[robotpy] Mirror most other subprojects (#8208)

GitOrigin-RevId: ac60fd3cf4a24023184376687da28373d14b781a

This mirrors the robotpy files for the following projects:
- apriltag
- datalog
- hal
- ntcore
- romiVendordep
- wpilibc
- wpimath
- xrpVendordep

This excludes cscore and the halsim wrappers for at this time.

NOTE: This does not hook these projects up to the build system, just simply mirrors the files. The building will take place in a follow up PR to make it easier to review the changes necessary to build.

wpilibc/src/main/python/semiwrap/ADXL345_I2C.yml

@@ -0,0 +1,30 @@
+extra_includes:
+- networktables/NTSendableBuilder.h
+
+classes:
+  frc::ADXL345_I2C:
+    constants:
+    - frc::ADXL345_I2C::Range::kRange_2G
+    ignored_bases:
+    - wpi::SendableHelper<ADXL345_I2C>
+    enums:
+      Axes:
+      Range:
+    attributes:
+      kAddress:
+    methods:
+      ADXL345_I2C:
+      GetI2CPort:
+      GetI2CDeviceAddress:
+      SetRange:
+      GetX:
+      GetY:
+      GetZ:
+      GetAcceleration:
+      GetAccelerations:
+      InitSendable:
+  frc::ADXL345_I2C::AllAxes:
+    attributes:
+      XAxis:
+      YAxis:
+      ZAxis:

wpilibc/src/main/python/semiwrap/AddressableLED.yml

@@ -0,0 +1,44 @@
+functions:
+  format_as:
+    ignore: true
+
+classes:
+  frc::AddressableLED:
+    methods:
+      AddressableLED:
+      SetLength:
+      SetData:
+        overloads:
+          std::span<const LEDData>:
+          std::initializer_list<LEDData>:
+            ignore: true
+      SetColorOrder:
+      GetChannel:
+      SetStart:
+      GetStart:
+      SetGlobalData:
+    enums:
+      ColorOrder:
+  frc::AddressableLED::LEDData:
+    force_no_trampoline: true
+    base_qualnames:
+      HAL_AddressableLEDData: ::HAL_AddressableLEDData
+    methods:
+      LEDData:
+        overloads:
+          '':
+          int, int, int:
+            param_override:
+              _r:
+                name: r
+              _g:
+                name: g
+              _b:
+                name: b
+      SetRGB:
+      SetHSV:
+      SetLED:
+        overloads:
+          const Color&:
+          const Color8Bit&:
+

wpilibc/src/main/python/semiwrap/Alert.yml

@@ -0,0 +1,30 @@
+functions:
+  format_as:
+    ignore: true
+
+classes:
+  frc::Alert:
+    enums:
+      AlertType:
+    methods:
+      Alert:
+        overloads:
+          std::string_view, AlertType:
+          std::string_view, std::string_view, AlertType:
+      Set:
+      Get:
+      SetText:
+      GetText:
+      GetType:
+    inline_code: |
+      .def("close", [](frc::Alert &self) {
+        py::gil_scoped_release release;
+        self.Set(false);
+      }, py::doc("Disables the alert"))
+      .def("__enter__", [](frc::Alert &self) -> frc::Alert& {
+        return self;
+      })
+      .def("__exit__", [](frc::Alert &self, py::args args) {
+        py::gil_scoped_release release;
+        self.Set(false);
+      })

wpilibc/src/main/python/semiwrap/AnalogAccelerometer.yml

@@ -0,0 +1,18 @@
+extra_includes:
+- wpi/sendable/SendableBuilder.h
+
+classes:
+  frc::AnalogAccelerometer:
+    ignored_bases:
+    - wpi::SendableHelper<AnalogAccelerometer>
+    methods:
+      AnalogAccelerometer:
+        overloads:
+          int:
+          AnalogInput*:
+            ignore: true
+          std::shared_ptr<AnalogInput>:
+      GetAcceleration:
+      SetSensitivity:
+      SetZero:
+      InitSendable:

wpilibc/src/main/python/semiwrap/AnalogEncoder.yml

@@ -0,0 +1,28 @@
+extra_includes:
+- wpi/sendable/SendableBuilder.h
+- frc/AnalogInput.h
+
+classes:
+  frc::AnalogEncoder:
+    ignored_bases:
+    - wpi::SendableHelper<AnalogEncoder>
+    methods:
+      AnalogEncoder:
+        overloads:
+          int:
+          AnalogInput&:
+            ignore: true
+          AnalogInput*:
+            ignore: true
+          std::shared_ptr<AnalogInput>:
+          int, double, double:
+          AnalogInput&, double, double:
+            ignore: true
+          AnalogInput*, double, double:
+            ignore: true
+          std::shared_ptr<AnalogInput>, double, double:
+      Get:
+      GetChannel:
+      SetVoltagePercentageRange:
+      SetInverted:
+      InitSendable:

wpilibc/src/main/python/semiwrap/AnalogGyro.yml

@@ -0,0 +1,29 @@
+extra_includes:
+- wpi/sendable/SendableBuilder.h
+- frc/AnalogInput.h
+
+classes:
+  frc::AnalogGyro:
+    ignored_bases:
+    - wpi::SendableHelper<AnalogGyro>
+    methods:
+      AnalogGyro:
+        overloads:
+          int:
+          AnalogInput*:
+            ignore: true
+          std::shared_ptr<AnalogInput>:
+          int, int, double:
+          std::shared_ptr<AnalogInput>, int, double:
+      GetAngle:
+      GetRate:
+      GetCenter:
+      GetOffset:
+      SetSensitivity:
+      SetDeadband:
+      Reset:
+      InitGyro:
+      Calibrate:
+      GetRotation2d:
+      GetAnalogInput:
+      InitSendable:

wpilibc/src/main/python/semiwrap/AnalogInput.yml

@@ -0,0 +1,30 @@
+extra_includes:
+- wpi/sendable/SendableBuilder.h
+
+classes:
+  frc::AnalogInput:
+    ignored_bases:
+    - wpi::SendableHelper<AnalogInput>
+    methods:
+      AnalogInput:
+      GetValue:
+      GetAverageValue:
+      GetVoltage:
+      GetAverageVoltage:
+      GetChannel:
+      SetAverageBits:
+      GetAverageBits:
+      SetOversampleBits:
+      GetOversampleBits:
+      GetLSBWeight:
+      GetOffset:
+      SetSampleRate:
+      GetSampleRate:
+      SetSimDevice:
+      InitSendable:
+
+inline_code: |
+  cls_AnalogInput
+    .def("__repr__", [](const AnalogInput &self) {
+      return py::str("<AnalogInput {}>").format(self.GetChannel());
+    });

wpilibc/src/main/python/semiwrap/AnalogPotentiometer.yml

@@ -0,0 +1,16 @@
+extra_includes:
+- wpi/sendable/SendableBuilder.h
+
+classes:
+  frc::AnalogPotentiometer:
+    ignored_bases:
+    - wpi::SendableHelper<AnalogPotentiometer>
+    methods:
+      AnalogPotentiometer:
+        overloads:
+          int, double, double:
+          AnalogInput*, double, double:
+            ignore: true
+          std::shared_ptr<AnalogInput>, double, double:
+      Get:
+      InitSendable:

wpilibc/src/main/python/semiwrap/CAN.yml

@@ -0,0 +1,20 @@
+classes:
+  frc::CAN:
+    attributes:
+      kTeamManufacturer:
+      kTeamDeviceType:
+    methods:
+      CAN:
+        overloads:
+          int, int:
+          int, int, int, int:
+      WritePacket:
+      WritePacketNoError:
+      WritePacketRepeating:
+      WritePacketRepeatingNoError:
+      WriteRTRFrame:
+      WriteRTRFrameNoError:
+      StopPacketRepeating:
+      ReadPacketNew:
+      ReadPacketLatest:
+      ReadPacketTimeout:

wpilibc/src/main/python/semiwrap/Color.yml

@@ -0,0 +1,191 @@
+extra_includes:
+- pybind11/operators.h
+
+classes:
+  frc::Color:
+    force_type_casters:
+    - wpi::ct_string
+    attributes:
+      kDenim:
+      kFirstBlue:
+      kFirstRed:
+      kAliceBlue:
+      kAntiqueWhite:
+      kAqua:
+      kAquamarine:
+      kAzure:
+      kBeige:
+      kBisque:
+      kBlack:
+      kBlanchedAlmond:
+      kBlue:
+      kBlueViolet:
+      kBrown:
+      kBurlywood:
+      kCadetBlue:
+      kChartreuse:
+      kChocolate:
+      kCoral:
+      kCornflowerBlue:
+      kCornsilk:
+      kCrimson:
+      kCyan:
+      kDarkBlue:
+      kDarkCyan:
+      kDarkGoldenrod:
+      kDarkGray:
+      kDarkGreen:
+      kDarkKhaki:
+      kDarkMagenta:
+      kDarkOliveGreen:
+      kDarkOrange:
+      kDarkOrchid:
+      kDarkRed:
+      kDarkSalmon:
+      kDarkSeaGreen:
+      kDarkSlateBlue:
+      kDarkSlateGray:
+      kDarkTurquoise:
+      kDarkViolet:
+      kDeepPink:
+      kDeepSkyBlue:
+      kDimGray:
+      kDodgerBlue:
+      kFirebrick:
+      kFloralWhite:
+      kForestGreen:
+      kFuchsia:
+      kGainsboro:
+      kGhostWhite:
+      kGold:
+      kGoldenrod:
+      kGray:
+      kGreen:
+      kGreenYellow:
+      kHoneydew:
+      kHotPink:
+      kIndianRed:
+      kIndigo:
+      kIvory:
+      kKhaki:
+      kLavender:
+      kLavenderBlush:
+      kLawnGreen:
+      kLemonChiffon:
+      kLightBlue:
+      kLightCoral:
+      kLightCyan:
+      kLightGoldenrodYellow:
+      kLightGray:
+      kLightGreen:
+      kLightPink:
+      kLightSalmon:
+      kLightSeaGreen:
+      kLightSkyBlue:
+      kLightSlateGray:
+      kLightSteelBlue:
+      kLightYellow:
+      kLime:
+      kLimeGreen:
+      kLinen:
+      kMagenta:
+      kMaroon:
+      kMediumAquamarine:
+      kMediumBlue:
+      kMediumOrchid:
+      kMediumPurple:
+      kMediumSeaGreen:
+      kMediumSlateBlue:
+      kMediumSpringGreen:
+      kMediumTurquoise:
+      kMediumVioletRed:
+      kMidnightBlue:
+      kMintcream:
+      kMistyRose:
+      kMoccasin:
+      kNavajoWhite:
+      kNavy:
+      kOldLace:
+      kOlive:
+      kOliveDrab:
+      kOrange:
+      kOrangeRed:
+      kOrchid:
+      kPaleGoldenrod:
+      kPaleGreen:
+      kPaleTurquoise:
+      kPaleVioletRed:
+      kPapayaWhip:
+      kPeachPuff:
+      kPeru:
+      kPink:
+      kPlum:
+      kPowderBlue:
+      kPurple:
+      kRed:
+      kRosyBrown:
+      kRoyalBlue:
+      kSaddleBrown:
+      kSalmon:
+      kSandyBrown:
+      kSeaGreen:
+      kSeashell:
+      kSienna:
+      kSilver:
+      kSkyBlue:
+      kSlateBlue:
+      kSlateGray:
+      kSnow:
+      kSpringGreen:
+      kSteelBlue:
+      kTan:
+      kTeal:
+      kThistle:
+      kTomato:
+      kTurquoise:
+      kViolet:
+      kWheat:
+      kWhite:
+      kWhiteSmoke:
+      kYellow:
+      kYellowGreen:
+      red:
+        access: readonly
+      green:
+        access: readonly
+      blue:
+        access: readonly
+    methods:
+      Color:
+        overloads:
+          '':
+          double, double, double:
+            param_override:
+              r:
+                name: red
+              g:
+                name: green
+              b:
+                name: blue
+          int, int, int:
+          std::string_view:
+      FromHSV:
+      HexString:
+      operator==:
+
+inline_code: |
+  cls_Color
+    .def("__hash__", [](Color *self) -> size_t {
+      size_t h = (size_t)(
+        std::hash<double>{}(self->red)
+        ^ (std::hash<double>{}(self->green) << 1)
+        ^ (std::hash<double>{}(self->blue) << 2)
+      );
+      return h != -1 ? h : -2;
+    })
+    .def("__repr__", [](Color *self) {
+      return "Color("
+        "red=" + std::to_string(self->red) + ", "
+        "green=" + std::to_string(self->green) + ", "
+        "blue=" + std::to_string(self->blue) + ")";
+    });

wpilibc/src/main/python/semiwrap/Color8Bit.yml

@@ -0,0 +1,46 @@
+extra_includes:
+- pybind11/operators.h
+
+classes:
+  frc::Color8Bit:
+    force_type_casters:
+    - wpi::ct_string
+    attributes:
+      red:
+        access: readonly
+      green:
+        access: readonly
+      blue:
+        access: readonly
+    methods:
+      Color8Bit:
+        overloads:
+          '':
+          int, int, int:
+            param_override:
+              r:
+                name: red
+              g:
+                name: green
+              b:
+                name: blue
+          const Color&:
+          std::string_view:
+      FromHexString:
+      HexString:
+      operator==:
+
+inline_code: |
+  cls_Color8Bit
+    .def("toColor", [](const Color8Bit &self) -> frc::Color {
+      return self;
+    })
+    .def("__hash__", [](Color8Bit *self) -> size_t {
+      return (self->red) | (self->green << 8) | (self->blue << 16);
+    })
+    .def("__repr__", [](Color8Bit *self) {
+      return "Color8Bit("
+        "red=" + std::to_string(self->red) + ", "
+        "green=" + std::to_string(self->green) + ", "
+        "blue=" + std::to_string(self->blue) + ")";
+    });

wpilibc/src/main/python/semiwrap/Compressor.yml

@@ -0,0 +1,26 @@
+extra_includes:
+- wpi/sendable/SendableBuilder.h
+- frc/Compressor.h
+- frc/Solenoid.h
+- frc/DoubleSolenoid.h
+
+classes:
+  frc::Compressor:
+    ignored_bases:
+    - wpi::SendableHelper<Compressor>
+    methods:
+      Compressor:
+        overloads:
+          int, PneumaticsModuleType:
+          int, int, PneumaticsModuleType:
+      IsEnabled:
+      GetPressureSwitchValue:
+      GetCurrent:
+      GetAnalogVoltage:
+      GetPressure:
+      Disable:
+      EnableDigital:
+      EnableAnalog:
+      EnableHybrid:
+      GetConfigType:
+      InitSendable:

wpilibc/src/main/python/semiwrap/CompressorConfigType.yml

@@ -0,0 +1,2 @@
+enums:
+  CompressorConfigType:

wpilibc/src/main/python/semiwrap/CounterBase.yml

@@ -0,0 +1,15 @@
+defaults:
+  subpackage: interfaces
+
+classes:
+  frc::CounterBase:
+    enums:
+      EncodingType:
+    methods:
+      CounterBase:
+      Get:
+      Reset:
+      GetPeriod:
+      SetMaxPeriod:
+      GetStopped:
+      GetDirection:

wpilibc/src/main/python/semiwrap/DMC60.yml

@@ -0,0 +1,7 @@
+extra_includes:
+- wpi/sendable/SendableBuilder.h
+
+classes:
+  frc::DMC60:
+    methods:
+      DMC60:

wpilibc/src/main/python/semiwrap/DSControlWord.yml

@@ -0,0 +1,24 @@
+classes:
+  frc::DSControlWord:
+    methods:
+      DSControlWord:
+      IsEnabled:
+        no_release_gil: true
+      IsDisabled:
+        no_release_gil: true
+      IsEStopped:
+        no_release_gil: true
+      IsAutonomous:
+        no_release_gil: true
+      IsAutonomousEnabled:
+        no_release_gil: true
+      IsTeleop:
+        no_release_gil: true
+      IsTeleopEnabled:
+        no_release_gil: true
+      IsTest:
+        no_release_gil: true
+      IsDSAttached:
+        no_release_gil: true
+      IsFMSAttached:
+        no_release_gil: true

wpilibc/src/main/python/semiwrap/DataLogManager.yml

@@ -0,0 +1,14 @@
+extra_includes:
+- wpi/datalog/DataLog.h
+
+classes:
+  frc::DataLogManager:
+    methods:
+      Start:
+      Stop:
+      Log:
+      GetLog:
+        return_value_policy: reference
+      GetLogDir:
+      LogNetworkTables:
+      LogConsoleOutput:

wpilibc/src/main/python/semiwrap/DigitalInput.yml

@@ -0,0 +1,13 @@
+extra_includes:
+- wpi/sendable/SendableBuilder.h
+
+classes:
+  frc::DigitalInput:
+    ignored_bases:
+    - wpi::SendableHelper<DigitalInput>
+    methods:
+      DigitalInput:
+      Get:
+      GetChannel:
+      SetSimDevice:
+      InitSendable:

wpilibc/src/main/python/semiwrap/DigitalOutput.yml

@@ -0,0 +1,21 @@
+extra_includes:
+- wpi/sendable/SendableBuilder.h
+
+classes:
+  frc::DigitalOutput:
+    ignored_bases:
+    - wpi::SendableHelper<DigitalOutput>
+    methods:
+      DigitalOutput:
+      Set:
+      Get:
+      GetChannel:
+      Pulse:
+      IsPulsing:
+      SetPWMRate:
+      EnablePPS:
+      EnablePWM:
+      DisablePWM:
+      UpdateDutyCycle:
+      SetSimDevice:
+      InitSendable:

wpilibc/src/main/python/semiwrap/DoubleSolenoid.yml

@@ -0,0 +1,22 @@
+extra_includes:
+- wpi/sendable/SendableBuilder.h
+
+classes:
+  frc::DoubleSolenoid:
+    ignored_bases:
+    - wpi::SendableHelper<DoubleSolenoid>
+    enums:
+      Value:
+    methods:
+      DoubleSolenoid:
+        overloads:
+          int, PneumaticsModuleType, int, int:
+          int, int, PneumaticsModuleType, int, int:
+      Set:
+      Get:
+      Toggle:
+      GetFwdChannel:
+      GetRevChannel:
+      IsFwdSolenoidDisabled:
+      IsRevSolenoidDisabled:
+      InitSendable:

wpilibc/src/main/python/semiwrap/DriverStation.yml

@@ -0,0 +1,68 @@
+extra_includes:
+- rpy/ControlWord.h
+- wpi/datalog/DataLog.h
+
+classes:
+  frc::DriverStation:
+    attributes:
+      kJoystickPorts:
+    enums:
+      Alliance:
+      MatchType:
+      POVDirection:
+    methods:
+      GetStickButton:
+      GetStickButtonPressed:
+      GetStickButtonReleased:
+      GetStickAxis:
+      GetStickPOV:
+      GetStickButtons:
+      GetStickAxisCount:
+      GetStickPOVCount:
+      GetStickButtonCount:
+      GetJoystickType:
+      GetJoystickName:
+      GetJoystickAxisType:
+      IsJoystickConnected:
+      IsEnabled:
+      IsDisabled:
+      IsEStopped:
+      IsAutonomous:
+      IsAutonomousEnabled:
+      IsTeleop:
+      IsTeleopEnabled:
+      IsTest:
+      IsTestEnabled:
+      IsDSAttached:
+      IsFMSAttached:
+      GetGameSpecificMessage:
+      GetEventName:
+      GetMatchType:
+      GetMatchNumber:
+      GetReplayNumber:
+      GetAlliance:
+      GetLocation:
+      WaitForDsConnection:
+      GetMatchTime:
+      GetBatteryVoltage:
+      RefreshData:
+      ProvideRefreshedDataEventHandle:
+      RemoveRefreshedDataEventHandle:
+      SilenceJoystickConnectionWarning:
+      IsJoystickConnectionWarningSilenced:
+      StartDataLog:
+      GetAngle:
+      GetJoystickIsGamepad:
+    inline_code: |
+      .def("getControlState",
+        [](DriverStation *self) -> std::tuple<bool, bool, bool> {
+          py::gil_scoped_release release;
+          return rpy::GetControlState();
+        },
+        py::doc("More efficient way to determine what state the robot is in.\n"
+                "\n"
+                ":returns: booleans representing enabled, isautonomous, istest\n"
+                "\n"
+                ".. versionadded:: 2019.2.1\n"
+                "\n"
+                ".. note:: This function only exists in RobotPy\n"))

wpilibc/src/main/python/semiwrap/DriverStationModeThread.yml

@@ -0,0 +1,9 @@
+classes:
+  frc::internal::DriverStationModeThread:
+    rename: _DriverStationModeThread
+    methods:
+      DriverStationModeThread:
+      InAutonomous:
+      InDisabled:
+      InTeleop:
+      InTest:

wpilibc/src/main/python/semiwrap/DutyCycle.yml

@@ -0,0 +1,26 @@
+extra_includes:
+- wpi/sendable/SendableBuilder.h
+
+classes:
+  frc::DutyCycle:
+    ignored_bases:
+    - wpi::SendableHelper<DutyCycle>
+    methods:
+      DutyCycle:
+        overloads:
+          DigitalSource&:
+            ignore: true
+          DigitalSource*:
+            ignore: true
+          std::shared_ptr<DigitalSource>:
+      GetFrequency:
+      GetOutput:
+      GetHighTime:
+      GetSourceChannel:
+      InitSendable:
+
+inline_code: |
+  cls_DutyCycle
+    .def("__repr__", [](const DutyCycle &self) {
+      return py::str("<DutyCycle {}>").format(self.GetSourceChannel());
+    });

wpilibc/src/main/python/semiwrap/DutyCycleEncoder.yml

@@ -0,0 +1,38 @@
+extra_includes:
+- wpi/sendable/SendableBuilder.h
+- frc/DutyCycle.h
+
+classes:
+  frc::DutyCycleEncoder:
+    ignored_bases:
+    - wpi::SendableHelper<DutyCycleEncoder>
+    methods:
+      DutyCycleEncoder:
+        overloads:
+          int:
+          DutyCycle&:
+            ignore: true
+          DutyCycle*:
+            ignore: true
+          std::shared_ptr<DutyCycle>:
+          int, double, double:
+          DutyCycle&, double, double:
+            ignore: true
+          DutyCycle*, double, double:
+            ignore: true
+          std::shared_ptr<DutyCycle>, double, double:
+      GetFrequency:
+      IsConnected:
+      SetConnectedFrequencyThreshold:
+      Get:
+      SetDutyCycleRange:
+      GetSourceChannel:
+      SetAssumedFrequency:
+      SetInverted:
+      InitSendable:
+
+inline_code: |
+  cls_DutyCycleEncoder
+    .def("__repr__", [](const DutyCycleEncoder &self) {
+      return py::str("<DutyCycleEncoder {}>").format(self.GetSourceChannel());
+    });

wpilibc/src/main/python/semiwrap/Encoder.yml

@@ -0,0 +1,43 @@
+extra_includes:
+- wpi/sendable/SendableBuilder.h
+
+classes:
+  frc::Encoder:
+    ignored_bases:
+    - wpi::SendableHelper<Encoder>
+    typealias:
+    - frc::Encoder::EncodingType
+    methods:
+      Encoder:
+        overloads:
+          int, int, bool, EncodingType:
+            param_override:
+              encodingType:
+                default: frc::Encoder::EncodingType::k4X
+          DigitalSource*, DigitalSource*, bool, EncodingType:
+            ignore: true
+          DigitalSource&, DigitalSource&, bool, EncodingType:
+            ignore: true
+          std::shared_ptr<DigitalSource>, std::shared_ptr<DigitalSource>, bool, EncodingType:
+            param_override:
+              encodingType:
+                default: frc::Encoder::EncodingType::k4X
+      Get:
+      Reset:
+      GetPeriod:
+      SetMaxPeriod:
+      GetStopped:
+      GetDirection:
+      GetRaw:
+      GetEncodingScale:
+      GetDistance:
+      GetRate:
+      SetMinRate:
+      SetDistancePerPulse:
+      GetDistancePerPulse:
+      SetReverseDirection:
+      SetSamplesToAverage:
+      GetSamplesToAverage:
+      SetSimDevice:
+      GetFPGAIndex:
+      InitSendable:

wpilibc/src/main/python/semiwrap/Errors.yml

@@ -0,0 +1,13 @@
+functions:
+  GetErrorMessage:
+  ReportErrorV:
+    ignore: true
+  ReportError:
+    ignore: true
+  MakeErrorV:
+    ignore: true
+  MakeError:
+    ignore: true
+classes:
+  frc::RuntimeError:
+    ignore: true

wpilibc/src/main/python/semiwrap/Field2d.yml

@@ -0,0 +1,19 @@
+extra_includes:
+- networktables/NTSendableBuilder.h
+
+classes:
+  frc::Field2d:
+    ignored_bases:
+    - wpi::SendableHelper<Field2d>
+    methods:
+      Field2d:
+      SetRobotPose:
+        overloads:
+          const Pose2d&:
+          units::meter_t, units::meter_t, Rotation2d:
+      GetRobotPose:
+      GetObject:
+        return_value_policy: reference_internal
+      GetRobotObject:
+        return_value_policy: reference_internal
+      InitSendable:

wpilibc/src/main/python/semiwrap/FieldObject2d.yml

@@ -0,0 +1,25 @@
+extra_includes:
+- frc/trajectory/Trajectory.h
+
+classes:
+  frc::FieldObject2d:
+    nodelete: true
+    methods:
+      FieldObject2d:
+        ignore: true
+      SetPose:
+        overloads:
+          const Pose2d&:
+          units::meter_t, units::meter_t, Rotation2d:
+      GetPose:
+      SetPoses:
+        overloads:
+          std::span<const Pose2d>:
+          std::initializer_list<Pose2d>:
+            ignore: true
+      SetTrajectory:
+      GetPoses:
+        overloads:
+          '[const]':
+          wpi::SmallVectorImpl<Pose2d>& [const]:
+            ignore: true

wpilibc/src/main/python/semiwrap/Filesystem.yml

@@ -0,0 +1,7 @@
+functions:
+  GetOperatingDirectory:
+  GetDeployDirectory:
+  GetOperatingDirectoryFs:
+    ignore: true
+  GetDeployDirectoryFs:
+    ignore: true

wpilibc/src/main/python/semiwrap/GenericHID.yml

@@ -0,0 +1,54 @@
+defaults:
+  subpackage: interfaces
+
+extra_includes:
+- frc/DriverStation.h
+- frc/event/BooleanEvent.h
+
+classes:
+  frc::GenericHID:
+    enums:
+      RumbleType:
+      HIDType:
+    methods:
+      GenericHID:
+      GetRawButton:
+      GetRawButtonPressed:
+      GetRawButtonReleased:
+      Button:
+      GetRawAxis:
+      GetPOV:
+      POV:
+        overloads:
+          DriverStation::POVDirection, EventLoop* [const]:
+          int, DriverStation::POVDirection, EventLoop* [const]:
+      POVUp:
+      POVUpRight:
+      POVRight:
+      POVDownRight:
+      POVDown:
+      POVDownLeft:
+      POVLeft:
+      POVUpLeft:
+      POVCenter:
+      AxisLessThan:
+      AxisGreaterThan:
+      GetAxisCount:
+      GetPOVCount:
+      GetButtonCount:
+      IsConnected:
+      GetType:
+      GetName:
+      GetAxisType:
+      GetPort:
+      SetOutput:
+      SetOutputs:
+      SetRumble:
+
+inline_code: |
+  cls_GenericHID
+    .def("__repr__", [](py::handle self) {
+      py::object type_name = self.get_type().attr("__qualname__");
+      int port = self.cast<GenericHID&>().GetPort();
+      return py::str("<{} {}>").format(type_name, port);
+    });

wpilibc/src/main/python/semiwrap/I2C.yml

@@ -0,0 +1,26 @@
+classes:
+  frc::I2C:
+    enums:
+      Port:
+    methods:
+      I2C:
+      GetPort:
+      GetDeviceAddress:
+      Transaction:
+        buffers:
+        - {type: IN, src: dataToSend, len: sendSize}
+        - {type: OUT, src: dataReceived, len: receiveSize}
+      AddressOnly:
+      Write:
+      WriteBulk:
+        buffers:
+        - {type: IN, src: data, len: count}
+      Read:
+        buffers:
+        - {type: OUT, src: data, len: count}
+      ReadOnly:
+        buffers:
+        - {type: OUT, src: buffer, len: count}
+      VerifySensor:
+        buffers:
+        - {type: IN, src: expected, len: count}

wpilibc/src/main/python/semiwrap/IterativeRobotBase.yml

@@ -0,0 +1,66 @@
+classes:
+  frc::IterativeRobotBase:
+    methods:
+      RobotInit:
+      DriverStationConnected:
+      DisabledInit:
+      AutonomousInit:
+      TeleopInit:
+      TestInit:
+      RobotPeriodic:
+      DisabledPeriodic:
+      AutonomousPeriodic:
+      TeleopPeriodic:
+      TestPeriodic:
+      IterativeRobotBase:
+        overloads:
+          double:
+            ignore: true
+          units::second_t:
+      LoopFunc:
+      SimulationInit:
+        internal: true
+      SimulationPeriodic:
+        internal: true
+      DisabledExit:
+      AutonomousExit:
+      TeleopExit:
+      TestExit:
+      SetNetworkTablesFlushEnabled:
+      GetPeriod:
+      PrintWatchdogEpochs:
+    doc: |
+      IterativeRobotBase implements a specific type of robot program framework,
+      extending the RobotBase class.
+
+      The IterativeRobotBase class does not implement StartCompetition(), so it
+      should not be used by teams directly.
+
+      This class provides the following functions which are called by the main
+      loop, StartCompetition(), at the appropriate times:
+
+      RobotInit() -- provide for initialization at robot power-on
+
+      Init() functions -- each of the following functions is called once when the
+      appropriate mode is entered:
+
+      - DisabledInit() -- called each and every time disabled is entered from another mode
+      - AutonomousInit() -- called each and every time autonomous is entered from another mode
+      - TeleopInit() -- called each and every time teleop is entered from another mode
+      - TestInit() -- called each and every time test is entered from another mode
+
+      Periodic() functions -- each of these functions is called on an interval:
+
+      - RobotPeriodic()
+      - DisabledPeriodic()
+      - AutonomousPeriodic()
+      - TeleopPeriodic()
+      - TestPeriodic()
+
+      Exit() functions -- each of the following functions is called once when the
+      appropriate mode is exited:
+
+      - DisabledExit() -- called each and every time disabled is exited
+      - AutonomousExit() -- called each and every time autonomous is exited
+      - TeleopExit() -- called each and every time teleop is exited
+      - TestExit() -- called each and every time test is exited

wpilibc/src/main/python/semiwrap/Jaguar.yml

@@ -0,0 +1,7 @@
+extra_includes:
+- wpi/sendable/SendableBuilder.h
+
+classes:
+  frc::Jaguar:
+    methods:
+      Jaguar:

wpilibc/src/main/python/semiwrap/Joystick.yml

@@ -0,0 +1,46 @@
+extra_includes:
+- frc/DriverStation.h
+
+classes:
+  frc::Joystick:
+    attributes:
+      kDefaultXChannel:
+      kDefaultYChannel:
+      kDefaultZChannel:
+      kDefaultTwistChannel:
+      kDefaultThrottleChannel:
+    enums:
+      AxisType:
+      ButtonType:
+    methods:
+      Joystick:
+      SetXChannel:
+      SetYChannel:
+      SetZChannel:
+      SetTwistChannel:
+      SetThrottleChannel:
+      GetXChannel:
+      GetYChannel:
+      GetZChannel:
+      GetTwistChannel:
+      GetThrottleChannel:
+      GetX:
+      GetY:
+      GetZ:
+      GetTwist:
+      GetThrottle:
+      GetTrigger:
+      GetTriggerPressed:
+      GetTriggerReleased:
+      Trigger:
+      GetTop:
+      GetTopPressed:
+      GetTopReleased:
+      Top:
+      GetMagnitude:
+      GetDirection:
+        rename: getDirectionRadians
+    inline_code: |
+      .def("getDirectionDegrees", [](const Joystick &self) -> units::degree_t {
+        return self.GetDirection();
+      })

wpilibc/src/main/python/semiwrap/Koors40.yml

@@ -0,0 +1,4 @@
+classes:
+  frc::Koors40:
+    methods:
+      Koors40:

wpilibc/src/main/python/semiwrap/LEDPattern.yml

@@ -0,0 +1,44 @@
+classes:
+  frc::LEDPattern:
+    enums:
+      GradientType:
+    methods:
+      "Off":
+      LEDPattern:
+      ApplyTo:
+        overloads:
+          std::span<frc::AddressableLED::LEDData> [const]:
+          LEDReader, std::function<void (int, frc::Color)> [const]:
+          std::span<frc::AddressableLED::LEDData>, std::function<void (int, frc::Color)> [const]:
+      Reversed:
+      OffsetBy:
+      ScrollAtRelativeSpeed:
+      ScrollAtAbsoluteSpeed:
+      Blink:
+        overloads:
+          units::second_t, units::second_t:
+          units::second_t:
+      SynchronizedBlink:
+      Breathe:
+      OverlayOn:
+      Blend:
+      Mask:
+      AtBrightness:
+      Solid:
+      ProgressMaskLayer:
+      Steps:
+        overloads:
+          std::span<const std::pair<double, Color>>:
+          std::initializer_list<std::pair<double, Color>>:
+            ignore: true
+      Gradient:
+        overloads:
+          GradientType, std::span<const Color>:
+          GradientType, std::initializer_list<Color>:
+            ignore: true
+      Rainbow:
+      MapIndex:
+  frc::LEDPattern::LEDReader:
+    methods:
+      LEDReader:
+      size:

wpilibc/src/main/python/semiwrap/Mechanism2d.yml

@@ -0,0 +1,13 @@
+extra_includes:
+- wpi/sendable/SendableBuilder.h
+
+classes:
+  frc::Mechanism2d:
+    ignored_bases:
+    - wpi::SendableHelper<Mechanism2d>
+    methods:
+      Mechanism2d:
+      GetRoot:
+        return_value_policy: reference_internal
+      SetBackgroundColor:
+      InitSendable:

wpilibc/src/main/python/semiwrap/MechanismLigament2d.yml

@@ -0,0 +1,14 @@
+classes:
+  frc::MechanismLigament2d:
+    methods:
+      MechanismLigament2d:
+        ignore: true
+      SetColor:
+      GetColor:
+      SetLength:
+      GetLength:
+      SetAngle:
+      GetAngle:
+      SetLineWeight:
+      GetLineWeight:
+      UpdateEntries:

wpilibc/src/main/python/semiwrap/MechanismObject2d.yml

@@ -0,0 +1,31 @@
+extra_includes:
+- frc/smartdashboard/MechanismLigament2d.h
+
+classes:
+  frc::MechanismObject2d:
+    force_type_casters:
+    - units::degree_t
+    attributes:
+      m_mutex:
+        ignore: true
+    methods:
+      GetName:
+      Append:
+        ignore: true
+      MechanismObject2d:
+        ignore: true
+      UpdateEntries:
+
+# keep this in sync with MechanismRoot2d.yml
+inline_code: |-
+  cls_MechanismObject2d
+    .def("appendLigament", [](MechanismObject2d *self,
+      std::string_view name, double length, units::degree_t angle,
+      double lineWidth, const frc::Color8Bit& color) {
+        return self->Append<MechanismLigament2d>(name, length, angle, lineWidth, color);
+      },
+      py::arg("name"), py::arg("length"), py::arg("angle"),
+      py::arg("lineWidth") = 6, py::arg("color") = frc::Color8Bit{235, 137, 52},
+      "Append a ligament node",
+      py::return_value_policy::reference_internal)
+    ;

wpilibc/src/main/python/semiwrap/MechanismRoot2d.yml

@@ -0,0 +1,30 @@
+extra_includes:
+- frc/smartdashboard/MechanismLigament2d.h
+
+classes:
+  frc::MechanismRoot2d:
+    force_type_casters:
+    - units::degree_t
+    methods:
+      MechanismRoot2d:
+        ignore: true
+      SetPosition:
+      GetName:
+        ignore: true
+      Append:
+        ignore: true
+
+# keep this in sync with MechanismRoot2d.h
+inline_code: |-
+  cls_MechanismRoot2d
+    .def("getName", [](MechanismRoot2d *self) { return self->GetName(); }, release_gil())
+    .def("appendLigament", [](MechanismRoot2d *self,
+      std::string_view name, double length, units::degree_t angle,
+      double lineWidth, const frc::Color8Bit& color) {
+        return self->Append<MechanismLigament2d>(name, length, angle, lineWidth, color);
+      },
+      py::arg("name"), py::arg("length"), py::arg("angle"),
+      py::arg("lineWidth") = 6, py::arg("color") = frc::Color8Bit{235, 137, 52},
+      release_gil(), "Append a ligament node",
+      py::return_value_policy::reference_internal)
+    ;

wpilibc/src/main/python/semiwrap/MotorController.yml

@@ -0,0 +1,13 @@
+defaults:
+  subpackage: interfaces
+
+classes:
+  frc::MotorController:
+    methods:
+      Set:
+      SetVoltage:
+      Get:
+      SetInverted:
+      GetInverted:
+      Disable:
+      StopMotor:

wpilibc/src/main/python/semiwrap/MotorControllerGroup.yml

@@ -0,0 +1,43 @@
+extra_includes:
+- wpi/sendable/SendableBuilder.h
+- pybind11/stl.h
+
+classes:
+  frc::PyMotorControllerGroup:
+    rename: MotorControllerGroup
+    ignored_bases:
+    - wpi::SendableHelper<PyMotorControllerGroup>
+    methods:
+      PyMotorControllerGroup:
+        cpp_code: |
+          [](py::args args) {
+            if (args.size() < 1) {
+              throw py::type_error("requires 1+ arguments");
+            }
+            std::vector<std::shared_ptr<MotorController>> v;
+            v.reserve(args.size());
+            int i = 1;
+            for (auto &arg: args) {
+              try {
+                auto mc = arg.cast<std::shared_ptr<MotorController>>();
+                if (!mc) throw py::cast_error();
+                v.push_back(mc);
+              } catch (py::cast_error &e) {
+                throw py::type_error(py::str("Argument {} must be a MotorController (got '{}')").format(i, py::repr(arg)));
+              }
+              i++;
+            }
+            return std::make_shared<PyMotorControllerGroup>(std::move(v));
+          }
+        keepalive: []
+        param_override:
+          args:
+            ignore: true
+      Set:
+      SetVoltage:
+      Get:
+      SetInverted:
+      GetInverted:
+      Disable:
+      StopMotor:
+      InitSendable:

wpilibc/src/main/python/semiwrap/MotorSafety.yml

@@ -0,0 +1,17 @@
+extra_includes:
+- wpi/SmallString.h
+
+classes:
+  frc::MotorSafety:
+    methods:
+      MotorSafety:
+      Feed:
+      SetExpiration:
+      GetExpiration:
+      IsAlive:
+      SetSafetyEnabled:
+      IsSafetyEnabled:
+      Check:
+      CheckMotors:
+      StopMotor:
+      GetDescription:

wpilibc/src/main/python/semiwrap/Notifier.yml

@@ -0,0 +1,21 @@
+classes:
+  frc::PyNotifier:
+    rename: Notifier
+    methods:
+      PyNotifier:
+        overloads:
+          std::function<void ( )>:
+      SetName:
+      SetCallback:
+      StartSingle:
+        overloads:
+          double:
+            ignore: true
+          units::second_t:
+      StartPeriodic:
+        overloads:
+          double:
+            ignore: true
+          units::second_t:
+      Stop:
+      SetHALThreadPriority:

wpilibc/src/main/python/semiwrap/OnboardIMU.yml

@@ -0,0 +1,20 @@
+classes:
+  frc::OnboardIMU:
+    enums:
+      MountOrientation:
+    methods:
+      OnboardIMU:
+      GetYaw:
+      ResetYaw:
+      GetRotation2d:
+      GetRotation3d:
+      GetQuaternion:
+      GetAngleX:
+      GetAngleY:
+      GetAngleZ:
+      GetGyroRateX:
+      GetGyroRateY:
+      GetGyroRateZ:
+      GetAccelX:
+      GetAccelY:
+      GetAccelZ:

wpilibc/src/main/python/semiwrap/PS4Controller.yml

@@ -0,0 +1,100 @@
+extra_includes:
+- wpi/sendable/SendableBuilder.h
+- frc/event/BooleanEvent.h
+
+classes:
+  frc::PS4Controller:
+    ignored_bases:
+    - wpi::SendableHelper<PS4Controller>
+    methods:
+      PS4Controller:
+      GetLeftX:
+      GetRightX:
+      GetLeftY:
+      GetRightY:
+      GetL2Axis:
+      GetR2Axis:
+      GetSquareButton:
+      GetSquareButtonPressed:
+      GetSquareButtonReleased:
+      Square:
+      GetCrossButton:
+      GetCrossButtonPressed:
+      GetCrossButtonReleased:
+      Cross:
+      GetCircleButton:
+      GetCircleButtonPressed:
+      GetCircleButtonReleased:
+      Circle:
+      GetTriangleButton:
+      GetTriangleButtonPressed:
+      GetTriangleButtonReleased:
+      Triangle:
+      GetL1Button:
+      GetL1ButtonPressed:
+      GetL1ButtonReleased:
+      L1:
+      GetR1Button:
+      GetR1ButtonPressed:
+      GetR1ButtonReleased:
+      R1:
+      GetL2Button:
+      GetL2ButtonPressed:
+      GetL2ButtonReleased:
+      L2:
+      GetR2Button:
+      GetR2ButtonPressed:
+      GetR2ButtonReleased:
+      R2:
+      GetShareButton:
+      GetShareButtonPressed:
+      GetShareButtonReleased:
+      Share:
+      GetOptionsButton:
+      GetOptionsButtonPressed:
+      GetOptionsButtonReleased:
+      Options:
+      GetL3Button:
+      GetL3ButtonPressed:
+      GetL3ButtonReleased:
+      L3:
+      GetR3Button:
+      GetR3ButtonPressed:
+      GetR3ButtonReleased:
+      R3:
+      GetPSButton:
+      GetPSButtonPressed:
+      GetPSButtonReleased:
+      PS:
+      GetTouchpad:
+      GetTouchpadPressed:
+      GetTouchpadReleased:
+      Touchpad:
+      GetTouchpadButton:
+      GetTouchpadButtonPressed:
+      GetTouchpadButtonReleased:
+      InitSendable:
+  frc::PS4Controller::Button:
+    attributes:
+      kSquare:
+      kCross:
+      kCircle:
+      kTriangle:
+      kL1:
+      kR1:
+      kL2:
+      kR2:
+      kShare:
+      kOptions:
+      kL3:
+      kR3:
+      kPS:
+      kTouchpad:
+  frc::PS4Controller::Axis:
+    attributes:
+      kLeftX:
+      kLeftY:
+      kRightX:
+      kRightY:
+      kL2:
+      kR2:

wpilibc/src/main/python/semiwrap/PS5Controller.yml

@@ -0,0 +1,99 @@
+extra_includes:
+- wpi/sendable/SendableBuilder.h
+
+classes:
+  frc::PS5Controller:
+    ignored_bases:
+    - wpi::SendableHelper<PS5Controller>
+    methods:
+      PS5Controller:
+      GetLeftX:
+      GetRightX:
+      GetLeftY:
+      GetRightY:
+      GetL2Axis:
+      GetR2Axis:
+      GetSquareButton:
+      GetSquareButtonPressed:
+      GetSquareButtonReleased:
+      Square:
+      GetCrossButton:
+      GetCrossButtonPressed:
+      GetCrossButtonReleased:
+      Cross:
+      GetCircleButton:
+      GetCircleButtonPressed:
+      GetCircleButtonReleased:
+      Circle:
+      GetTriangleButton:
+      GetTriangleButtonPressed:
+      GetTriangleButtonReleased:
+      Triangle:
+      GetL1Button:
+      GetL1ButtonPressed:
+      GetL1ButtonReleased:
+      L1:
+      GetR1Button:
+      GetR1ButtonPressed:
+      GetR1ButtonReleased:
+      R1:
+      GetL2Button:
+      GetL2ButtonPressed:
+      GetL2ButtonReleased:
+      L2:
+      GetR2Button:
+      GetR2ButtonPressed:
+      GetR2ButtonReleased:
+      R2:
+      GetCreateButton:
+      GetCreateButtonPressed:
+      GetCreateButtonReleased:
+      Create:
+      GetOptionsButton:
+      GetOptionsButtonPressed:
+      GetOptionsButtonReleased:
+      Options:
+      GetL3Button:
+      GetL3ButtonPressed:
+      GetL3ButtonReleased:
+      L3:
+      GetR3Button:
+      GetR3ButtonPressed:
+      GetR3ButtonReleased:
+      R3:
+      GetPSButton:
+      GetPSButtonPressed:
+      GetPSButtonReleased:
+      PS:
+      GetTouchpad:
+      GetTouchpadPressed:
+      GetTouchpadReleased:
+      Touchpad:
+      GetTouchpadButton:
+      GetTouchpadButtonPressed:
+      GetTouchpadButtonReleased:
+      InitSendable:
+  frc::PS5Controller::Button:
+    attributes:
+      kSquare:
+      kCross:
+      kCircle:
+      kTriangle:
+      kL1:
+      kR1:
+      kL2:
+      kR2:
+      kCreate:
+      kOptions:
+      kL3:
+      kR3:
+      kPS:
+      kTouchpad:
+  frc::PS5Controller::Axis:
+    attributes:
+      kLeftX:
+      kLeftY:
+      kRightX:
+      kRightY:
+      kL2:
+      kR2:

wpilibc/src/main/python/semiwrap/PWM.yml

@@ -0,0 +1,28 @@
+extra_includes:
+- wpi/sendable/SendableBuilder.h
+- frc/AddressableLED.h
+- wpi/SmallString.h
+
+classes:
+  frc::PWM:
+    ignored_bases:
+    - wpi::SendableHelper<PWM>
+    enums:
+      OutputPeriod:
+    methods:
+      PWM:
+      SetPulseTime:
+      GetPulseTime:
+      SetDisabled:
+      GetChannel:
+      InitSendable:
+      SetOutputPeriod:
+      SetSimDevice:
+
+inline_code: |
+  cls_PWM
+    .def("__repr__", [](py::handle self) {
+      py::object type_name = self.get_type().attr("__qualname__");
+      int channel = self.cast<PWM&>().GetChannel();
+      return py::str("<{} {}>").format(type_name, channel);
+    });

wpilibc/src/main/python/semiwrap/PWMMotorController.yml

@@ -0,0 +1,33 @@
+extra_includes:
+- wpi/sendable/SendableBuilder.h
+
+classes:
+  frc::PWMMotorController:
+    ignored_bases:
+    - wpi::SendableHelper<PWMMotorController>
+    attributes:
+      m_pwm:
+    methods:
+      Set:
+      SetVoltage:
+      Get:
+      GetVoltage:
+      SetInverted:
+      GetInverted:
+      Disable:
+      StopMotor:
+      GetDescription:
+      GetChannel:
+      EnableDeadbandElimination:
+      AddFollower:
+        overloads:
+          PWMMotorController&:
+            keepalive:
+            - [1, 2]
+          T&&:
+            ignore: true
+      PWMMotorController:
+      InitSendable:
+      SetSpeed:
+      GetSpeed:
+      SetBounds:

wpilibc/src/main/python/semiwrap/PWMSparkFlex.yml

@@ -0,0 +1,4 @@
+classes:
+  frc::PWMSparkFlex:
+    methods:
+      PWMSparkFlex:

wpilibc/src/main/python/semiwrap/PWMSparkMax.yml

@@ -0,0 +1,7 @@
+extra_includes:
+- wpi/sendable/SendableBuilder.h
+
+classes:
+  frc::PWMSparkMax:
+    methods:
+      PWMSparkMax:

wpilibc/src/main/python/semiwrap/PWMTalonFX.yml

@@ -0,0 +1,7 @@
+extra_includes:
+- wpi/sendable/SendableBuilder.h
+
+classes:
+  frc::PWMTalonFX:
+    methods:
+      PWMTalonFX:

wpilibc/src/main/python/semiwrap/PWMTalonSRX.yml

@@ -0,0 +1,7 @@
+extra_includes:
+- wpi/sendable/SendableBuilder.h
+
+classes:
+  frc::PWMTalonSRX:
+    methods:
+      PWMTalonSRX:

wpilibc/src/main/python/semiwrap/PWMVenom.yml

@@ -0,0 +1,7 @@
+extra_includes:
+- wpi/sendable/SendableBuilder.h
+
+classes:
+  frc::PWMVenom:
+    methods:
+      PWMVenom:

wpilibc/src/main/python/semiwrap/PWMVictorSPX.yml

@@ -0,0 +1,7 @@
+extra_includes:
+- wpi/sendable/SendableBuilder.h
+
+classes:
+  frc::PWMVictorSPX:
+    methods:
+      PWMVictorSPX:

wpilibc/src/main/python/semiwrap/PneumaticHub.yml

@@ -0,0 +1,91 @@
+extra_includes:
+- wpi/sendable/SendableBuilder.h
+- frc/Compressor.h
+- frc/Solenoid.h
+- frc/DoubleSolenoid.h
+
+classes:
+  frc::PneumaticHub:
+    methods:
+      PneumaticHub:
+        overloads:
+          int:
+          int, int:
+      GetCompressor:
+      DisableCompressor:
+      EnableCompressorDigital:
+      EnableCompressorAnalog:
+      EnableCompressorHybrid:
+      GetCompressorConfigType:
+      GetPressureSwitch:
+      GetCompressorCurrent:
+      SetSolenoids:
+      GetSolenoids:
+      GetModuleNumber:
+      GetSolenoidDisabledList:
+      FireOneShot:
+      SetOneShotDuration:
+      CheckSolenoidChannel:
+      CheckAndReserveSolenoids:
+      UnreserveSolenoids:
+      ReserveCompressor:
+      UnreserveCompressor:
+      MakeSolenoid:
+      MakeDoubleSolenoid:
+      MakeCompressor:
+      GetVersion:
+      GetFaults:
+      GetStickyFaults:
+      ClearStickyFaults:
+      GetInputVoltage:
+      Get5VRegulatedVoltage:
+      GetSolenoidsTotalCurrent:
+      GetSolenoidsVoltage:
+      GetAnalogVoltage:
+      GetPressure:
+      ReportUsage:
+  frc::PneumaticHub::Version:
+    attributes:
+      FirmwareMajor:
+      FirmwareMinor:
+      FirmwareFix:
+      HardwareMinor:
+      HardwareMajor:
+      UniqueId:
+  frc::PneumaticHub::Faults:
+    attributes:
+      Channel0Fault:
+      Channel1Fault:
+      Channel2Fault:
+      Channel3Fault:
+      Channel4Fault:
+      Channel5Fault:
+      Channel6Fault:
+      Channel7Fault:
+      Channel8Fault:
+      Channel9Fault:
+      Channel10Fault:
+      Channel11Fault:
+      Channel12Fault:
+      Channel13Fault:
+      Channel14Fault:
+      Channel15Fault:
+      CompressorOverCurrent:
+      CompressorOpen:
+      SolenoidOverCurrent:
+      Brownout:
+      CanWarning:
+      HardwareFault:
+    methods:
+      GetChannelFault:
+  frc::PneumaticHub::StickyFaults:
+    attributes:
+      CompressorOverCurrent:
+      CompressorOpen:
+      SolenoidOverCurrent:
+      Brownout:
+      CanWarning:
+      CanBusOff:
+      HasReset:
+      HardwareFault:
+      FirmwareFault:

wpilibc/src/main/python/semiwrap/PneumaticsBase.yml

@@ -0,0 +1,37 @@
+extra_includes:
+- wpi/sendable/SendableBuilder.h
+- frc/Compressor.h
+- frc/Solenoid.h
+- frc/DoubleSolenoid.h
+
+
+classes:
+  frc::PneumaticsBase:
+    methods:
+      GetCompressor:
+      GetPressureSwitch:
+      GetCompressorCurrent:
+      DisableCompressor:
+      EnableCompressorDigital:
+      EnableCompressorAnalog:
+      EnableCompressorHybrid:
+      GetCompressorConfigType:
+      SetSolenoids:
+      GetSolenoids:
+      GetModuleNumber:
+      GetSolenoidDisabledList:
+      FireOneShot:
+      SetOneShotDuration:
+      CheckSolenoidChannel:
+      CheckAndReserveSolenoids:
+      UnreserveSolenoids:
+      ReserveCompressor:
+      UnreserveCompressor:
+      GetAnalogVoltage:
+      GetPressure:
+      MakeSolenoid:
+      MakeDoubleSolenoid:
+      MakeCompressor:
+      GetForType:
+      GetDefaultForType:
+      ReportUsage:

wpilibc/src/main/python/semiwrap/PneumaticsControlModule.yml

@@ -0,0 +1,47 @@
+extra_includes:
+- wpi/sendable/SendableBuilder.h
+- frc/Compressor.h
+- frc/Solenoid.h
+- frc/DoubleSolenoid.h
+
+classes:
+  frc::PneumaticsControlModule:
+    methods:
+      PneumaticsControlModule:
+        overloads:
+          int:
+          int, int:
+      GetCompressor:
+      DisableCompressor:
+      EnableCompressorDigital:
+      EnableCompressorAnalog:
+      EnableCompressorHybrid:
+      GetCompressorConfigType:
+      GetPressureSwitch:
+      GetCompressorCurrent:
+      GetCompressorCurrentTooHighFault:
+      GetCompressorCurrentTooHighStickyFault:
+      GetCompressorShortedFault:
+      GetCompressorShortedStickyFault:
+      GetCompressorNotConnectedFault:
+      GetCompressorNotConnectedStickyFault:
+      GetSolenoidVoltageFault:
+      GetSolenoidVoltageStickyFault:
+      ClearAllStickyFaults:
+      SetSolenoids:
+      GetSolenoids:
+      GetModuleNumber:
+      GetSolenoidDisabledList:
+      FireOneShot:
+      SetOneShotDuration:
+      CheckSolenoidChannel:
+      CheckAndReserveSolenoids:
+      UnreserveSolenoids:
+      ReserveCompressor:
+      UnreserveCompressor:
+      GetAnalogVoltage:
+      GetPressure:
+      MakeSolenoid:
+      MakeDoubleSolenoid:
+      MakeCompressor:
+      ReportUsage:

wpilibc/src/main/python/semiwrap/PneumaticsModuleType.yml

@@ -0,0 +1,2 @@
+enums:
+  PneumaticsModuleType:

wpilibc/src/main/python/semiwrap/PowerDistribution.yml

@@ -0,0 +1,107 @@
+extra_includes:
+- wpi/sendable/SendableBuilder.h
+
+classes:
+  frc::PowerDistribution:
+    ignored_bases:
+    - wpi::SendableHelper<PowerDistribution>
+    attributes:
+      kDefaultModule:
+    enums:
+      ModuleType:
+    methods:
+      PowerDistribution:
+        overloads:
+          int:
+          int, int, ModuleType:
+      GetVoltage:
+      GetTemperature:
+      GetCurrent:
+      GetTotalCurrent:
+      GetTotalPower:
+      GetTotalEnergy:
+      ResetTotalEnergy:
+      ClearStickyFaults:
+      GetModule:
+      GetType:
+      GetSwitchableChannel:
+      SetSwitchableChannel:
+      GetVersion:
+      GetFaults:
+      GetStickyFaults:
+      GetNumChannels:
+      GetAllCurrents:
+      InitSendable:
+  frc::PowerDistribution::Version:
+    attributes:
+      FirmwareMajor:
+      FirmwareMinor:
+      FirmwareFix:
+      HardwareMinor:
+      HardwareMajor:
+      UniqueId:
+  frc::PowerDistribution::Faults:
+    attributes:
+      Channel0BreakerFault:
+      Channel1BreakerFault:
+      Channel2BreakerFault:
+      Channel3BreakerFault:
+      Channel4BreakerFault:
+      Channel5BreakerFault:
+      Channel6BreakerFault:
+      Channel7BreakerFault:
+      Channel8BreakerFault:
+      Channel9BreakerFault:
+      Channel10BreakerFault:
+      Channel11BreakerFault:
+      Channel12BreakerFault:
+      Channel13BreakerFault:
+      Channel14BreakerFault:
+      Channel15BreakerFault:
+      Channel16BreakerFault:
+      Channel17BreakerFault:
+      Channel18BreakerFault:
+      Channel19BreakerFault:
+      Channel20BreakerFault:
+      Channel21BreakerFault:
+      Channel22BreakerFault:
+      Channel23BreakerFault:
+      Brownout:
+      CanWarning:
+      HardwareFault:
+    methods:
+      GetBreakerFault:
+  frc::PowerDistribution::StickyFaults:
+    attributes:
+      Channel0BreakerFault:
+      Channel1BreakerFault:
+      Channel2BreakerFault:
+      Channel3BreakerFault:
+      Channel4BreakerFault:
+      Channel5BreakerFault:
+      Channel6BreakerFault:
+      Channel7BreakerFault:
+      Channel8BreakerFault:
+      Channel9BreakerFault:
+      Channel10BreakerFault:
+      Channel11BreakerFault:
+      Channel12BreakerFault:
+      Channel13BreakerFault:
+      Channel14BreakerFault:
+      Channel15BreakerFault:
+      Channel16BreakerFault:
+      Channel17BreakerFault:
+      Channel18BreakerFault:
+      Channel19BreakerFault:
+      Channel20BreakerFault:
+      Channel21BreakerFault:
+      Channel22BreakerFault:
+      Channel23BreakerFault:
+      Brownout:
+      CanWarning:
+      CanBusOff:
+      HasReset:
+      HardwareFault:
+      FirmwareFault:
+    methods:
+      GetBreakerFault:

wpilibc/src/main/python/semiwrap/Preferences.yml

@@ -0,0 +1,25 @@
+classes:
+  frc::Preferences:
+    methods:
+      GetKeys:
+      GetString:
+      GetInt:
+      GetDouble:
+      GetFloat:
+      GetBoolean:
+      GetLong:
+      SetString:
+      InitString:
+      SetInt:
+      InitInt:
+      SetDouble:
+      InitDouble:
+      SetFloat:
+      InitFloat:
+      SetBoolean:
+      InitBoolean:
+      SetLong:
+      InitLong:
+      ContainsKey:
+      Remove:
+      RemoveAll:

wpilibc/src/main/python/semiwrap/RobotBase.yml

@@ -0,0 +1,62 @@
+extra_includes:
+- frc/DriverStation.h
+- rpy/ControlWord.h
+
+functions:
+  # TODO
+  RunHALInitialization:
+    ignore: true
+  RunRobot:
+    ignore: true
+  StartRobot:
+    ignore: true
+  ResetMotorSafety:
+    ignore: true
+classes:
+  frc::RobotBase:
+    attributes:
+      m_threadId:
+        ignore: true
+      connListenerHandle:
+        ignore: true
+    methods:
+      IsEnabled:
+      IsDisabled:
+      IsAutonomous:
+      IsAutonomousEnabled:
+      IsTeleop:
+      IsTeleopEnabled:
+      IsTest:
+      IsTestEnabled:
+      GetThreadId:
+        ignore: true
+      StartCompetition:
+      EndCompetition:
+      GetRuntimeType:
+      IsReal:
+      IsSimulation:
+      RobotBase:
+    inline_code: |
+      .def_static("main",
+        [](py::object robot_cls) -> py::object {
+          auto start = py::module::import("wpilib._impl.start");
+          auto starter = start.attr("RobotStarter")();
+          return starter.attr("run")(robot_cls);
+        },
+        py::arg("robot_cls"), py::doc("Starting point for the application"))
+      .def(
+        "getControlState",
+        [](RobotBase *self) -> std::tuple<bool, bool, bool> {
+          py::gil_scoped_release release;
+          return rpy::GetControlState();
+        },
+        py::doc("More efficient way to determine what state the robot is in.\n"
+                "\n"
+                ":returns: booleans representing enabled, isautonomous, istest\n"
+                "\n"
+                ".. versionadded:: 2019.2.1\n"
+                "\n"
+                ".. note:: This function only exists in RobotPy\n"));
+
+      auto logger = py::module::import("logging").attr("getLogger")("robot");
+      cls_RobotBase.attr("logger") = logger;

wpilibc/src/main/python/semiwrap/RobotController.yml

@@ -0,0 +1,36 @@
+classes:
+  frc::CANStatus:
+    attributes:
+      percentBusUtilization:
+      busOffCount:
+      txFullCount:
+      receiveErrorCount:
+      transmitErrorCount:
+  frc::RobotController:
+    nodelete: true
+    methods:
+      GetFPGAVersion:
+      GetFPGARevision:
+      GetSerialNumber:
+      GetComments:
+      GetTeamNumber:
+      SetTimeSource:
+      GetTime:
+      GetFPGATime:
+      IsSysActive:
+      IsBrownedOut:
+      GetRSLState:
+      IsSystemTimeValid:
+      GetInputVoltage:
+      GetVoltage3V3:
+      GetCurrent3V3:
+      SetEnabled3V3:
+      GetEnabled3V3:
+      GetFaultCount3V3:
+      GetBatteryVoltage:
+      GetBrownoutVoltage:
+      SetBrownoutVoltage:
+      GetCPUTemp:
+      GetCANStatus:
+      GetCommsDisableCount:
+      ResetRailFaultCounts:

wpilibc/src/main/python/semiwrap/RobotState.yml

@@ -0,0 +1,10 @@
+classes:
+  frc::RobotState:
+    nodelete: true
+    methods:
+      IsDisabled:
+      IsEnabled:
+      IsEStopped:
+      IsTeleop:
+      IsAutonomous:
+      IsTest:

wpilibc/src/main/python/semiwrap/RuntimeType.yml

@@ -0,0 +1,2 @@
+enums:
+  RuntimeType:

wpilibc/src/main/python/semiwrap/SD540.yml

@@ -0,0 +1,7 @@
+extra_includes:
+- wpi/sendable/SendableBuilder.h
+
+classes:
+  frc::SD540:
+    methods:
+      SD540:

wpilibc/src/main/python/semiwrap/SendableBuilderImpl.yml

@@ -0,0 +1,49 @@
+classes:
+  frc::SendableBuilderImpl:
+    methods:
+      SendableBuilderImpl:
+      SetTable:
+      GetTable:
+      IsPublished:
+      IsActuator:
+      Update:
+      StartListeners:
+      StopListeners:
+      ClearProperties:
+      SetSmartDashboardType:
+      SetActuator:
+      SetUpdateTable:
+        cpp_code: |
+          [](SendableBuilderImpl *self, std::function<void()> func) {
+            self->SetUpdateTable(std::move(func));
+          }
+      GetTopic:
+      AddBooleanProperty:
+      PublishConstBoolean:
+      AddIntegerProperty:
+      PublishConstInteger:
+      AddFloatProperty:
+      PublishConstFloat:
+      AddDoubleProperty:
+      PublishConstDouble:
+      AddStringProperty:
+      PublishConstString:
+      AddBooleanArrayProperty:
+      PublishConstBooleanArray:
+      AddIntegerArrayProperty:
+      PublishConstIntegerArray:
+      AddFloatArrayProperty:
+      PublishConstFloatArray:
+      AddDoubleArrayProperty:
+      PublishConstDoubleArray:
+      AddStringArrayProperty:
+      PublishConstStringArray:
+      AddRawProperty:
+      PublishConstRaw:
+      AddSmallStringProperty:
+      AddSmallBooleanArrayProperty:
+      AddSmallIntegerArrayProperty:
+      AddSmallFloatArrayProperty:
+      AddSmallDoubleArrayProperty:
+      AddSmallStringArrayProperty:
+      AddSmallRawProperty:

wpilibc/src/main/python/semiwrap/SendableChooser.yml

@@ -0,0 +1,42 @@
+extra_includes:
+- gilsafe_object.h
+
+classes:
+  frc::SendableChooser:
+    template_params:
+    - T
+    methods:
+      SendableChooser:
+      AddOption:
+      SetDefaultOption:
+      GetSelected:
+        # weirdness because return type
+        cpp_code: |
+          [](frc::SendableChooser<T> * __that) -> py::object {
+            auto v = __that->GetSelected();
+            if (!v) {
+              return py::none();
+            }
+            return v;
+          }
+      OnChange:
+        # more weirdness
+        cpp_code: |
+          [](frc::SendableChooser<T> *self, std::function<void(T)> fn) {
+            self->OnChange([fn](T v) {
+              py::gil_scoped_acquire lock;
+              if (v) {
+                fn(v);
+              } else {
+                fn(py::none());
+              }
+            });
+          }
+
+      InitSendable:
+
+templates:
+  SendableChooser:
+    qualname: frc::SendableChooser
+    params:
+    - semiwrap::gilsafe_object

wpilibc/src/main/python/semiwrap/SendableChooserBase.yml

@@ -0,0 +1,25 @@
+extra_includes:
+- wpi/sendable/SendableBuilder.h
+
+classes:
+  frc::SendableChooserBase:
+    ignored_bases:
+    - wpi::SendableHelper<SendableChooserBase>
+    attributes:
+      kDefault:
+      kOptions:
+      kSelected:
+      kActive:
+      kInstance:
+      m_defaultChoice:
+      m_selected:
+      m_haveSelected:
+      m_mutex:
+        ignore: true
+      m_instance:
+      m_previousVal:
+      s_instances:
+        ignore: true
+    methods:
+      SendableChooserBase:
+        ignore: true

wpilibc/src/main/python/semiwrap/SensorUtil.yml

@@ -0,0 +1,12 @@
+classes:
+  frc::SensorUtil:
+    nodelete: true
+    methods:
+      CheckDigitalChannel:
+      CheckPWMChannel:
+      CheckAnalogInputChannel:
+      GetDefaultCTREPCMModule:
+      GetDefaultREVPHModule:
+      GetNumDigitalChannels:
+      GetNumAnalogInputs:
+      GetNumPwmChannels:

wpilibc/src/main/python/semiwrap/SerialPort.yml

@@ -0,0 +1,50 @@
+classes:
+  frc::SerialPort:
+    enums:
+      Parity:
+      StopBits:
+      FlowControl:
+      WriteBufferMode:
+      Port:
+    methods:
+      SerialPort:
+        overloads:
+          int, Port, int, Parity, StopBits:
+            param_override:
+              port:
+                default: frc::SerialPort::Port::kOnboard
+              parity:
+                default: frc::SerialPort::Parity::kParity_None
+              stopBits:
+                default: frc::SerialPort::StopBits::kStopBits_One
+          int, std::string_view, Port, int, Parity, StopBits:
+            param_override:
+              port:
+                default: frc::SerialPort::Port::kOnboard
+              parity:
+                default: frc::SerialPort::Parity::kParity_None
+              stopBits:
+                default: frc::SerialPort::StopBits::kStopBits_One
+      SetFlowControl:
+      EnableTermination:
+        param_override:
+          terminator:
+            default: "'\\n'"
+      DisableTermination:
+      GetBytesReceived:
+      Read:
+        buffers:
+        - {type: OUT, src: buffer, len: count}
+      Write:
+        overloads:
+          const char*, int:
+            buffers:
+            - {type: IN, src: buffer, len: count}
+          std::string_view:
+            ignore: true
+      SetTimeout:
+      SetReadBufferSize:
+      SetWriteBufferSize:
+      SetWriteBufferMode:
+      Flush:
+      Reset:

wpilibc/src/main/python/semiwrap/Servo.yml

@@ -0,0 +1,15 @@
+extra_includes:
+- wpi/sendable/SendableBuilder.h
+
+classes:
+  frc::Servo:
+    ignored_bases:
+    - wpi::SendableHelper<Servo>
+    methods:
+      Servo:
+      Set:
+      Get:
+      SetAngle:
+      GetAngle:
+      InitSendable:
+      GetChannel:

wpilibc/src/main/python/semiwrap/SharpIR.yml

@@ -0,0 +1,16 @@
+extra_includes:
+- wpi/sendable/SendableBuilder.h
+
+classes:
+  frc::SharpIR:
+    ignored_bases:
+    - wpi::SendableHelper<SharpIR>
+    methods:
+      GP2Y0A02YK0F:
+      GP2Y0A21YK0F:
+      GP2Y0A41SK0F:
+      GP2Y0A51SK0F:
+      SharpIR:
+      GetChannel:
+      GetRange:
+      InitSendable:

wpilibc/src/main/python/semiwrap/SmartDashboard.yml

@@ -0,0 +1,171 @@
+extra_includes:
+- src/rpy/SmartDashboardData.h
+- frc/Errors.h
+- wpi/sendable/SendableRegistry.h
+
+classes:
+  frc::SmartDashboard:
+    methods:
+      init:
+      ContainsKey:
+      GetKeys:
+      SetPersistent:
+      ClearPersistent:
+      IsPersistent:
+      GetEntry:
+      PutData:
+        # overrides ensure data doesn't die if this is the only reference
+        overloads:
+          std::string_view, wpi::Sendable*:
+            cpp_code: |
+              [](py::str &key, std::shared_ptr<wpi::Sendable> data) {
+                if (!data) {
+                  throw FRC_MakeError(err::NullParameter, "{}", "value");
+                }
+
+                // convert key to a raw string so that we can create a StringRef
+                Py_ssize_t raw_size;
+                const char *raw_str = PyUnicode_AsUTF8AndSize(key.ptr(), &raw_size);
+                if (raw_str == NULL) {
+                  throw py::error_already_set();
+                }
+
+                std::string_view keyRef(raw_str, raw_size);
+                frc::SmartDashboard::PutData(keyRef, data.get());
+
+                // this comes after the PutData to ensure that the original object doesn't die
+                // while PutData is called
+                rpy::addSmartDashboardData(key, data);
+              }
+          wpi::Sendable*:
+            cpp_code: |
+              [](std::shared_ptr<wpi::Sendable> value) {
+                frc::SmartDashboard::PutData(value.get());
+                // this comes after the PutData to ensure that the original object doesn't die
+                // while PutData is called
+                auto name = wpi::SendableRegistry::GetName(value.get());
+                if (!name.empty()) {
+                  py::str key(name);
+                  rpy::addSmartDashboardData(key, value);
+                }
+              }
+      GetData:
+      PutBoolean:
+      SetDefaultBoolean:
+      GetBoolean:
+        cpp_code: |
+          [](std::string_view key, py::object defaultValue) -> py::object {
+              nt::Value value;
+              {
+                py::gil_scoped_release release;
+                auto entry = frc::SmartDashboard::GetEntry(key);
+                value = nt::GetEntryValue(entry.GetHandle());
+              }
+              if (!value || value.type() != NT_BOOLEAN) return defaultValue;
+              return py::cast(value.GetBoolean());
+          }
+      PutNumber:
+      SetDefaultNumber:
+      GetNumber:
+        cpp_code: |
+          [](std::string_view key, py::object defaultValue) -> py::object {
+              nt::Value value;
+              {
+                py::gil_scoped_release release;
+                auto entry = frc::SmartDashboard::GetEntry(key);
+                value = nt::GetEntryValue(entry.GetHandle());
+              }
+              if (!value || value.type() != NT_DOUBLE) return defaultValue;
+              return py::cast(value.GetDouble());
+          }
+      PutString:
+      SetDefaultString:
+      GetString:
+        cpp_code: |
+          [](std::string_view key, py::object defaultValue) -> py::object {
+              nt::Value value;
+              {
+                py::gil_scoped_release release;
+                auto entry = frc::SmartDashboard::GetEntry(key);
+                value = nt::GetEntryValue(entry.GetHandle());
+              }
+              if (!value || value.type() != NT_STRING) return defaultValue;
+              return py::cast(value.GetString());
+          }
+      PutBooleanArray:
+      SetDefaultBooleanArray:
+      GetBooleanArray:
+        cpp_code: |
+          [](std::string_view key, py::object defaultValue) -> py::object {
+            nt::Value value;
+            {
+              py::gil_scoped_release release;
+              auto entry = frc::SmartDashboard::GetEntry(key);
+              value = nt::GetEntryValue(entry.GetHandle());
+            }
+            if (!value || value.type() != NT_BOOLEAN_ARRAY) return defaultValue;
+            // ntcore will return bit vector by default. Convert to List[bool]
+            auto v = value.value();
+            py::list l(v.data.arr_boolean.size);
+            for (size_t i = 0; i < v.data.arr_boolean.size; i++) {
+              auto b = py::bool_(v.data.arr_boolean.arr[i]);
+                PyList_SET_ITEM(l.ptr(), i, b.release().ptr());
+            }
+            return l;
+          }
+      PutNumberArray:
+      SetDefaultNumberArray:
+      GetNumberArray:
+        cpp_code: |
+          [](std::string_view key, py::object defaultValue) -> py::object {
+              nt::Value value;
+              {
+                py::gil_scoped_release release;
+                auto entry = frc::SmartDashboard::GetEntry(key);
+                value = nt::GetEntryValue(entry.GetHandle());
+              }
+              if (!value || value.type() != NT_DOUBLE_ARRAY) return defaultValue;
+              return py::cast(value.GetDoubleArray());
+          }
+      PutStringArray:
+      SetDefaultStringArray:
+      GetStringArray:
+        cpp_code: |
+          [](std::string_view key, py::object defaultValue) -> py::object {
+              nt::Value value;
+              {
+                py::gil_scoped_release release;
+                auto entry = frc::SmartDashboard::GetEntry(key);
+                value = nt::GetEntryValue(entry.GetHandle());
+              }
+              if (!value || value.type() != NT_STRING_ARRAY) return defaultValue;
+              return py::cast(value.GetStringArray());
+          }
+      PutRaw:
+      SetDefaultRaw:
+      GetRaw:
+        cpp_code: |
+          [](std::string_view key, py::object defaultValue) -> py::object {
+              nt::Value value;
+              {
+                py::gil_scoped_release release;
+                auto entry = frc::SmartDashboard::GetEntry(key);
+                value = nt::GetEntryValue(entry.GetHandle());
+              }
+              if (!value || value.type() != NT_STRING) return defaultValue;
+              return py::cast(value.GetString());
+          }
+      PutValue:
+      SetDefaultValue:
+      GetValue:
+      PostListenerTask:
+      UpdateValues:
+
+inline_code: |-
+  // ensure that the smart dashboard data is released when python shuts down
+  static int unused; // the capsule needs something to reference
+  py::capsule cleanup(&unused, [](void *) {
+      rpy::destroySmartDashboardData();
+  });
+  m.add_object("_sd_cleanup", cleanup);
+  m.def("_clearSmartDashboardData", &rpy::clearSmartDashboardData);

wpilibc/src/main/python/semiwrap/Solenoid.yml

@@ -0,0 +1,20 @@
+extra_includes:
+- wpi/sendable/SendableBuilder.h
+
+classes:
+  frc::Solenoid:
+    ignored_bases:
+    - wpi::SendableHelper<Solenoid>
+    methods:
+      Solenoid:
+        overloads:
+          int, PneumaticsModuleType, int:
+          int, int, PneumaticsModuleType, int:
+      Set:
+      Get:
+      Toggle:
+      GetChannel:
+      IsDisabled:
+      SetPulseDuration:
+      StartPulse:
+      InitSendable:

wpilibc/src/main/python/semiwrap/Spark.yml

@@ -0,0 +1,7 @@
+extra_includes:
+- wpi/sendable/SendableBuilder.h
+
+classes:
+  frc::Spark:
+    methods:
+      Spark:

wpilibc/src/main/python/semiwrap/SparkMini.yml

@@ -0,0 +1,4 @@
+classes:
+  frc::SparkMini:
+    methods:
+      SparkMini:

wpilibc/src/main/python/semiwrap/StadiaController.yml

@@ -0,0 +1,103 @@
+extra_includes:
+- wpi/sendable/SendableBuilder.h
+
+classes:
+  frc::StadiaController:
+    ignored_bases:
+    - wpi::SendableHelper<StadiaController>
+    methods:
+      StadiaController:
+      GetLeftX:
+      GetRightX:
+      GetLeftY:
+      GetRightY:
+      GetLeftBumper:
+      GetRightBumper:
+      GetLeftBumperPressed:
+      GetRightBumperPressed:
+      GetLeftBumperReleased:
+      GetRightBumperReleased:
+      LeftBumper:
+      RightBumper:
+      GetLeftStickButton:
+      GetRightStickButton:
+      GetLeftStickButtonPressed:
+      GetRightStickButtonPressed:
+      GetLeftStickButtonReleased:
+      GetRightStickButtonReleased:
+      LeftStick:
+      RightStick:
+      GetAButton:
+      GetAButtonPressed:
+      GetAButtonReleased:
+      A:
+      GetBButton:
+      GetBButtonPressed:
+      GetBButtonReleased:
+      B:
+      GetXButton:
+      GetXButtonPressed:
+      GetXButtonReleased:
+      X:
+      GetYButton:
+      GetYButtonPressed:
+      GetYButtonReleased:
+      Y:
+      GetEllipsesButton:
+      GetEllipsesButtonPressed:
+      GetEllipsesButtonReleased:
+      Ellipses:
+      GetHamburgerButton:
+      GetHamburgerButtonPressed:
+      GetHamburgerButtonReleased:
+      Hamburger:
+      GetStadiaButton:
+      GetStadiaButtonPressed:
+      GetStadiaButtonReleased:
+      Stadia:
+      GetGoogleButton:
+      GetGoogleButtonPressed:
+      GetGoogleButtonReleased:
+      Google:
+      GetFrameButton:
+      GetFrameButtonPressed:
+      GetFrameButtonReleased:
+      Frame:
+      GetLeftTriggerButton:
+      GetLeftTriggerButtonPressed:
+      GetLeftTriggerButtonReleased:
+      LeftTrigger:
+      GetRightTriggerButton:
+      GetRightTriggerButtonPressed:
+      GetRightTriggerButtonReleased:
+      RightTrigger:
+      GetLeftBumperButton:
+      GetLeftBumperButtonPressed:
+      GetLeftBumperButtonReleased:
+      GetRightBumperButton:
+      GetRightBumperButtonPressed:
+      GetRightBumperButtonReleased:
+      InitSendable:
+  frc::StadiaController::Button:
+    attributes:
+      kA:
+      kB:
+      kX:
+      kY:
+      kLeftBumper:
+      kRightBumper:
+      kLeftStick:
+      kRightStick:
+      kEllipses:
+      kHamburger:
+      kStadia:
+      kRightTrigger:
+      kLeftTrigger:
+      kGoogle:
+      kFrame:
+  frc::StadiaController::Axis:
+    attributes:
+      kLeftX:
+      kRightX:
+      kLeftY:
+      kRightY:

wpilibc/src/main/python/semiwrap/SysIdRoutineLog.yml

@@ -0,0 +1,35 @@
+defaults:
+  subpackage: sysid
+
+enums:
+  State:
+    inline_code: |
+      .def("__str__", &SysIdRoutineLog::StateEnumToString)
+
+classes:
+  frc::sysid::SysIdRoutineLog:
+    methods:
+      SysIdRoutineLog:
+      RecordState:
+      Motor:
+      StateEnumToString:
+  frc::sysid::SysIdRoutineLog::MotorLog:
+    methods:
+      value:
+      voltage:
+      position:
+        overloads:
+          units::meter_t:
+          units::turn_t:
+            rename: angularPosition
+      velocity:
+        overloads:
+          units::meters_per_second_t:
+          units::turns_per_second_t:
+            rename: angularVelocity
+      acceleration:
+        overloads:
+          units::meters_per_second_squared_t:
+          units::turns_per_second_squared_t:
+            rename: angularAcceleration
+      current:

wpilibc/src/main/python/semiwrap/SystemServer.yml

@@ -0,0 +1,4 @@
+classes:
+  frc::SystemServer:
+    methods:
+      GetSystemServer:

wpilibc/src/main/python/semiwrap/Talon.yml

@@ -0,0 +1,7 @@
+extra_includes:
+- wpi/sendable/SendableBuilder.h
+
+classes:
+  frc::Talon:
+    methods:
+      Talon:

wpilibc/src/main/python/semiwrap/Threads.yml

@@ -0,0 +1,7 @@
+functions:
+  GetThreadPriority:
+    ignore: true
+  GetCurrentThreadPriority:
+  SetThreadPriority:
+    ignore: true
+  SetCurrentThreadPriority:

wpilibc/src/main/python/semiwrap/TimedRobot.yml

@@ -0,0 +1,17 @@
+classes:
+  frc::TimedRobot:
+    attributes:
+      kDefaultPeriod:
+    methods:
+      StartCompetition:
+      EndCompetition:
+      GetLoopStartTime:
+      AddPeriodic:
+        param_override:
+          offset:
+            default: 0_s
+      TimedRobot:
+        overloads:
+          double:
+            ignore: true
+          units::second_t:

wpilibc/src/main/python/semiwrap/Timer.yml

@@ -0,0 +1,18 @@
+functions:
+  Wait:
+  GetTime:
+classes:
+  frc::Timer:
+    methods:
+      Timer:
+      Get:
+      Reset:
+      Start:
+      Restart:
+      Stop:
+      GetFPGATimestamp:
+      GetMatchTime:
+      HasElapsed:
+      AdvanceIfElapsed:
+      IsRunning:
+      GetTimestamp:

wpilibc/src/main/python/semiwrap/TimesliceRobot.yml

@@ -0,0 +1,5 @@
+classes:
+  frc::TimesliceRobot:
+    methods:
+      TimesliceRobot:
+      Schedule:

wpilibc/src/main/python/semiwrap/Tracer.yml

@@ -0,0 +1,31 @@
+extra_includes:
+- wpi/SmallString.h
+- wpi/raw_ostream.h
+
+classes:
+  frc::Tracer:
+    methods:
+      Tracer:
+      ResetTimer:
+      ClearEpochs:
+      AddEpoch:
+      PrintEpochs:
+        overloads:
+          '':
+          wpi::raw_ostream&:
+            ignore: true
+
+inline_code: |-
+  cls_Tracer
+    .def("getEpochs",
+      [](Tracer * self) -> py::str {
+        wpi::SmallString<128> buf;
+        wpi::raw_svector_ostream s(buf);
+        self->PrintEpochs(s);
+        return py::cast(s.str());
+      },
+      "Retreives list of epochs added so far as a string\n"
+      "\n"
+      ".. versionadded:: 2021.1.2\n"
+      "\n"
+      ".. note:: This function only exists in RobotPy\n");

wpilibc/src/main/python/semiwrap/Victor.yml

@@ -0,0 +1,7 @@
+extra_includes:
+- wpi/sendable/SendableBuilder.h
+
+classes:
+  frc::Victor:
+    methods:
+      Victor:

wpilibc/src/main/python/semiwrap/VictorSP.yml

@@ -0,0 +1,7 @@
+extra_includes:
+- wpi/sendable/SendableBuilder.h
+
+classes:
+  frc::VictorSP:
+    methods:
+      VictorSP:

wpilibc/src/main/python/semiwrap/Watchdog.yml

@@ -0,0 +1,22 @@
+classes:
+  frc::Watchdog:
+    methods:
+      Watchdog:
+        overloads:
+          units::second_t, std::function<void ()>:
+          units::second_t, Callable&&, Arg&&, Args&&...:
+            ignore: true
+      GetTime:
+      SetTimeout:
+        overloads:
+          double:
+            ignore: true
+          units::second_t:
+      GetTimeout:
+      IsExpired:
+      AddEpoch:
+      PrintEpochs:
+      Reset:
+      Enable:
+      Disable:
+      SuppressTimeoutMessage:

wpilibc/src/main/python/semiwrap/XboxController.yml

@@ -0,0 +1,92 @@
+extra_includes:
+- wpi/sendable/SendableBuilder.h
+- frc/DriverStation.h
+- frc/event/BooleanEvent.h
+
+classes:
+  frc::XboxController:
+    ignored_bases:
+    - wpi::SendableHelper<XboxController>
+    methods:
+      XboxController:
+      GetLeftX:
+      GetRightX:
+      GetLeftY:
+      GetRightY:
+      GetLeftTriggerAxis:
+      GetRightTriggerAxis:
+      GetLeftBumper:
+      GetRightBumper:
+      GetLeftBumperPressed:
+      GetRightBumperPressed:
+      GetLeftBumperReleased:
+      GetRightBumperReleased:
+      LeftBumper:
+      RightBumper:
+      GetLeftStickButton:
+      GetRightStickButton:
+      GetLeftStickButtonPressed:
+      GetRightStickButtonPressed:
+      GetLeftStickButtonReleased:
+      GetRightStickButtonReleased:
+      LeftStick:
+      RightStick:
+      GetAButton:
+      GetAButtonPressed:
+      GetAButtonReleased:
+      A:
+      GetBButton:
+      GetBButtonPressed:
+      GetBButtonReleased:
+      B:
+      GetXButton:
+      GetXButtonPressed:
+      GetXButtonReleased:
+      X:
+      GetYButton:
+      GetYButtonPressed:
+      GetYButtonReleased:
+      Y:
+      GetBackButton:
+      GetBackButtonPressed:
+      GetBackButtonReleased:
+      Back:
+      GetStartButton:
+      GetStartButtonPressed:
+      GetStartButtonReleased:
+      Start:
+      LeftTrigger:
+        overloads:
+          double, EventLoop* [const]:
+          EventLoop* [const]:
+      RightTrigger:
+        overloads:
+          double, EventLoop* [const]:
+          EventLoop* [const]:
+      GetLeftBumperButton:
+      GetLeftBumperButtonPressed:
+      GetLeftBumperButtonReleased:
+      GetRightBumperButton:
+      GetRightBumperButtonPressed:
+      GetRightBumperButtonReleased:
+      InitSendable:
+  frc::XboxController::Button:
+    attributes:
+      kLeftBumper:
+      kRightBumper:
+      kLeftStick:
+      kRightStick:
+      kA:
+      kB:
+      kX:
+      kY:
+      kBack:
+      kStart:
+  frc::XboxController::Axis:
+    attributes:
+      kLeftX:
+      kRightX:
+      kLeftY:
+      kRightY:
+      kLeftTrigger:
+      kRightTrigger:

wpilibc/src/main/python/semiwrap/counter/EdgeConfiguration.yml

@@ -0,0 +1,2 @@
+enums:
+  EdgeConfiguration:

wpilibc/src/main/python/semiwrap/counter/Tachometer.yml

@@ -0,0 +1,19 @@
+classes:
+  frc::Tachometer:
+    ignored_bases:
+    - wpi::SendableHelper<Tachometer>
+    methods:
+      Tachometer:
+        overloads:
+          DigitalSource&:
+          std::shared_ptr<DigitalSource>:
+      GetFrequency:
+      GetPeriod:
+      GetEdgesPerRevolution:
+      SetEdgesPerRevolution:
+      GetRevolutionsPerSecond:
+      GetRevolutionsPerMinute:
+      GetStopped:
+      SetMaxPeriod:
+      InitSendable:
+      SetEdgeConfiguration:

wpilibc/src/main/python/semiwrap/counter/UpDownCounter.yml

@@ -0,0 +1,13 @@
+classes:
+  frc::UpDownCounter:
+    ignored_bases:
+    - wpi::SendableHelper<UpDownCounter>
+    methods:
+      UpDownCounter:
+        overloads:
+          DigitalSource&, DigitalSource&:
+          std::shared_ptr<DigitalSource>, std::shared_ptr<DigitalSource>:
+      GetCount:
+      Reset:
+      InitSendable:
+      SetEdgeConfiguration:

wpilibc/src/main/python/semiwrap/drive/DifferentialDrive.yml

@@ -0,0 +1,109 @@
+extra_includes:
+- wpi/sendable/SendableBuilder.h
+- frc/motorcontrol/MotorController.h
+
+classes:
+  frc::DifferentialDrive:
+    ignored_bases:
+    - wpi::SendableHelper<DifferentialDrive>
+    methods:
+      DifferentialDrive:
+        overloads:
+          MotorController&, MotorController&:
+            keepalive:
+            - [1, 2]
+            - [1, 3]
+          std::function<void (double)>, std::function<void (double)>:
+      ArcadeDrive:
+      CurvatureDrive:
+      TankDrive:
+      ArcadeDriveIK:
+      CurvatureDriveIK:
+      TankDriveIK:
+      StopMotor:
+      GetDescription:
+      InitSendable:
+    doc: |
+      A class for driving differential drive/skid-steer drive platforms such as
+      the Kit of Parts drive base, "tank drive", or West Coast Drive.
+
+      These drive bases typically have drop-center / skid-steer with two or more
+      wheels per side (e.g., 6WD or 8WD). This class takes a MotorController per
+      side. For four and six motor drivetrains, construct and pass in
+      :class:`MotorControllerGroup` instances as follows.
+
+      Four motor drivetrain::
+
+        import wpilib.drive
+
+        class Robot(wpilib.TimedRobot):
+            def robotInit(self):
+                self.front_left = wpilib.PWMVictorSPX(1)
+                self.rear_left = wpilib.PWMVictorSPX(2)
+                self.left = wpilib.MotorControllerGroup(self.front_left, self.rear_left)
+
+                self.front_right = wpilib.PWMVictorSPX(3)
+                self.rear_right = wpilib.PWMVictorSPX(4)
+                self.right = wpilib.MotorControllerGroup(self.front_right, self.rear_right)
+
+                self.drive = wpilib.drive.DifferentialDrive(self.left, self.right)
+
+      Six motor drivetrain::
+
+        import wpilib.drive
+
+        class Robot(wpilib.TimedRobot):
+            def robotInit(self):
+                self.front_left = wpilib.PWMVictorSPX(1)
+                self.mid_left = wpilib.PWMVictorSPX(2)
+                self.rear_left = wpilib.PWMVictorSPX(3)
+                self.left = wpilib.MotorControllerGroup(self.front_left, self.mid_left, self.rear_left)
+
+                self.front_right = wpilib.PWMVictorSPX(4)
+                self.mid_right = wpilib.PWMVictorSPX(5)
+                self.rear_right = wpilib.PWMVictorSPX(6)
+                self.right = wpilib.MotorControllerGroup(self.front_right, self.mid_right, self.rear_right)
+
+                self.drive = wpilib.drive.DifferentialDrive(self.left, self.right)
+
+      A differential drive robot has left and right wheels separated by an
+      arbitrary width.
+
+      Drive base diagram::
+
+        |_______|
+        | |   | |
+          |   |
+        |_|___|_|
+        |       |
+
+      Each Drive() function provides different inverse kinematic relations for a
+      differential drive robot. Motor outputs for the right side are negated, so
+      motor direction inversion by the user is usually unnecessary.
+
+      This library uses the NED axes convention (North-East-Down as external
+      reference in the world frame):
+      http://www.nuclearprojects.com/ins/images/axis_big.png.
+
+      The positive X axis points ahead, the positive Y axis points to the right,
+      and the positive Z axis points down. Rotations follow the right-hand rule,
+      so clockwise rotation around the Z axis is positive.
+
+      Inputs smaller then 0.02 will be set to 0, and larger values will be scaled
+      so that the full range is still used. This deadband value can be changed
+      with SetDeadband().
+
+      RobotDrive porting guide:
+
+      * :meth:`tankDrive` is equivalent to ``RobotDrive.tankDrive``
+        if a deadband of 0 is used.
+      * :meth:`arcadeDrive` is equivalent to ``RobotDrive.arcadeDrive``
+        if a deadband of 0 is used and the the rotation input is inverted,
+        e.g. ``arcadeDrive(y, -rotation, squareInputs=False)``
+      * :meth:`curvatureDrive` is similar in concept to
+        ``RobotDrive.drive`` with the addition of a quick turn
+        mode. However, it is not designed to give exactly the same response.
+  frc::DifferentialDrive::WheelSpeeds:
+    attributes:
+      left:
+      right:

wpilibc/src/main/python/semiwrap/drive/MecanumDrive.yml

@@ -0,0 +1,38 @@
+extra_includes:
+- wpi/sendable/SendableBuilder.h
+- frc/motorcontrol/MotorController.h
+
+classes:
+  frc::MecanumDrive:
+    force_type_casters:
+    - units::radian_t
+    ignored_bases:
+    - wpi::SendableHelper<MecanumDrive>
+    methods:
+      MecanumDrive:
+        overloads:
+          MotorController&, MotorController&, MotorController&, MotorController&:
+            keepalive:
+            - [1, 2]
+            - [1, 3]
+            - [1, 4]
+            - [1, 5]
+          std::function<void (double)>, std::function<void (double)>, std::function<void (double)>, std::function<void (double)>:
+      DriveCartesian:
+        param_override:
+          gyroAngle:
+            default: frc::Rotation2d(0_rad)
+      DrivePolar:
+      DriveCartesianIK:
+        param_override:
+          gyroAngle:
+            default: frc::Rotation2d(0_rad)
+      StopMotor:
+      GetDescription:
+      InitSendable:
+  frc::MecanumDrive::WheelSpeeds:
+    attributes:
+      frontLeft:
+      frontRight:
+      rearLeft:
+      rearRight:

wpilibc/src/main/python/semiwrap/drive/RobotDriveBase.yml

@@ -0,0 +1,21 @@
+extra_includes:
+- frc/motorcontrol/MotorController.h
+- wpi/SmallString.h
+
+classes:
+  frc::RobotDriveBase:
+    attributes:
+      m_deadband:
+      m_maxOutput:
+      kDefaultDeadband:
+      kDefaultMaxOutput:
+    enums:
+      MotorType:
+    methods:
+      RobotDriveBase:
+      SetDeadband:
+      SetMaxOutput:
+      FeedWatchdog:
+      StopMotor:
+      GetDescription:
+      Desaturate:

wpilibc/src/main/python/semiwrap/event/BooleanEvent.yml

@@ -0,0 +1,21 @@
+classes:
+  frc::BooleanEvent:
+    methods:
+      BooleanEvent:
+      GetAsBoolean:
+      IfHigh:
+        cpp_code: |
+          [](BooleanEvent *self, std::function<void()> action) {
+            self->IfHigh(std::move(action));
+          }
+      CastTo:
+        cpp_code: | # TODO: how to annotate this correctly?
+          [](BooleanEvent *self, py::function constructor) -> py::object {
+            return constructor(self, (std::function<bool()>)*self);
+          }
+        param_override:
+          ctor:
+            no_default: true
+      Rising:
+      Falling:
+      Debounce:

wpilibc/src/main/python/semiwrap/event/EventLoop.yml

@@ -0,0 +1,13 @@
+classes:
+  frc::EventLoop:
+    force_type_casters:
+    - std::function
+    methods:
+      EventLoop:
+      Bind:
+        cpp_code: |
+          [](EventLoop *self, std::function<void()> action) {
+            self->Bind(std::move(action));
+          }
+      Poll:
+      Clear:

wpilibc/src/main/python/semiwrap/event/NetworkBooleanEvent.yml

@@ -0,0 +1,24 @@
+extra_includes:
+- networktables/BooleanTopic.h
+- networktables/NetworkTable.h
+- networktables/NetworkTableInstance.h
+
+classes:
+  frc::NetworkBooleanEvent:
+    force_no_trampoline: true
+    methods:
+      NetworkBooleanEvent:
+        overloads:
+          EventLoop*, nt::BooleanTopic:
+            cpp_code: |
+              [](EventLoop *loop, nt::BooleanTopic &topic) {
+                return std::make_unique<NetworkBooleanEvent>(loop, std::move(topic));
+              }
+          EventLoop*, nt::BooleanSubscriber:
+            cpp_code: |
+              [](EventLoop *loop, nt::BooleanSubscriber &sub) {
+                return std::make_unique<NetworkBooleanEvent>(loop, std::move(sub));
+              }
+          EventLoop*, std::shared_ptr<nt::NetworkTable>, std::string_view:
+          EventLoop*, std::string_view, std::string_view:
+          EventLoop*, nt::NetworkTableInstance, std::string_view, std::string_view:

wpilibc/src/main/python/semiwrap/simulation/ADXL345Sim.yml

@@ -0,0 +1,12 @@
+extra_includes:
+- frc/ADXL345_I2C.h
+
+classes:
+  frc::sim::ADXL345Sim:
+    methods:
+      ADXL345Sim:
+        overloads:
+          const ADXL345_I2C&:
+      SetX:
+      SetY:
+      SetZ: