Update to REVLib 2027.0.0.-alpha-4

examples/limit-switch/robot.py

@@ -35,10 +35,12 @@ def __init__(self):
         self.limitConfig = rev.SparkMaxConfig()
         self.limitConfig.limitSwitch.forwardLimitSwitchType(
             rev.LimitSwitchConfig.Type.kNormallyClosed
-        ).forwardLimitSwitchEnabled(False).reverseLimitSwitchType(
+        ).forwardLimitSwitchTriggerBehavior(
+            rev.LimitSwitchConfig.Behavior.kStopMovingMotor
+        ).reverseLimitSwitchType(
             rev.LimitSwitchConfig.Type.kNormallyClosed
-        ).reverseLimitSwitchEnabled(
-            False
+        ).reverseLimitSwitchTriggerBehavior(
+            rev.LimitSwitchConfig.Behavior.kStopMovingMotor
         )
         self.motor.configure(
             self.limitConfig,
@@ -47,10 +49,12 @@ def __init__(self):
         )
 
         self.prevForwardLimitEnabled = (
-            self.motor.configAccessor.limitSwitch.getForwardLimitSwitchEnabled()
+            self.motor.configAccessor.limitSwitch.getForwardLimitSwitchTriggerBehavior()
+            != 0
         )
         self.prevReverseLimitEnabled = (
-            self.motor.configAccessor.limitSwitch.getReverseLimitSwitchEnabled()
+            self.motor.configAccessor.limitSwitch.getReverseLimitSwitchTriggerBehavior()
+            != 0
         )
 
         wpilib.SmartDashboard.putBoolean(
@@ -71,8 +75,10 @@ def teleopPeriodic(self):
             self.prevForwardLimitEnabled = wpilib.SmartDashboard.getBoolean(
                 "Forward Limit Enabled", False
             )
-            self.limitConfig.limitSwitch.forwardLimitSwitchEnabled(
-                self.prevForwardLimitEnabled
+            self.limitConfig.limitSwitch.forwardLimitSwitchTriggerBehavior(
+                rev.LimitSwitchConfig.Behavior.kStopMovingMotor
+                if self.prevForwardLimitEnabled
+                else rev.LimitSwitchConfig.Behavior.kKeepMovingMotor
             )
             self.motor.configure(
                 self.limitConfig,
@@ -85,8 +91,10 @@ def teleopPeriodic(self):
             self.prevReverseLimitEnabled = wpilib.SmartDashboard.getBoolean(
                 "Reverse Limit Enabled", False
             )
-            self.limitConfig.limitSwitch.reverseLimitSwitchEnabled(
-                self.prevReverseLimitEnabled
+            self.limitConfig.limitSwitch.reverseLimitSwitchTriggerBehavior(
+                rev.LimitSwitchConfig.Behavior.kStopMovingMotor
+                if self.prevReverseLimitEnabled
+                else rev.LimitSwitchConfig.Behavior.kKeepMovingMotor
             )
             self.motor.configure(
                 self.limitConfig,

pyproject.toml

@@ -44,23 +44,23 @@ packages = ["rev"]
 artifact_id = "REVLib-cpp"
 group_id = "com.revrobotics.frc"
 repo_url = "https://maven.revrobotics.com"
-version = "2027.0.0-alpha-3"
+version = "2027.0.0-alpha-4"
 staticlibs = ["REVLib"]
 extract_to = "lib"
 
 [[tool.hatch.build.hooks.robotpy.maven_lib_download]]
 artifact_id = "REVLib-driver"
 group_id = "com.revrobotics.frc"
 repo_url = "https://maven.revrobotics.com"
-version = "2027.0.0-alpha-3"
+version = "2027.0.0-alpha-4"
 staticlibs = [ "REVLibDriver"]
 extract_to = "lib"
 
 [[tool.hatch.build.hooks.robotpy.maven_lib_download]]
 artifact_id = "RevLibBackendDriver"
 group_id = "com.revrobotics.frc"
 repo_url = "https://maven.revrobotics.com"
-version = "2027.0.0-alpha-3"
+version = "2027.0.0-alpha-4"
 staticlibs = [
     "BackendDriver",
 ]
@@ -71,7 +71,7 @@ use_headers = false
 artifact_id = "RevLibWpiBackendDriver"
 group_id = "com.revrobotics.frc"
 repo_url = "https://maven.revrobotics.com"
-version = "2027.0.0-alpha-3"
+version = "2027.0.0-alpha-4"
 staticlibs = [
     "REVLibWpi",
 ]
@@ -92,6 +92,11 @@ use_headers = false
 [tool.semiwrap]
 update_init = ["rev"]
 scan_headers_ignore = [
+    #first
+    "first/CANA301Driver.h",
+    "first/CANA301Frames.h",
+    "first/SimA301.h",
+
     # rev
     "rev/CANCommonParameters.h",
     "rev/CANDetachedEncoderDriver.h",

semiwrap/A301.yml

@@ -3,14 +3,14 @@ extra_includes_first:
 
 classes:
   first::a301::A301:
+    enums:
+      GearboxRPM:
     methods:
-      GetFirmwareVersion:
-        overloads:
-          "":
-          bool&:
-      GetFirmwareString:
+      A301:
       GetBusId:
       GetDeviceId:
+      GetFirmwareVersion:
+      GetFirmwareString:
       HasActiveFault:
       HasStickyFault:
       HasActiveWarning:
@@ -21,34 +21,64 @@ classes:
       GetStickyWarnings:
       GetBusVoltage:
       GetAppliedOutput:
+      GetMotorCurrent:
       GetMotorTemperature:
+      GetGearboxRPM:
       GetRelativeEncoderPosition:
       GetEncoderVelocity:
       GetAbsoluteEncoderPosition:
+      SetRelativeEncoderPosition:
+      SetAbsoluteEncoderPosition:
       ClearFaults:
       SetVelocity:
-      SetPosition:
+      SetRelativePosition:
+      SetRelativePositionWithSpeed:
       SetAbsolutePosition:
+      SetAbsolutePositionWithSpeed:
+      EnableAbsolutePositionContinuousInput:
+      DisableAbsolutePositionContinuousInput:
+      IsAbsolutePositionContinuousInputEnabled:
       SetCurrent:
       SetThrottle:
       GetThrottle:
       SetVoltage:
       SetInverted:
       GetInverted:
       Disable:
-      A301:
-      GetMotorCurrent:
-      SetRelativeEncoderPosition:
+      FaultsPeriodMs:
+      GetFaultsPeriodMs:
+      WarningsPeriodMs:
+      GetWarningsPeriodMs:
+      BusVoltagePeriodMs:
+      GetBusVoltagePeriodMs:
+      AppliedOutputPeriodMs:
+      GetAppliedOutputPeriodMs:
+      MotorCurrentPeriodMs:
+      GetMotorCurrentPeriodMs:
+      MotorTemperaturePeriodMs:
+      GetMotorTemperaturePeriodMs:
+      RelativeEncoderPositionPeriodMs:
+      GetRelativeEncoderPositionPeriodMs:
+      EncoderVelocityPeriodMs:
+      GetEncoderVelocityPeriodMs:
+      AbsoluteEncoderPositionPeriodMs:
+      GetAbsoluteEncoderPositionPeriodMs:
+  first::a301::A301::FirmwareVersion:
+    attributes:
+      major:
+      minor:
+      patch:
+      prerelease:
   first::a301::A301::Faults:
     attributes:
       other:
-      motorType:
       sensor:
       can:
       temperature:
       gateDriver:
       escEeprom:
       firmware:
+      motorStartup:
       rawBits:
     methods:
       Faults:
@@ -57,6 +87,8 @@ classes:
           uint16_t:
   first::a301::A301::Warnings:
     attributes:
+      overvoltage:
+      motorLoopSpeed:
       brownout:
       overcurrent:
       escEeprom:

semiwrap/Signal.yml

@@ -143,3 +143,7 @@ templates:
     qualname: rev::util::Signal
     params:
     - first::a301::A301::Warnings
+  Signal_A301GearboxRPM:
+    qualname: rev::util::Signal
+    params:
+    - first::a301::A301::GearboxRPM

tests/test_cana301.py

@@ -6,6 +6,6 @@ def test_set_velocity():
     a301.setVelocity(12.34)
 
 
-def test_set_position():
+def test_set_relative_position():
     a301 = rev.A301(0, 0)
-    a301.setPosition(12.34)
+    a301.setRelativePositionWithSpeed(12.34, 350.0)

tests/test_cansparkmax.py

@@ -53,4 +53,4 @@ def test_pid_set():
     pid = sm.getClosedLoopController()
     # pid.setOutputRange(-1, 1)
     # pid.setP(0.005)
-    pid.setReference(5, rev.SparkBase.ControlType.kPosition)
+    pid.setSetpoint(5, rev.SparkBase.ControlType.kPosition)