Add testing for examples

.github/workflows/test.yml

@@ -0,0 +1,52 @@
+---
+name: test
+
+on:
+  pull_request:
+  push:
+    branches:
+    - main
+    tags:
+    - '*'
+
+jobs:
+  check:
+    runs-on: ubuntu-latest
+    steps:
+    - uses: actions/checkout@v4
+    - uses: psf/black@stable
+
+  check-file-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
+
+  test:
+    runs-on: ${{ matrix.os }}
+    strategy:
+      matrix:
+        os: ["ubuntu-22.04", "macos-13", "windows-2022"]
+        python_version:
+        - '3.9'
+        - '3.10'
+        - '3.11'
+        - '3.12'
+        - '3.13'
+
+    steps:
+    - uses: actions/checkout@v4
+    - uses: actions/setup-python@v5
+      with:
+        python-version: ${{ matrix.python_version }}
+    - name: Install deps
+      run: |
+        pip install 'robotpy[rev, commands2]<2026.0.0,>=2025.0.0b3' numpy pytest
+    - name: Run tests
+      run: bash examples/run_tests.sh
+      shell: bash

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._rev.SparkBase.ResetMode.kResetSafeParameters,
+            rev._rev.SparkBase.PersistMode.kPersistParameters,
+        )
+        self.leftFollowMotor.configure(
+            self.leftFollowerConfig,
+            rev._rev.SparkBase.ResetMode.kResetSafeParameters,
+            rev._rev.SparkBase.PersistMode.kPersistParameters,
+        )
+        self.rightLeadMotor.configure(
+            self.rightLeaderConfig,
+            rev._rev.SparkBase.ResetMode.kResetSafeParameters,
+            rev._rev.SparkBase.PersistMode.kPersistParameters,
+        )
+        self.rightFollowMotor.configure(
+            self.rightFollowerConfig,
+            rev._rev.SparkBase.ResetMode.kResetSafeParameters,
+            rev._rev.SparkBase.PersistMode.kPersistParameters,
+        )
 
     def teleopPeriodic(self):
         # Drive with arcade style

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._rev.SparkBase.ResetMode.kResetSafeParameters,
+            rev._rev.SparkBase.PersistMode.kPersistParameters,
+        )
+        self.rightMotor.configure(
+            self.rightConfig,
+            rev._rev.SparkBase.ResetMode.kResetSafeParameters,
+            rev._rev.SparkBase.PersistMode.kPersistParameters,
+        )
 
         self.driveTrain = DifferentialDrive(self.leftMotor, self.rightMotor)
         self.l_stick = wpilib.Joystick(0)

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()

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

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

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
         )

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

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

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

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
 

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

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