flag["value"] = False
+    loop.poll()
+
+    assert counter["value"] == 0
+
+
+def test_edge_reuse():
+    loop = EventLoop()
+    flag = {"value": False}
+    counter = {"value": 0}
+
+    def inc():
+        counter["value"] += 1
+
+    event = BooleanEvent(loop, lambda: flag["value"]).rising()
+    event.ifHigh(inc)
+    event.ifHigh(inc)
+
+    assert counter["value"] == 0
+
+    loop.poll()
+
+    assert counter["value"] == 0
+
+    flag["value"] = True
+    loop.poll()
+
+    assert counter["value"] == 2
+
+    loop.poll()
+
+    assert counter["value"] == 2
+
+    flag["value"] = False
+    loop.poll()
+
+    assert counter["value"] == 2
+
+    flag["value"] = True
+    loop.poll()
+
+    assert counter["value"] == 4
+
+
+def test_edge_reconstruct():
+    loop = EventLoop()
+    flag = {"value": False}
+    counter = {"value": 0}
+
+    def inc():
+        counter["value"] += 1
+
+    event = BooleanEvent(loop, lambda: flag["value"])
+    event.rising().ifHigh(inc)
+    event.rising().ifHigh(inc)
+
+    assert counter["value"] == 0
+
+    loop.poll()
+
+    assert counter["value"] == 0
+
+    flag["value"] = True
+    loop.poll()
+
+    assert counter["value"] == 2
+
+    loop.poll()
+
+    assert counter["value"] == 2
+
+    flag["value"] = False
+    loop.poll()
+
+    assert counter["value"] == 2
+
+    flag["value"] = True
+    loop.poll()
+
+    assert counter["value"] == 4
+
+
+def test_mid_loop_boolean_change():
+    loop = EventLoop()
+    flag = {"value": False}
+    counter = {"value": 0}
+
+    def inc():
+        counter["value"] += 1
+
+    event = BooleanEvent(loop, lambda: flag["value"]).rising()
+
+    def first_action():
+        flag["value"] = False
+        counter["value"] += 1
+
+    event.ifHigh(first_action)
+    event.ifHigh(inc)
+
+    assert counter["value"] == 0
+
+    loop.poll()
+
+    assert counter["value"] == 0
+
+    flag["value"] = True
+    loop.poll()
+
+    assert counter["value"] == 2
+
+    loop.poll()
+
+    assert counter["value"] == 2
+
+    flag["value"] = False
+    loop.poll()
+
+    assert counter["value"] == 2
+
+    flag["value"] = True
+    loop.poll()
+
+    assert counter["value"] == 4
+
+
+def test_mid_loop_boolean_change_with_composed_events():
+    loop = EventLoop()
+    bool1 = {"value": False}
+    bool2 = {"value": False}
+    bool3 = {"value": False}
+    bool4 = {"value": False}
+    counter = {"value": 0}
+
+    def inc():
+        counter["value"] += 1
+
+    event1 = BooleanEvent(loop, lambda: bool1["value"])
+    event2 = BooleanEvent(loop, lambda: bool2["value"])
+    event3 = BooleanEvent(loop, lambda: bool3["value"])
+    event4 = BooleanEvent(loop, lambda: bool4["value"])
+
+    def action1():
+        bool2["value"] = False
+        bool3["value"] = False
+        counter["value"] += 1
+
+    event1.ifHigh(action1)
+
+    def action2():
+        bool1["value"] = False
+        counter["value"] += 1
+
+    event3.or_(event4).ifHigh(action2)
+
+    def action3():
+        bool4["value"] = False
+        counter["value"] += 1
+
+    event1.and_(event2).ifHigh(action3)
+
+    assert counter["value"] == 0
+
+    bool1["value"] = True
+    bool2["value"] = True
+    bool3["value"] = True
+    bool4["value"] = True
+    loop.poll()
+
+    assert counter["value"] == 3
+
+    loop.poll()
+
+    assert counter["value"] == 3
+
+    bool1["value"] = True
+    bool2["value"] = True
+    loop.poll()
+
+    assert counter["value"] == 5
+
+    bool1["value"] = False
+    loop.poll()
+
+    assert counter["value"] == 5
+
+    bool1["value"] = True
+    bool3["value"] = True
+    loop.poll()
+
+    assert counter["value"] == 7
+
+    bool1["value"] = False
+    bool4["value"] = True
+    loop.poll()
+
+    assert counter["value"] == 8
+
+
+def test_negation():
+    loop = EventLoop()
+    flag = {"value": False}
+    counter = {"value": 0}
+
+    def inc():
+        counter["value"] += 1
+
+    BooleanEvent(loop, lambda: flag["value"]).negate().ifHigh(inc)
+
+    assert counter["value"] == 0
+
+    loop.poll()
+
+    assert counter["value"] == 1
+
+    flag["value"] = True
+    loop.poll()
+
+    assert counter["value"] == 1
+
+    flag["value"] = False
+    loop.poll()
+
+    assert counter["value"] == 2
+
+    flag["value"] = True
+    loop.poll()
+
+    assert counter["value"] == 2
diff --git a/wpilibc/src/test/python/test_opmode_robot.py b/wpilibc/src/test/python/test_opmode_robot.py
index abc04214d2..956f025415 100644
--- a/wpilibc/src/test/python/test_opmode_robot.py
+++ b/wpilibc/src/test/python/test_opmode_robot.py
@@ -135,6 +135,7 @@ def test_remove_op_mode():
     assert options[0].name == "OneArgOpMode"
 
 
+# @pytest.mark.xfail(reason="wpilib bug")
 def test_none_periodic():
     class MyMockRobot(MockRobot):
         def __init__(self):
diff --git a/wpilibc/src/test/python/test_pytest_plugins.py b/wpilibc/src/test/python/test_pytest_plugins.py
index d485c29cd8..9c6d99355a 100644
--- a/wpilibc/src/test/python/test_pytest_plugins.py
+++ b/wpilibc/src/test/python/test_pytest_plugins.py
@@ -5,8 +5,7 @@ import pytest
 
 
 def _make_robot_module(pytester):
-    pytester.makepyfile(
-        robot_module="""
+    pytester.makepyfile(robot_module="""
 import wpilib
 
 
@@ -51,13 +50,11 @@ class IterativeStateRobot(wpilib.TimedRobot):
     def teleopPeriodic(self):
         self.did_teleop_periodic = True
 
-"""
-    )
+""")
 
 
 def _configure_robot_testing_plugin(pytester, robot_class="DummyRobot"):
-    pytester.makeconftest(
-        f"""
+    pytester.makeconftest(f"""
 import pathlib
 
 from wpilib.testing.pytest_plugin import RobotTestingPlugin
@@ -68,13 +65,11 @@ from robot_module import {robot_class}
 def pytest_configure(config):
     robot_file = pathlib.Path(__file__).resolve()
     config.pluginmanager.register(RobotTestingPlugin({robot_class}, robot_file, False))
-"""
-    )
+""")
 
 
 def _configure_isolated_plugin(pytester, parallelism=1, robot_class="DummyRobot"):
-    pytester.makeconftest(
-        f"""
+    pytester.makeconftest(f"""
 import pathlib
 
 from wpilib.testing.pytest_isolated_tests_plugin import IsolatedTestsPlugin
@@ -88,19 +83,16 @@ def pytest_configure(config):
     config.pluginmanager.register(
         IsolatedTestsPlugin({robot_class}, robot_file, False, False, {parallelism})
     )
-"""
-    )
+""")
 
 
 def test_robot_testing_plugin_success(pytester):
     _make_robot_module(pytester)
     _configure_robot_testing_plugin(pytester)
-    pytester.makepyfile(
-        test_success="""
+    pytester.makepyfile(test_success="""
 def test_robot_fixture(robot):
     assert robot.did_init
-"""
-    )
+""")
 
     result = pytester.runpytest("-vv")
 
@@ -110,13 +102,11 @@ def test_robot_fixture(robot):
 def test_robot_testing_plugin_failure_shows_output(pytester):
     _make_robot_module(pytester)
     _configure_robot_testing_plugin(pytester)
-    pytester.makepyfile(
-        test_failure="""
+    pytester.makepyfile(test_failure="""
 def test_robot_failure(robot):
     print("checked failure output")
     assert False
-"""
-    )
+""")
 
     result = pytester.runpytest("-vv")
 
@@ -132,8 +122,7 @@ def test_robot_failure(robot):
 def test_isolated_plugin_process_and_output(pytester):
     _make_robot_module(pytester)
     _configure_isolated_plugin(pytester)
-    pytester.makepyfile(
-        test_isolated="""
+    pytester.makepyfile(test_isolated="""
 import os
 
 
@@ -155,8 +144,7 @@ def test_robot_pid_two(robot):
 def test_robot_failure_output(robot):
     print("isolated failure output")
     assert False
-"""
-    )
+""")
 
     result = pytester.runpytest_subprocess("-vv")
 
@@ -181,8 +169,7 @@ def test_robot_failure_output(robot):
 def test_isolated_plugin_no_duplicate_verbose_output(pytester):
     _make_robot_module(pytester)
     _configure_isolated_plugin(pytester)
-    pytester.makepyfile(
-        test_isolated="""
+    pytester.makepyfile(test_isolated="""
 def test_non_robot():
     assert True
 
@@ -193,8 +180,7 @@ def test_robot_one(robot):
 
 def test_robot_two(robot):
     assert robot is not None
-"""
-    )
+""")
 
     result = pytester.runpytest_subprocess("-v")
 
@@ -216,16 +202,14 @@ def test_robot_two(robot):
 def test_isolated_plugin_reports_signal_exit(pytester):
     _make_robot_module(pytester)
     _configure_isolated_plugin(pytester)
-    pytester.makepyfile(
-        test_isolated="""
+    pytester.makepyfile(test_isolated="""
 import os
 import signal
 
 
 def test_robot_signal_exit(robot):
     os.kill(os.getpid(), signal.SIGTERM)
-"""
-    )
+""")
 
     result = pytester.runpytest_subprocess("-vv")
 
@@ -241,8 +225,7 @@ def test_robot_signal_exit(robot):
 def test_isolated_plugin_shows_file_in_non_verbose_output(pytester):
     _make_robot_module(pytester)
     _configure_isolated_plugin(pytester)
-    pytester.makepyfile(
-        test_isolated="""
+    pytester.makepyfile(test_isolated="""
 def test_non_robot():
     assert True
 
@@ -253,8 +236,7 @@ def test_robot_one(robot):
 
 def test_robot_two(robot):
     assert robot is not None
-"""
-    )
+""")
 
     result = pytester.runpytest_subprocess()
 
@@ -267,16 +249,14 @@ def test_robot_two(robot):
 def test_isolated_plugin_maxfail_stops_early(pytester):
     _make_robot_module(pytester)
     _configure_isolated_plugin(pytester)
-    pytester.makepyfile(
-        test_isolated="""
+    pytester.makepyfile(test_isolated="""
 def test_robot_first(robot):
     assert False
 
 
 def test_robot_second(robot):
     assert False
-"""
-    )
+""")
 
     result = pytester.runpytest_subprocess("-v", "-x")
 
diff --git a/wpimath/robotpy_pybind_build_info.bzl b/wpimath/robotpy_pybind_build_info.bzl
index f370dfdc89..1f61fa8ebc 100644
--- a/wpimath/robotpy_pybind_build_info.bzl
+++ b/wpimath/robotpy_pybind_build_info.bzl
@@ -948,6 +948,22 @@ def wpimath_extension(srcs = [], header_to_dat_deps = [], extra_hdrs = [], inclu
                 ("wpi::math::Models", "wpi__math__Models.hpp"),
             ],
         ),
+        struct(
+            class_name = "NumericalIntegration",
+            yml_file = "semiwrap/NumericalIntegration.yml",
+            header_root = "$(execpath :robotpy-native-wpimath.copy_headers)",
+            header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/system/NumericalIntegration.hpp",
+            tmpl_class_names = [],
+            trampolines = [],
+        ),
+        struct(
+            class_name = "NumericalJacobian",
+            yml_file = "semiwrap/NumericalJacobian.yml",
+            header_root = "$(execpath :robotpy-native-wpimath.copy_headers)",
+            header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/system/NumericalJacobian.hpp",
+            tmpl_class_names = [],
+            trampolines = [],
+        ),
         struct(
             class_name = "ExponentialProfile",
             yml_file = "semiwrap/ExponentialProfile.yml",
diff --git a/wpimath/src/main/python/pyproject.toml b/wpimath/src/main/python/pyproject.toml
index b905cb09b0..5913a208b3 100644
--- a/wpimath/src/main/python/pyproject.toml
+++ b/wpimath/src/main/python/pyproject.toml
@@ -1,7 +1,7 @@
 [build-system]
 build-backend = "hatchling.build"
 requires = [
-    "semiwrap~=0.2.1",
+    "semiwrap~=0.2.6",
     "hatch-meson~=0.1.0",
     "hatch-robotpy~=0.2.1",
     "hatchling",
@@ -69,8 +69,6 @@ scan_headers_ignore = [
     "wpi/math/random/Normal.hpp",
 
     "wpi/math/system/Discretization.hpp",
-    "wpi/math/system/NumericalIntegration.hpp",
-    "wpi/math/system/NumericalJacobian.hpp",
 
     "wpi/math/proto/*",
     "wpi/math/*/proto/*",
@@ -1566,8 +1564,8 @@ LinearSystem = "wpi/math/system/LinearSystem.hpp"
 LinearSystemLoop = "wpi/math/system/LinearSystemLoop.hpp"
 # LinearSystemUtil = "wpi/math/system/LinearSystemUtil.hpp"
 Models = "wpi/math/system/Models.hpp"
-# NumericalIntegration = "wpi/math/system/NumericalIntegration.hpp"
-# NumericalJacobian = "wpi/math/system/NumericalJacobian.hpp"
+NumericalIntegration = "wpi/math/system/NumericalIntegration.hpp"
+NumericalJacobian = "wpi/math/system/NumericalJacobian.hpp"
 
 # wpi/math/trajectory
 ExponentialProfile = "wpi/math/trajectory/ExponentialProfile.hpp"
diff --git a/wpimath/src/main/python/semiwrap/LinearSystem.yml b/wpimath/src/main/python/semiwrap/LinearSystem.yml
index 242381ba4e..39c033445b 100644
--- a/wpimath/src/main/python/semiwrap/LinearSystem.yml
+++ b/wpimath/src/main/python/semiwrap/LinearSystem.yml
@@ -25,9 +25,31 @@ classes:
       CalculateX:
       CalculateY:
       Slice:
-        # TODO?
         ignore: true
 
+    template_inline_code: |
+      cls_LinearSystem.def("slice", [](wpi::math::LinearSystem<States, Inputs, Outputs> &self, int idx0) {
+          return self.Slice(idx0);
+        }, py::arg("outputIndex"),
+           py::doc("Returns the LinearSystem with the outputs listed in outputIndices.")
+      );
+
+      if constexpr (Outputs > 1) {
+        cls_LinearSystem.def("slice", [](wpi::math::LinearSystem<States, Inputs, Outputs> &self, int idx0, int idx1) {
+            return self.Slice(idx0, idx1);
+          }, py::arg("outputIndex0"), py::arg("outputIndex1"),
+            py::doc("Returns the LinearSystem with the outputs listed in outputIndices.")
+        );
+      }
+      if constexpr (Outputs > 2) {
+        cls_LinearSystem.def("slice", [](wpi::math::LinearSystem<States, Inputs, Outputs> &self, int idx0, int idx1, int idx2) {
+            return self.Slice(idx0, idx1, idx2);
+          }, py::arg("outputIndex0"), py::arg("outputIndex1"), py::arg("outputIndex2"),
+            py::doc("Returns the LinearSystem with the outputs listed in outputIndices.")
+        );
+      }
+
+
 templates:
   LinearSystem_1_1_1:
     qualname: wpi::math::LinearSystem
diff --git a/wpimath/src/main/python/semiwrap/NumericalIntegration.yml b/wpimath/src/main/python/semiwrap/NumericalIntegration.yml
new file mode 100644
index 0000000000..d607f204c8
--- /dev/null
+++ b/wpimath/src/main/python/semiwrap/NumericalIntegration.yml
@@ -0,0 +1,25 @@
+extra_includes:
+- frc_eigen.h
+- wpi/math/linalg/EigenCore.hpp
+- pybind11/functional.h
+
+functions:
+  RK4:
+    overloads:
+      F&&, T, wpi::units::second_t:
+        template_impls:
+        - [std::function<Eigen::MatrixXd(Eigen::MatrixXd)>, Eigen::MatrixXd]
+      F&&, T, U, wpi::units::second_t:
+        template_impls:
+        - ["std::function<Eigen::MatrixXd(Eigen::MatrixXd, Eigen::MatrixXd)>", Eigen::MatrixXd, Eigen::MatrixXd]
+      F&&, wpi::units::second_t, T, wpi::units::second_t:
+        template_impls:
+        - ["std::function<Eigen::MatrixXd(wpi::units::second_t, Eigen::MatrixXd)>", Eigen::MatrixXd]
+  RKDP:
+    overloads:
+      F&&, T, U, wpi::units::second_t, double:
+        template_impls:
+        - ["std::function<Eigen::MatrixXd(Eigen::MatrixXd, Eigen::MatrixXd)>", Eigen::MatrixXd, Eigen::MatrixXd]
+      F&&, wpi::units::second_t, T, wpi::units::second_t, double:
+        template_impls:
+        - ["std::function<Eigen::MatrixXd(wpi::units::second_t, Eigen::MatrixXd)>", Eigen::MatrixXd]
diff --git a/wpimath/src/main/python/semiwrap/NumericalJacobian.yml b/wpimath/src/main/python/semiwrap/NumericalJacobian.yml
new file mode 100644
index 0000000000..a214282e65
--- /dev/null
+++ b/wpimath/src/main/python/semiwrap/NumericalJacobian.yml
@@ -0,0 +1,52 @@
+extra_includes:
+- frc_eigen.h
+- wpi/math/linalg/EigenCore.hpp
+- pybind11/functional.h
+- pybind11/typing.h
+
+functions:
+  NumericalJacobian:
+    overloads:
+      F&&, const Vectord<Cols>&:
+        ignore: true
+      F&&, const Eigen::VectorXd&:
+        template_impls:
+        - [std::function<Eigen::VectorXd(Eigen::VectorXd)>]
+  NumericalJacobianX:
+    overloads:
+      F&&, const Vectord<States>&, const Vectord<Inputs>&, Args&&...:
+        ignore: true
+      F&&, const Eigen::VectorXd&, const Eigen::VectorXd&, Args&&...:
+        # template_impls:
+        # - ["std::function<Eigen::VectorXd(Eigen::VectorXd, Eigen::VectorXd, py::args)>", py::args, Eigen::MatrixXd]
+        param_override:
+          args:
+            ignore: true
+        no_release_gil: true
+        cpp_code: |
+          [](py::typing::Callable<Eigen::VectorXd(Eigen::VectorXd, Eigen::VectorXd, py::args)> fn,
+             const Eigen::VectorXd& x, const Eigen::VectorXd& u, py::args args) {
+             return wpi::math::NumericalJacobianX([=](const Eigen::VectorXd &ix, const Eigen::VectorXd &iu) {
+                py::object r = fn(ix, iu, *args);
+                return r.cast<Eigen::VectorXd>();
+             }, x, u);
+          }
+  NumericalJacobianU:
+    overloads:
+      F&&, const Vectord<States>&, const Vectord<Inputs>&, Args&&...:
+        ignore: true
+      F&&, const Eigen::VectorXd&, const Eigen::VectorXd&, Args&&...:
+        # template_impls:
+        # - ["std::function<Eigen::VectorXd(Eigen::VectorXd, Eigen::VectorXd, py::args)>", py::args, Eigen::MatrixXd]
+        param_override:
+          args:
+            ignore: true
+        no_release_gil: true
+        cpp_code: |-
+          [](py::typing::Callable<Eigen::VectorXd(Eigen::VectorXd, Eigen::VectorXd, py::args)> fn,
+             const Eigen::VectorXd& x, const Eigen::VectorXd& u, py::args args) {
+             return wpi::math::NumericalJacobianU([=](const Eigen::VectorXd &ix, const Eigen::VectorXd &iu) {
+                py::object r = fn(ix, iu, *args);
+                return r.cast<Eigen::VectorXd>();
+             }, x, u);
+          }
diff --git a/wpimath/src/main/python/tools/create_units.py b/wpimath/src/main/python/tools/create_units.py
index 1f902719db..8ab8771ad4 100755
--- a/wpimath/src/main/python/tools/create_units.py
+++ b/wpimath/src/main/python/tools/create_units.py
@@ -51,9 +51,7 @@ for f in sorted(pathlib.Path(sys.argv[1]).glob("*.h")):
             ofp.write("\nnamespace pybind11 { namespace detail {\n")
 
             for single, double in names:
-                ofp.write(
-                    inspect.cleandoc(
-                        f"""
+                ofp.write(inspect.cleandoc(f"""
                 
                     template <> struct handle_type_name<units::{single}_t> {{
                     static constexpr auto name = _("{double}");
@@ -63,9 +61,7 @@ for f in sorted(pathlib.Path(sys.argv[1]).glob("*.h")):
                     static constexpr auto name = _("{double}");
                     }};
 
-                """
-                    )
-                )
+                """))
                 ofp.write("\n\n")
 
             ofp.write("\n}\n}\n\n")
diff --git a/wpimath/src/main/python/wpimath/__init__.py b/wpimath/src/main/python/wpimath/__init__.py
index 3e3d27b222..319289bfbf 100644
--- a/wpimath/src/main/python/wpimath/__init__.py
+++ b/wpimath/src/main/python/wpimath/__init__.py
@@ -101,6 +101,8 @@ from ._wpimath import (
     ProfiledPIDControllerRadians,
     Quaternion,
     QuinticHermiteSpline,
+    RK4,
+    RKDP,
     Rectangle2d,
     RectangularRegionConstraint,
     Rotation2d,
@@ -184,6 +186,9 @@ from ._wpimath import (
     angleModulus,
     applyDeadband,
     inputModulus,
+    numericalJacobian,
+    numericalJacobianU,
+    numericalJacobianX,
     objectToRobotPose,
     slewRateLimit,
 )
@@ -288,6 +293,8 @@ __all__ = [
     "ProfiledPIDControllerRadians",
     "Quaternion",
     "QuinticHermiteSpline",
+    "RK4",
+    "RKDP",
     "Rectangle2d",
     "RectangularRegionConstraint",
     "Rotation2d",
@@ -371,6 +378,9 @@ __all__ = [
     "angleModulus",
     "applyDeadband",
     "inputModulus",
+    "numericalJacobian",
+    "numericalJacobianU",
+    "numericalJacobianX",
     "objectToRobotPose",
     "slewRateLimit",
 ]
diff --git a/wpimath/src/test/python/geometry/test_rotation3d.py b/wpimath/src/test/python/geometry/test_rotation3d.py
index 53641f5097..c0da59e1f0 100644
--- a/wpimath/src/test/python/geometry/test_rotation3d.py
+++ b/wpimath/src/test/python/geometry/test_rotation3d.py
@@ -73,7 +73,13 @@ def test_init_rotation_matrix():
     assert expected2 == rot2
 
     # Matrix that isn't orthogonal
-    R3 = np.array([[1.0, 0.0, 0.0], [1.0, 0.0, 0.0], [1.0, 0.0, 0.0]])
+    R3 = np.array(
+        [
+            [1.0, 0.0, 0.0],
+            [1.0, 0.0, 0.0],
+            [1.0, 0.0, 0.0],
+        ]
+    )
     with pytest.raises(ValueError):
         Rotation3d(R3)
 
diff --git a/wpimath/src/test/python/test_system.py b/wpimath/src/test/python/test_system.py
new file mode 100644
index 0000000000..ee70e4fd54
--- /dev/null
+++ b/wpimath/src/test/python/test_system.py
@@ -0,0 +1,202 @@
+import math
+
+import wpimath
+
+import pytest
+import numpy as np
+
+
+def test_rk4_exponential():
+    """Test that integrating dx/dt = eˣ works"""
+    y0 = np.array([[0.0]])
+
+    y1 = wpimath.RK4(lambda x: np.array([[math.exp(x[0, 0])]]), y0, 0.1)
+
+    assert math.isclose(y1[0, 0], math.exp(0.1) - math.exp(0.0), abs_tol=1e-3)
+
+
+def test_rk4_exponential_with_u():
+    """Test that integrating dx/dt = eˣ works when we provide a u"""
+    y0 = np.array([[0.0]])
+
+    y1 = wpimath.RK4(
+        lambda x, u: np.array([[math.exp(u[0, 0] * x[0, 0])]]),
+        y0,
+        np.array([[1.0]]),
+        0.1,
+    )
+
+    assert math.isclose(y1[0, 0], math.exp(0.1) - math.exp(0.0), abs_tol=1e-3)
+
+
+def test_rk4_time_varying():
+    """
+    Tests RK4 with a time varying solution. From
+    http://www2.hawaii.edu/~jmcfatri/math407/RungeKuttaTest.html:
+
+        dx/dt = x (2 / (eᵗ + 1) - 1)
+
+    The true (analytical) solution is:
+
+        x(t) = 12eᵗ/(eᵗ + 1)²
+    """
+    y0 = np.array([[12.0 * math.exp(5.0) / math.pow(math.exp(5.0) + 1.0, 2.0)]])
+
+    y1 = wpimath.RK4(
+        lambda t, x: np.array([[x[0, 0] * (2.0 / (math.exp(t) + 1.0) - 1.0)]]),
+        5.0,
+        y0,
+        1.0,
+    )
+
+    expected = 12.0 * math.exp(6.0) / math.pow(math.exp(6.0) + 1.0, 2.0)
+    assert math.isclose(y1[0, 0], expected, abs_tol=1e-3)
+
+
+def test_rkdp_zero():
+    """Tests that integrating dx/dt = 0 works with RKDP"""
+    y1 = wpimath.RKDP(
+        lambda x, u: np.zeros((1, 1)),
+        np.array([[0.0]]),
+        np.array([[0.0]]),
+        0.1,
+    )
+
+    assert math.isclose(y1[0, 0], 0.0, abs_tol=1e-3)
+
+
+def test_rkdp_exponential():
+    """Tests that integrating dx/dt = eˣ works with RKDP"""
+    y0 = np.array([[0.0]])
+
+    y1 = wpimath.RKDP(
+        lambda x, u: np.array([[math.exp(x[0, 0])]]),
+        y0,
+        np.array([[0.0]]),
+        0.1,
+    )
+
+    assert math.isclose(y1[0, 0], math.exp(0.1) - math.exp(0.0), abs_tol=1e-3)
+
+
+def test_rkdp_time_varying():
+    """
+    Tests RKDP with a time varying solution. From
+    http://www2.hawaii.edu/~jmcfatri/math407/RungeKuttaTest.html:
+
+        dx/dt = x(2/(eᵗ + 1) - 1)
+
+    The true (analytical) solution is:
+
+        x(t) = 12eᵗ/(eᵗ + 1)²
+    """
+    y0 = np.array([[12.0 * math.exp(5.0) / math.pow(math.exp(5.0) + 1.0, 2.0)]])
+
+    y1 = wpimath.RKDP(
+        lambda t, x: np.array([[x[0, 0] * (2.0 / (math.exp(t) + 1.0) - 1.0)]]),
+        5.0,
+        y0,
+        1.0,
+        1e-12,
+    )
+
+    expected = 12.0 * math.exp(6.0) / math.pow(math.exp(6.0) + 1.0, 2.0)
+    assert math.isclose(y1[0, 0], expected, abs_tol=1e-3)
+
+
+def test_numerical_jacobian():
+    """Test that we can recover A from ax_fn() pretty accurately"""
+    a = np.array(
+        [
+            [1.0, 2.0, 4.0, 1.0],
+            [5.0, 2.0, 3.0, 4.0],
+            [5.0, 1.0, 3.0, 2.0],
+            [1.0, 1.0, 3.0, 7.0],
+        ]
+    )
+
+    def ax_fn(x):
+        return a @ x
+
+    new_a = wpimath.numericalJacobian(ax_fn, np.zeros((4, 1)))
+    np.testing.assert_allclose(new_a, a, rtol=1e-6, atol=1e-5)
+
+
+def test_numerical_jacobian_x_u_square():
+    """Test that we can recover B from axbu_fn() pretty accurately"""
+    a = np.array(
+        [
+            [1.0, 2.0, 4.0, 1.0],
+            [5.0, 2.0, 3.0, 4.0],
+            [5.0, 1.0, 3.0, 2.0],
+            [1.0, 1.0, 3.0, 7.0],
+        ]
+    )
+    b = np.array([[1.0, 1.0], [2.0, 1.0], [3.0, 2.0], [3.0, 7.0]])
+
+    def axbu_fn(x, u):
+        return a @ x + b @ u
+
+    x0 = np.zeros((4, 1))
+    u0 = np.zeros((2, 1))
+    new_a = wpimath.numericalJacobianX(axbu_fn, x0, u0)
+    new_b = wpimath.numericalJacobianU(axbu_fn, x0, u0)
+    np.testing.assert_allclose(new_a, a, rtol=1e-6, atol=1e-5)
+    np.testing.assert_allclose(new_b, b, rtol=1e-6, atol=1e-5)
+
+
+def test_numerical_jacobian_x_u_rectangular():
+    c = np.array(
+        [
+            [1.0, 2.0, 4.0, 1.0],
+            [5.0, 2.0, 3.0, 4.0],
+            [5.0, 1.0, 3.0, 2.0],
+        ]
+    )
+    d = np.array([[1.0, 1.0], [2.0, 1.0], [3.0, 2.0]])
+
+    def cxdu_fn(x, u):
+        return c @ x + d @ u
+
+    x0 = np.zeros((4, 1))
+    u0 = np.zeros((2, 1))
+    new_c = wpimath.numericalJacobianX(cxdu_fn, x0, u0)
+    new_d = wpimath.numericalJacobianU(cxdu_fn, x0, u0)
+    np.testing.assert_allclose(new_c, c, rtol=1e-6, atol=1e-5)
+    np.testing.assert_allclose(new_d, d, rtol=1e-6, atol=1e-5)
+
+
+def test_numerical_jacobian_x_passes_extra_args():
+    a = np.array([[2.0, -1.0], [0.5, 3.0]])
+    b = np.array([[1.0], [4.0]])
+    x0 = np.zeros((2, 1))
+    u0 = np.zeros((1, 1))
+
+    seen = {}
+
+    def axbu_fn(x, u, scale, bias):
+        seen["args"] = (scale, bias)
+        return scale * (a @ x) + bias * (b @ u)
+
+    new_a = wpimath.numericalJacobianX(axbu_fn, x0, u0, 2.5, -3.0)
+
+    assert seen["args"] == (2.5, -3.0)
+    np.testing.assert_allclose(new_a, 2.5 * a, rtol=1e-6, atol=1e-5)
+
+
+def test_numerical_jacobian_u_passes_extra_args():
+    a = np.array([[1.0, 0.0], [0.0, -2.0]])
+    b = np.array([[1.5], [-0.5]])
+    x0 = np.zeros((2, 1))
+    u0 = np.zeros((1, 1))
+
+    seen = {}
+
+    def axbu_fn(x, u, scale, bias):
+        seen["args"] = (scale, bias)
+        return scale * (a @ x) + bias * (b @ u)
+
+    new_b = wpimath.numericalJacobianU(axbu_fn, x0, u0, 4.0, 0.25)
+
+    assert seen["args"] == (4.0, 0.25)
+    np.testing.assert_allclose(new_b, 0.25 * b, rtol=1e-6, atol=1e-5)
diff --git a/wpinet/src/main/python/pyproject.toml b/wpinet/src/main/python/pyproject.toml
index 1ebeca60ad..c06d5b8bfb 100644
--- a/wpinet/src/main/python/pyproject.toml
+++ b/wpinet/src/main/python/pyproject.toml
@@ -1,9 +1,9 @@
 [build-system]
 build-backend = "hatchling.build"
 requires = [
-    "semiwrap~=0.2.1",
+    "semiwrap~=0.2.6",
     "hatch-meson~=0.1.0",
-    "semiwrap~=0.2.1",
+    "semiwrap~=0.2.6",
     "hatch-meson~=0.1.0",
     "hatchling",
     "robotpy-native-wpinet==0.0.0",
diff --git a/wpinet/src/main/python/wpinet/__init__.py b/wpinet/src/main/python/wpinet/__init__.py
index b3261c177a..0adc59f445 100644
--- a/wpinet/src/main/python/wpinet/__init__.py
+++ b/wpinet/src/main/python/wpinet/__init__.py
@@ -1,6 +1,5 @@
 from . import _init__wpinet
 
-
 # autogenerated by 'semiwrap create-imports wpinet wpinet._wpinet'
 from ._wpinet import PortForwarder, WebServer
 
diff --git a/wpiutil/src/main/python/pyproject.toml b/wpiutil/src/main/python/pyproject.toml
index e90ce9c031..53f4b7d6ed 100644
--- a/wpiutil/src/main/python/pyproject.toml
+++ b/wpiutil/src/main/python/pyproject.toml
@@ -1,7 +1,7 @@
 [build-system]
 build-backend = "hatchling.build"
 requires = [
-    "semiwrap~=0.2.1",
+    "semiwrap~=0.2.6",
     "hatch-meson~=0.1.0",
     "hatch-robotpy~=0.2.1",
     "hatchling",
diff --git a/wpiutil/src/main/python/wpiutil/wpistruct/dataclass.py b/wpiutil/src/main/python/wpiutil/wpistruct/dataclass.py
index 160db3e7e1..a37bf0734b 100644
--- a/wpiutil/src/main/python/wpiutil/wpistruct/dataclass.py
+++ b/wpiutil/src/main/python/wpiutil/wpistruct/dataclass.py
@@ -176,8 +176,7 @@ def _process_class(cls, struct_name: typing.Optional[str]):
     ctx["_s"] = s
 
     # Construct the serialization functions using the same hack NamedTuple uses
-    fnsrc = inspect.cleandoc(
-        f"""
+    fnsrc = inspect.cleandoc(f"""
         from wpiutil import wpistruct
 
         def _pack(v):
@@ -210,8 +209,7 @@ def _process_class(cls, struct_name: typing.Optional[str]):
         #        raise ValueError(f"{err_name}: error unpacking data") from e
 
         {forEachNested_stmt}
-    """
-    )
+    """)
 
     exec(fnsrc, ctx, ctx)
 
diff --git a/xrpVendordep/src/main/python/pyproject.toml b/xrpVendordep/src/main/python/pyproject.toml
index 3f200b321a..3a49610691 100644
--- a/xrpVendordep/src/main/python/pyproject.toml
+++ b/xrpVendordep/src/main/python/pyproject.toml
@@ -1,7 +1,7 @@
 [build-system]
 build-backend = "hatchling.build"
 requires = [
-    "semiwrap~=0.2.1",
+    "semiwrap~=0.2.6",
     "hatch-meson~=0.1.0",
     "hatch-robotpy~=0.2.1",
     "hatchling",
diff --git a/xrpVendordep/src/main/python/xrp/cli.py b/xrpVendordep/src/main/python/xrp/cli.py
index 0549380260..99e6acdbbc 100644
--- a/xrpVendordep/src/main/python/xrp/cli.py
+++ b/xrpVendordep/src/main/python/xrp/cli.py
@@ -6,7 +6,6 @@ import typing
 
 import wpilib
 
-
 if sys.version_info < (3, 10):
 
     def entry_points(group):