diff --git a/.github/workflows/dist.yml b/.github/workflows/dist.yml
index b845df1..388fcdc 100644
--- a/.github/workflows/dist.yml
+++ b/.github/workflows/dist.yml
@@ -22,3 +22,14 @@ jobs:
WPI_ARTIFACTORY_USERNAME: ${{ secrets.WPI_ARTIFACTORY_USERNAME }}
WPI_ARTIFACTORY_TOKEN: ${{ secrets.WPI_ARTIFACTORY_TOKEN }}
PYPI_API_TOKEN: ${{ secrets.PYPI_PASSWORD }}
+
+ check-example-headers:
+ runs-on: ubuntu-latest
+ steps:
+ - uses: actions/checkout@v4
+ - uses: actions/setup-python@v4
+ with:
+ python-version: 3.12
+ - name: Check header
+ run: python examples/check_header.py
+ shell: bash
diff --git a/examples/can-arcade-drive/robot.py b/examples/can-arcade-drive/robot.py
index 0c8e627..dbbd268 100644
--- a/examples/can-arcade-drive/robot.py
+++ b/examples/can-arcade-drive/robot.py
@@ -1,9 +1,9 @@
-# ----------------------------------------------------------------------------
-# Copyright (c) 2017-2018 FIRST. All Rights Reserved.
-# Open Source Software - may be modified and shared by FRC teams. The code
-# must be accompanied by the FIRST BSD license file in the root directory of
-# the project.
-# ----------------------------------------------------------------------------
+#!/usr/bin/env python3
+#
+# Copyright (c) FIRST and other WPILib contributors.
+# Open Source Software; you can modify and/or share it under the terms of
+# the WPILib BSD license file in the root directory of this project.
+#
import rev
import wpilib
@@ -25,34 +25,60 @@ def robotInit(self):
#
# The example below initializes four brushless motors with CAN IDs
# 1, 2, 3, 4. Change these parameters to match your setup
- self.leftLeadMotor = rev.CANSparkMax(1, rev.CANSparkMax.MotorType.kBrushless)
- self.rightLeadMotor = rev.CANSparkMax(3, rev.CANSparkMax.MotorType.kBrushless)
- self.leftFollowMotor = rev.CANSparkMax(2, rev.CANSparkMax.MotorType.kBrushless)
- self.rightFollowMotor = rev.CANSparkMax(4, rev.CANSparkMax.MotorType.kBrushless)
+ self.leftLeadMotor = rev.SparkMax(1, rev.SparkMax.MotorType.kBrushless)
+ self.rightLeadMotor = rev.SparkMax(3, rev.SparkMax.MotorType.kBrushless)
+ self.leftFollowMotor = rev.SparkMax(2, rev.SparkMax.MotorType.kBrushless)
+ self.rightFollowMotor = rev.SparkMax(4, rev.SparkMax.MotorType.kBrushless)
# Passing in the lead motors into DifferentialDrive allows any
# commmands sent to the lead motors to be sent to the follower motors.
self.driveTrain = DifferentialDrive(self.leftLeadMotor, self.rightLeadMotor)
self.joystick = wpilib.Joystick(0)
- # The RestoreFactoryDefaults method can be used to reset the
- # configuration parameters in the SPARK MAX to their factory default
- # state. If no argument is passed, these parameters will not persist
- # between power cycles
- self.leftLeadMotor.restoreFactoryDefaults()
- self.rightLeadMotor.restoreFactoryDefaults()
- self.leftFollowMotor.restoreFactoryDefaults()
- self.rightFollowMotor.restoreFactoryDefaults()
-
- # In CAN mode, one SPARK MAX can be configured to follow another. This
- # is done by calling the follow() method on the SPARK MAX you want to
- # configure as a follower, and by passing as a parameter the SPARK MAX
- # you want to configure as a leader.
+ # Create new SPARK MAX configuration objects. These will store the
+ # configuration parameters for the SPARK MAXes that we will set below.
+ self.globalConfig = rev.SparkMaxConfig()
+ self.rightLeaderConfig = rev.SparkMaxConfig()
+ self.leftFollowerConfig = rev.SparkMaxConfig()
+ self.rightFollowerConfig = rev.SparkMaxConfig()
+
+ # Apply the global config and invert since it is on the opposite side
+ self.rightLeaderConfig.apply(self.globalConfig).inverted(True)
+
+ # Apply the global config and set the leader SPARK for follower mode
+ self.leftFollowerConfig.apply(self.globalConfig).follow(self.leftLeadMotor)
+
+ # Apply the global config and set the leader SPARK for follower mode
+ self.rightFollowerConfig.apply(self.globalConfig).follow(self.rightLeadMotor)
+
+ # Apply the configuration to the SPARKs.
+ #
+ # kResetSafeParameters is used to get the SPARK MAX to a known state. This
+ # is useful in case the SPARK MAX is replaced.
#
- # This is shown in the example below, where one motor on each side of
- # our drive train is configured to follow a lead motor.
- self.leftFollowMotor.follow(self.leftLeadMotor)
- self.rightFollowMotor.follow(self.rightLeadMotor)
+ # kPersistParameters is used to ensure the configuration is not lost when
+ # the SPARK MAX loses power. This is useful for power cycles that may occur
+ # mid-operation.
+ self.leftLeadMotor.configure(
+ self.globalConfig,
+ rev.SparkBase.ResetMode.kResetSafeParameters,
+ rev.SparkBase.PersistMode.kPersistParameters,
+ )
+ self.leftFollowMotor.configure(
+ self.leftFollowerConfig,
+ rev.SparkBase.ResetMode.kResetSafeParameters,
+ rev.SparkBase.PersistMode.kPersistParameters,
+ )
+ self.rightLeadMotor.configure(
+ self.rightLeaderConfig,
+ rev.SparkBase.ResetMode.kResetSafeParameters,
+ rev.SparkBase.PersistMode.kPersistParameters,
+ )
+ self.rightFollowMotor.configure(
+ self.rightFollowerConfig,
+ rev.SparkBase.ResetMode.kResetSafeParameters,
+ rev.SparkBase.PersistMode.kPersistParameters,
+ )
def teleopPeriodic(self):
# Drive with arcade style
diff --git a/examples/can-tank-drive/robot.py b/examples/can-tank-drive/robot.py
index 46035b0..01c2699 100644
--- a/examples/can-tank-drive/robot.py
+++ b/examples/can-tank-drive/robot.py
@@ -1,9 +1,9 @@
-# ----------------------------------------------------------------------------
-# Copyright (c) 2017-2018 FIRST. All Rights Reserved.
-# Open Source Software - may be modified and shared by FRC teams. The code
-# must be accompanied by the FIRST BSD license file in the root directory of
-# the project.
-# ----------------------------------------------------------------------------
+#!/usr/bin/env python3
+#
+# Copyright (c) FIRST and other WPILib contributors.
+# Open Source Software; you can modify and/or share it under the terms of
+# the WPILib BSD license file in the root directory of this project.
+#
import rev
import wpilib
@@ -25,15 +25,22 @@ def robotInit(self):
#
# The example below initializes two brushless motors with CAN IDs
# 1 and 2. Change these parameters to match your setup
- self.leftMotor = rev.CANSparkMax(1, rev.CANSparkMax.MotorType.kBrushless)
- self.rightMotor = rev.CANSparkMax(2, rev.CANSparkMax.MotorType.kBrushless)
-
- # The RestoreFactoryDefaults method can be used to reset the
- # configuration parameters in the SPARK MAX to their factory default
- # state. If no argument is passed, these parameters will not persist
- # between power cycles
- self.leftMotor.restoreFactoryDefaults()
- self.rightMotor.restoreFactoryDefaults()
+ self.leftMotor = rev.SparkMax(1, rev.SparkMax.MotorType.kBrushless)
+ self.rightMotor = rev.SparkMax(2, rev.SparkMax.MotorType.kBrushless)
+
+ # Configure for factory defaults and invert right side motor
+ self.globalConfig = rev.SparkMaxConfig()
+ self.rightConfig = self.globalConfig.inverted(True)
+ self.leftMotor.configure(
+ self.globalConfig,
+ rev.SparkBase.ResetMode.kResetSafeParameters,
+ rev.SparkBase.PersistMode.kPersistParameters,
+ )
+ self.rightMotor.configure(
+ self.rightConfig,
+ rev.SparkBase.ResetMode.kResetSafeParameters,
+ rev.SparkBase.PersistMode.kPersistParameters,
+ )
self.driveTrain = DifferentialDrive(self.leftMotor, self.rightMotor)
self.l_stick = wpilib.Joystick(0)
diff --git a/examples/check_header.py b/examples/check_header.py
new file mode 100644
index 0000000..66e39e3
--- /dev/null
+++ b/examples/check_header.py
@@ -0,0 +1,79 @@
+#!/usr/bin/env python3
+#
+# Copyright (c) FIRST and other WPILib contributors.
+# Open Source Software; you can modify and/or share it under the terms of
+# the WPILib BSD license file in the root directory of this project.
+#
+
+from pathlib import Path
+
+
+def check_file_content(file_path):
+ with open(file_path, "r") as file:
+ lines = file.readlines()
+
+ if file.name.endswith("robot.py"):
+ expected_lines = [
+ "#!/usr/bin/env python3\n",
+ "#\n",
+ "# Copyright (c) FIRST and other WPILib contributors.\n",
+ "# Open Source Software; you can modify and/or share it under the terms of\n",
+ "# the WPILib BSD license file in the root directory of this project.\n",
+ "#\n",
+ "\n",
+ ]
+ else:
+ expected_lines = [
+ "#\n",
+ "# Copyright (c) FIRST and other WPILib contributors.\n",
+ "# Open Source Software; you can modify and/or share it under the terms of\n",
+ "# the WPILib BSD license file in the root directory of this project.\n",
+ "#\n",
+ "\n",
+ ]
+
+ if lines[: len(expected_lines)] != expected_lines:
+ print(
+ "\n".join(
+ [
+ f"{file_path}",
+ "ERROR: File must start with the following lines",
+ "------------------------------",
+ "".join(expected_lines[:-1]),
+ "------------------------------",
+ "Found:",
+ "".join(lines[: len(expected_lines)]),
+ "------------------------------",
+ ]
+ )
+ )
+
+ return False
+ return True
+
+
+def main():
+ current_directory = Path(__file__).parent
+ python_files = [
+ x
+ for x in current_directory.glob("./**/*.py")
+ if not x.parent == current_directory and x.stat().st_size != 0
+ ]
+
+ non_compliant_files = [
+ file for file in python_files if not check_file_content(file)
+ ]
+
+ non_compliant_files.sort()
+
+ if non_compliant_files:
+ print("Non-compliant files:")
+ for file in non_compliant_files:
+ print(f"- {file}")
+ exit(1) # Exit with an error code
+ else:
+ print("All files are compliant.")
+
+
+if __name__ == "__main__":
+ main()
diff --git a/examples/color_match/robot.py b/examples/color_match/robot.py
index 338c5b0..4d6c4cc 100644
--- a/examples/color_match/robot.py
+++ b/examples/color_match/robot.py
@@ -1,9 +1,9 @@
#!/usr/bin/env python3
-
-# Copyright (c) 2017-2018 FIRST. All Rights Reserved.
-# Open Source Software - may be modified and shared by FRC teams. The code
-# must be accompanied by the FIRST BSD license file in the root directory of
-# the project.
+#
+# Copyright (c) FIRST and other WPILib contributors.
+# Open Source Software; you can modify and/or share it under the terms of
+# the WPILib BSD license file in the root directory of this project.
+#
import wpilib
from rev import ColorSensorV3, ColorMatch
diff --git a/examples/get-set-params/robot.py b/examples/get-set-params/robot.py
index f501735..aa0b763 100644
--- a/examples/get-set-params/robot.py
+++ b/examples/get-set-params/robot.py
@@ -1,9 +1,9 @@
-# ----------------------------------------------------------------------------
-# Copyright (c) 2017-2018 FIRST. All Rights Reserved.
-# Open Source Software - may be modified and shared by FRC teams. The code
-# must be accompanied by the FIRST BSD license file in the root directory of
-# the project.
-# ----------------------------------------------------------------------------
+#!/usr/bin/env python3
+#
+# Copyright (c) FIRST and other WPILib contributors.
+# Open Source Software; you can modify and/or share it under the terms of
+# the WPILib BSD license file in the root directory of this project.
+#
import rev
import wpilib
diff --git a/examples/getting-started/robot.py b/examples/getting-started/robot.py
index d531900..e662522 100755
--- a/examples/getting-started/robot.py
+++ b/examples/getting-started/robot.py
@@ -16,8 +16,8 @@ def robotInit(self):
This function is called upon program startup and
should be used for any initialization code.
"""
- self.leftDrive = rev.CANSparkMax(1, rev.CANSparkMax.MotorType.kBrushless)
- self.rightDrive = rev.CANSparkMax(2, rev.CANSparkMax.MotorType.kBrushless)
+ self.leftDrive = rev.SparkMax(1, rev.SparkMax.MotorType.kBrushless)
+ self.rightDrive = rev.SparkMax(2, rev.SparkMax.MotorType.kBrushless)
self.robotDrive = wpilib.drive.DifferentialDrive(
self.leftDrive, self.rightDrive
)
diff --git a/examples/limit-switch/robot.py b/examples/limit-switch/robot.py
index aa4988c..f4a997a 100644
--- a/examples/limit-switch/robot.py
+++ b/examples/limit-switch/robot.py
@@ -1,9 +1,9 @@
-# ----------------------------------------------------------------------------
-# Copyright (c) 2017-2018 FIRST. All Rights Reserved.
-# Open Source Software - may be modified and shared by FRC teams. The code
-# must be accompanied by the FIRST BSD license file in the root directory of
-# the project.
-# ----------------------------------------------------------------------------
+#!/usr/bin/env python3
+#
+# Copyright (c) FIRST and other WPILib contributors.
+# Open Source Software; you can modify and/or share it under the terms of
+# the WPILib BSD license file in the root directory of this project.
+#
import rev
import wpilib
@@ -16,33 +16,47 @@
class Robot(wpilib.TimedRobot):
def robotInit(self):
# Create motor
- self.motor = rev.CANSparkMax(1, rev.CANSparkMax.MotorType.kBrushless)
+ self.motor = rev.SparkMax(1, rev.SparkMax.MotorType.kBrushless)
self.joystick = wpilib.Joystick(0)
- # A CANDigitalInput object is constructed using the
- # GetForwardLimitSwitch() or
- # GetReverseLimitSwitch() method on an existing CANSparkMax object,
+ # A SparkLimitSwitch object is constructed using the
+ # getForwardLimitSwitch() or
+ # getReverseLimitSwitch() method on an existing CANSparkMax object,
# depending on which direction you would like to limit
#
# Limit switches can be configured to one of two polarities:
- # rev.CANDigitalInput.LimitSwitchPolarity.kNormallyOpen
- # rev.CANDigitalInput.LimitSwitchPolarity.kNormallyClosed
- self.forwardLimit = self.motor.getForwardLimitSwitch(
- rev.SparkLimitSwitch.Type.kNormallyClosed
+ # rev.LimitSwitchConfig.Type.kNormallyOpen
+ # rev.LimitSwitchConfig.Type.kNormallyClosed
+ self.forwardLimit = self.motor.getForwardLimitSwitch()
+ self.reverseLimit = self.motor.getReverseLimitSwitch()
+
+ self.limitConfig = rev.SparkMaxConfig()
+ self.limitConfig.limitSwitch.forwardLimitSwitchType(
+ rev.LimitSwitchConfig.Type.kNormallyClosed
+ ).forwardLimitSwitchEnabled(False).reverseLimitSwitchType(
+ rev.LimitSwitchConfig.Type.kNormallyClosed
+ ).reverseLimitSwitchEnabled(
+ False
)
- self.reverseLimit = self.motor.getReverseLimitSwitch(
- rev.SparkLimitSwitch.Type.kNormallyClosed
+ self.motor.configure(
+ self.limitConfig,
+ rev.SparkBase.ResetMode.kResetSafeParameters,
+ rev.SparkBase.PersistMode.kNoPersistParameters,
)
- self.forwardLimit.enableLimitSwitch(False)
- self.reverseLimit.enableLimitSwitch(False)
+ self.prevForwardLimitEnabled = (
+ self.motor.configAccessor.limitSwitch.getForwardLimitSwitchEnabled()
+ )
+ self.prevReverseLimitEnabled = (
+ self.motor.configAccessor.limitSwitch.getReverseLimitSwitchEnabled()
+ )
wpilib.SmartDashboard.putBoolean(
- "Forward Limit Enabled", self.forwardLimit.isLimitSwitchEnabled()
+ "Forward Limit Enabled", self.prevForwardLimitEnabled
)
wpilib.SmartDashboard.putBoolean(
- "Reverse Limit Enabled", self.forwardLimit.isLimitSwitchEnabled()
+ "Reverse Limit Enabled", self.prevReverseLimitEnabled
)
def teleopPeriodic(self):
@@ -50,14 +64,36 @@ def teleopPeriodic(self):
self.motor.set(self.joystick.getY())
# enable/disable limit switches based on value read from SmartDashboard
- self.forwardLimit.enableLimitSwitch(
- wpilib.SmartDashboard.getBoolean("Forward Limit Enabled", False)
- )
- self.reverseLimit.enableLimitSwitch(
- wpilib.SmartDashboard.getBoolean("Reverse Limit Enabled", False)
- )
+ if self.prevForwardLimitEnabled != wpilib.SmartDashboard.getBoolean(
+ "Forward Limit Enabled", False
+ ):
+ self.prevForwardLimitEnabled = wpilib.SmartDashboard.getBoolean(
+ "Forward Limit Enabled", False
+ )
+ self.limitConfig.limitSwitch.forwardLimitSwitchEnabled(
+ self.prevForwardLimitEnabled
+ )
+ self.motor.configure(
+ self.limitConfig,
+ rev.SparkBase.ResetMode.kResetSafeParameters,
+ rev.SparkBase.PersistMode.kNoPersistParameters,
+ )
+ if self.prevReverseLimitEnabled != wpilib.SmartDashboard.getBoolean(
+ "Reverse Limit Enabled", False
+ ):
+ self.prevReverseLimitEnabled = wpilib.SmartDashboard.getBoolean(
+ "Reverse Limit Enabled", False
+ )
+ self.limitConfig.limitSwitch.reverseLimitSwitchEnabled(
+ self.prevReverseLimitEnabled
+ )
+ self.motor.configure(
+ self.limitConfig,
+ rev.SparkBase.ResetMode.kResetSafeParameters,
+ rev.SparkBase.PersistMode.kNoPersistParameters,
+ )
- # The get() method can be used on a CANDigitalInput object to read the
+ # The get() method can be used on a SparkLimitSwitch object to read the
# state of the switch.
#
# In this example, the polarity of the switches are set to normally
diff --git a/examples/maxswerve/constants.py b/examples/maxswerve/constants.py
index 0c02876..3333d41 100644
--- a/examples/maxswerve/constants.py
+++ b/examples/maxswerve/constants.py
@@ -1,6 +1,8 @@
+#
# Copyright (c) FIRST and other WPILib contributors.
# Open Source Software; you can modify and/or share it under the terms of
# the WPILib BSD license file in the root directory of this project.
+#
"""
The constants module is a convenience place for teams to hold robot-wide
diff --git a/examples/maxswerve/robotcontainer.py b/examples/maxswerve/robotcontainer.py
index 1271e2c..7cfdca8 100644
--- a/examples/maxswerve/robotcontainer.py
+++ b/examples/maxswerve/robotcontainer.py
@@ -1,3 +1,9 @@
+#
+# Copyright (c) FIRST and other WPILib contributors.
+# Open Source Software; you can modify and/or share it under the terms of
+# the WPILib BSD license file in the root directory of this project.
+#
+
import math
import commands2
diff --git a/examples/maxswerve/subsystems/drivesubsystem.py b/examples/maxswerve/subsystems/drivesubsystem.py
index 732d1ca..76aa8b1 100644
--- a/examples/maxswerve/subsystems/drivesubsystem.py
+++ b/examples/maxswerve/subsystems/drivesubsystem.py
@@ -1,3 +1,9 @@
+#
+# Copyright (c) FIRST and other WPILib contributors.
+# Open Source Software; you can modify and/or share it under the terms of
+# the WPILib BSD license file in the root directory of this project.
+#
+
import math
import typing
diff --git a/examples/maxswerve/subsystems/maxswervemodule.py b/examples/maxswerve/subsystems/maxswervemodule.py
index 3579caf..959ca18 100644
--- a/examples/maxswerve/subsystems/maxswervemodule.py
+++ b/examples/maxswerve/subsystems/maxswervemodule.py
@@ -1,3 +1,9 @@
+#
+# Copyright (c) FIRST and other WPILib contributors.
+# Open Source Software; you can modify and/or share it under the terms of
+# the WPILib BSD license file in the root directory of this project.
+#
+
from rev import CANSparkMax, SparkMaxAbsoluteEncoder
from wpimath.geometry import Rotation2d
from wpimath.kinematics import SwerveModuleState, SwerveModulePosition
diff --git a/examples/maxswerve/swerveutils.py b/examples/maxswerve/swerveutils.py
index ad6eccf..9f2df22 100644
--- a/examples/maxswerve/swerveutils.py
+++ b/examples/maxswerve/swerveutils.py
@@ -1,3 +1,9 @@
+#
+# Copyright (c) FIRST and other WPILib contributors.
+# Open Source Software; you can modify and/or share it under the terms of
+# the WPILib BSD license file in the root directory of this project.
+#
+
import math
diff --git a/examples/position-pid-control/robot.py b/examples/position-pid-control/robot.py
index 5b09be8..0642475 100644
--- a/examples/position-pid-control/robot.py
+++ b/examples/position-pid-control/robot.py
@@ -1,9 +1,9 @@
-# ----------------------------------------------------------------------------
-# Copyright (c) 2017-2018 FIRST. All Rights Reserved.
-# Open Source Software - may be modified and shared by FRC teams. The code
-# must be accompanied by the FIRST BSD license file in the root directory of
-# the project.
-# ----------------------------------------------------------------------------
+#!/usr/bin/env python3
+#
+# Copyright (c) FIRST and other WPILib contributors.
+# Open Source Software; you can modify and/or share it under the terms of
+# the WPILib BSD license file in the root directory of this project.
+#
import rev
import wpilib
diff --git a/examples/read-encoder-values/robot.py b/examples/read-encoder-values/robot.py
index 8059127..4ebbbb8 100644
--- a/examples/read-encoder-values/robot.py
+++ b/examples/read-encoder-values/robot.py
@@ -1,9 +1,9 @@
-# ----------------------------------------------------------------------------
-# Copyright (c) 2017-2018 FIRST. All Rights Reserved.
-# Open Source Software - may be modified and shared by FRC teams. The code
-# must be accompanied by the FIRST BSD license file in the root directory of
-# the project.
-# ----------------------------------------------------------------------------
+#!/usr/bin/env python3
+#
+# Copyright (c) FIRST and other WPILib contributors.
+# Open Source Software; you can modify and/or share it under the terms of
+# the WPILib BSD license file in the root directory of this project.
+#
import rev
import wpilib
diff --git a/examples/read_rgb_values/robot.py b/examples/read_rgb_values/robot.py
index 534be3f..276f5a3 100755
--- a/examples/read_rgb_values/robot.py
+++ b/examples/read_rgb_values/robot.py
@@ -1,9 +1,9 @@
#!/usr/bin/env python3
-
-# Copyright (c) 2017-2018 FIRST. All Rights Reserved.
-# Open Source Software - may be modified and shared by FRC teams. The code
-# must be accompanied by the FIRST BSD license file in the root directory of
-# the project.
+#
+# Copyright (c) FIRST and other WPILib contributors.
+# Open Source Software; you can modify and/or share it under the terms of
+# the WPILib BSD license file in the root directory of this project.
+#
import wpilib
from rev import ColorSensorV3
diff --git a/examples/run_examples.py b/examples/run_examples.py
new file mode 100644
index 0000000..cbb65a5
--- /dev/null
+++ b/examples/run_examples.py
@@ -0,0 +1,43 @@
+import os
+import subprocess
+import sys
+
+BASE_TESTS = [
+ "can-arcade-drive",
+ "can-tank-drive",
+ "getting-started",
+ "limit-switch",
+]
+
+IGNORED_TESTS = [
+ "color_match",
+ "get-set-params",
+ "maxswerve",
+ "position-pid-control",
+ "read_rgb_values",
+ "read-encoder-values",
+ "smart-motion",
+ "velocity-pid-control",
+] # Add ignored tests if any
+EVERY_TESTS = BASE_TESTS + IGNORED_TESTS
+TESTS = BASE_TESTS
+
+script_dir = os.path.dirname(__file__)
+
+robot_files = []
+for root, dirs, files in os.walk("."):
+ if "robot.py" in files:
+ robot_files.append(os.path.relpath(root, "."))
+
+for file in robot_files:
+ print("found: " + file)
+ if file not in EVERY_TESTS:
+ if not os.getenv("FORCE_ANYWAYS"):
+ print("ERROR: Not every robot.py file is in the list of tests!")
+ exit(1)
+
+for test in TESTS:
+ print(f"Running test: {test}")
+ os.chdir(os.path.join(script_dir, test))
+ subprocess.run([sys.executable, "-m", "robotpy", "test", "--builtin"])
+ os.chdir(script_dir)
diff --git a/examples/smart-motion/robot.py b/examples/smart-motion/robot.py
index 751aa9a..fb4505a 100755
--- a/examples/smart-motion/robot.py
+++ b/examples/smart-motion/robot.py
@@ -1,10 +1,9 @@
#!/usr/bin/env python3
-# ----------------------------------------------------------------------------
-# Copyright (c) 2017-2018 FIRST. All Rights Reserved.
-# Open Source Software - may be modified and shared by FRC teams. The code
-# must be accompanied by the FIRST BSD license file in the root directory of
-# the project.
-# ----------------------------------------------------------------------------
+#
+# Copyright (c) FIRST and other WPILib contributors.
+# Open Source Software; you can modify and/or share it under the terms of
+# the WPILib BSD license file in the root directory of this project.
+#
import rev
import wpilib
diff --git a/examples/velocity-pid-control/robot.py b/examples/velocity-pid-control/robot.py
index 86735e3..b8649b3 100644
--- a/examples/velocity-pid-control/robot.py
+++ b/examples/velocity-pid-control/robot.py
@@ -1,9 +1,9 @@
-# ----------------------------------------------------------------------------
-# Copyright (c) 2017-2018 FIRST. All Rights Reserved.
-# Open Source Software - may be modified and shared by FRC teams. The code
-# must be accompanied by the FIRST BSD license file in the root directory of
-# the project.
-# ----------------------------------------------------------------------------
+#!/usr/bin/env python3
+#
+# Copyright (c) FIRST and other WPILib contributors.
+# Open Source Software; you can modify and/or share it under the terms of
+# the WPILib BSD license file in the root directory of this project.
+#
import rev
import wpilib
diff --git a/tests/requirements.txt b/tests/requirements.txt
index e079f8a..2777db4 100644
--- a/tests/requirements.txt
+++ b/tests/requirements.txt
@@ -1 +1,2 @@
pytest
+robotpy
diff --git a/tests/run_tests.py b/tests/run_tests.py
index 2ffc659..58ba800 100755
--- a/tests/run_tests.py
+++ b/tests/run_tests.py
@@ -10,3 +10,5 @@
os.chdir(root)
subprocess.check_call([sys.executable, "-m", "pytest"])
+
+ subprocess.check_call([sys.executable, "../examples/run_examples.py"])