Merge pull request #82 from robotpy/2026-release

Update to REVLib 2026.0.0

Author: auscompgeek

examples/can-arcade-drive/robot.py

@@ -61,23 +61,23 @@ def robotInit(self):
         # mid-operation.
         self.leftLeadMotor.configure(
             self.globalConfig,
-            rev.SparkBase.ResetMode.kResetSafeParameters,
-            rev.SparkBase.PersistMode.kPersistParameters,
+            rev.ResetMode.kResetSafeParameters,
+            rev.PersistMode.kPersistParameters,
         )
         self.leftFollowMotor.configure(
             self.leftFollowerConfig,
-            rev.SparkBase.ResetMode.kResetSafeParameters,
-            rev.SparkBase.PersistMode.kPersistParameters,
+            rev.ResetMode.kResetSafeParameters,
+            rev.PersistMode.kPersistParameters,
         )
         self.rightLeadMotor.configure(
             self.rightLeaderConfig,
-            rev.SparkBase.ResetMode.kResetSafeParameters,
-            rev.SparkBase.PersistMode.kPersistParameters,
+            rev.ResetMode.kResetSafeParameters,
+            rev.PersistMode.kPersistParameters,
         )
         self.rightFollowMotor.configure(
             self.rightFollowerConfig,
-            rev.SparkBase.ResetMode.kResetSafeParameters,
-            rev.SparkBase.PersistMode.kPersistParameters,
+            rev.ResetMode.kResetSafeParameters,
+            rev.PersistMode.kPersistParameters,
         )
 
     def teleopPeriodic(self):

examples/can-tank-drive/robot.py

@@ -33,13 +33,13 @@ def robotInit(self):
         self.rightConfig = self.globalConfig.inverted(True)
         self.leftMotor.configure(
             self.globalConfig,
-            rev.SparkBase.ResetMode.kResetSafeParameters,
-            rev.SparkBase.PersistMode.kPersistParameters,
+            rev.ResetMode.kResetSafeParameters,
+            rev.PersistMode.kPersistParameters,
         )
         self.rightMotor.configure(
             self.rightConfig,
-            rev.SparkBase.ResetMode.kResetSafeParameters,
-            rev.SparkBase.PersistMode.kPersistParameters,
+            rev.ResetMode.kResetSafeParameters,
+            rev.PersistMode.kPersistParameters,
         )
 
         self.driveTrain = DifferentialDrive(self.leftMotor, self.rightMotor)

examples/limit-switch/robot.py

@@ -41,8 +41,8 @@ def robotInit(self):
         )
         self.motor.configure(
             self.limitConfig,
-            rev.SparkBase.ResetMode.kResetSafeParameters,
-            rev.SparkBase.PersistMode.kNoPersistParameters,
+            rev.ResetMode.kResetSafeParameters,
+            rev.PersistMode.kNoPersistParameters,
         )
 
         self.prevForwardLimitEnabled = (
@@ -75,8 +75,8 @@ def teleopPeriodic(self):
             )
             self.motor.configure(
                 self.limitConfig,
-                rev.SparkBase.ResetMode.kResetSafeParameters,
-                rev.SparkBase.PersistMode.kNoPersistParameters,
+                rev.ResetMode.kResetSafeParameters,
+                rev.PersistMode.kNoPersistParameters,
             )
         if self.prevReverseLimitEnabled != wpilib.SmartDashboard.getBoolean(
             "Reverse Limit Enabled", False
@@ -89,8 +89,8 @@ def teleopPeriodic(self):
             )
             self.motor.configure(
                 self.limitConfig,
-                rev.SparkBase.ResetMode.kResetSafeParameters,
-                rev.SparkBase.PersistMode.kNoPersistParameters,
+                rev.ResetMode.kResetSafeParameters,
+                rev.PersistMode.kNoPersistParameters,
             )
 
         # The get() method can be used on a SparkLimitSwitch object to read the

examples/maxswerve/subsystems/maxswervemodule.py

@@ -4,7 +4,7 @@
 # the WPILib BSD license file in the root directory of this project.
 #
 
-from rev import SparkMax, SparkMaxConfig, ClosedLoopConfig, SparkBase
+from rev import SparkMax, SparkMaxConfig, ClosedLoopConfig, ResetMode, PersistMode
 from wpimath.geometry import Rotation2d
 from wpimath.kinematics import SwerveModuleState, SwerveModulePosition
 
@@ -108,13 +108,13 @@ def __init__(
         # operation, it will maintain the above configurations.
         self.drivingSparkMax.configure(
             self.drivingConfig,
-            SparkBase.ResetMode.kResetSafeParameters,
-            SparkBase.PersistMode.kPersistParameters,
+            ResetMode.kResetSafeParameters,
+            PersistMode.kPersistParameters,
         )
         self.turningSparkMax.configure(
             self.turningConfig,
-            SparkBase.ResetMode.kResetSafeParameters,
-            SparkBase.PersistMode.kPersistParameters,
+            ResetMode.kResetSafeParameters,
+            PersistMode.kPersistParameters,
         )
 
         self.chassisAngularOffset = chassisAngularOffset

pyproject.toml

@@ -6,7 +6,7 @@ requires = [
     "semiwrap~=0.2.1",
     "hatch-meson~=0.1.0",
     "hatch-robotpy~=0.2.1",
-    "wpilib~=2026.1.1b1",
+    "wpilib~=2026.1.1",
 ]
 
 
@@ -16,7 +16,7 @@ dynamic = ["version"]
 description = "REVLib for RobotPy"
 license = "BSD-3-Clause"
 dependencies = [
-    "wpilib~=2026.1.1b1",
+    "wpilib>=2026.1.1,<2027",
 ]
 
 [[project.authors]]
@@ -44,23 +44,23 @@ packages = ["rev"]
 artifact_id = "REVLib-cpp"
 group_id = "com.revrobotics.frc"
 repo_url = "https://maven.revrobotics.com"
-version = "2026.0.0-beta-1"
+version = "2026.0.0"
 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 = "2026.0.0-beta-1"
+version = "2026.0.0"
 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 = "2026.0.0-beta-1"
+version = "2026.0.0"
 staticlibs = [
     "BackendDriver",
 ]
@@ -71,7 +71,7 @@ use_headers = false
 artifact_id = "RevLibWpiBackendDriver"
 group_id = "com.revrobotics.frc"
 repo_url = "https://maven.revrobotics.com"
-version = "2026.0.0-beta-1"
+version = "2026.0.0"
 staticlibs = [
     "REVLibWpi",
 ]
@@ -94,6 +94,9 @@ update_init = ["rev"]
 scan_headers_ignore = [
     # rev
     "rev/CANCommonParameters.h",
+    "rev/CANDetachedEncoderDriver.h",
+    "rev/CANDetachedEncoderFrames.h",
+    "rev/CANDetachedEncoderParameters.h",
     "rev/CANDeviceScanner.h",
     "rev/CANDriverPrivate.h",
     "rev/CANServoHubDriver.h",
@@ -112,10 +115,14 @@ scan_headers_ignore = [
     "rev/canupdate/CANSparkSWDL.h",
     "rev/canupdate/DfuSeFile.h",
 
+    # rev/config
+    "rev/config/DetachedEncoderParameters.h",
+
     # rev/rev
     "rev/rev/REVLibVersion.h",
 
     # rev/sim
+    "rev/sim/CANDetachedEncoder.h",
     "rev/sim/CANServoHub.h",
     "rev/sim/CANSpark.h",
     "rev/sim/MAXMotion.h",
@@ -148,6 +155,9 @@ CIEColor = "rev/CIEColor.h"
 ClosedLoopTypes = "rev/ClosedLoopTypes.h"
 ColorMatch = "rev/ColorMatch.h"
 ColorSensorV3 = "rev/ColorSensorV3.h"
+ConfigureTypes = "rev/ConfigureTypes.h"
+DetachedEncoder = "rev/DetachedEncoder.h"
+DetachedEncoderLowLevel = "rev/DetachedEncoderLowLevel.h"
 REVLibError = "rev/REVLibError.h"
 RelativeEncoder = "rev/RelativeEncoder.h"
 ServoChannel = "rev/ServoChannel.h"
@@ -167,6 +177,7 @@ SparkMaxAlternateEncoder = "rev/SparkMaxAlternateEncoder.h"
 SparkRelativeEncoder = "rev/SparkRelativeEncoder.h"
 SparkSim = "rev/SparkSim.h"
 SparkSoftLimit = "rev/SparkSoftLimit.h"
+SplineEncoder = "rev/SplineEncoder.h"
 
 # rev/config
 AbsoluteEncoderConfig = "rev/config/AbsoluteEncoderConfig.h"
@@ -178,6 +189,9 @@ AnalogSensorConfigAccessor = "rev/config/AnalogSensorConfigAccessor.h"
 BaseConfig = "rev/config/BaseConfig.h"
 ClosedLoopConfig = "rev/config/ClosedLoopConfig.h"
 ClosedLoopConfigAccessor = "rev/config/ClosedLoopConfigAccessor.h"
+DetachedEncoderConfig = "rev/config/DetachedEncoderConfig.h"
+DetachedEncoderConfigAccessor = "rev/config/DetachedEncoderConfigAccessor.h"
+DetachedSignalsConfig = "rev/config/DetachedSignalsConfig.h"
 EncoderConfig = "rev/config/EncoderConfig.h"
 EncoderConfigAccessor = "rev/config/EncoderConfigAccessor.h"
 ExternalEncoderConfig = "rev/config/ExternalEncoderConfig.h"
@@ -206,6 +220,7 @@ SparkMaxConfigAccessor = "rev/config/SparkMaxConfigAccessor.h"
 SparkParameters = "rev/config/SparkParameters.h"
 
 # rev/sim
+DetachedEncoderSim = "rev/sim/DetachedEncoderSim.h"
 MovingAverageFilterSim = "rev/sim/MovingAverageFilterSim.h"
 NoiseGenerator = "rev/sim/NoiseGenerator.h"
 ServoHubSimFaultManager = "rev/sim/ServoHubSimFaultManager.h"
@@ -220,4 +235,4 @@ SparkRelativeEncoderSim = "rev/sim/SparkRelativeEncoderSim.h"
 SparkSimFaultManager = "rev/sim/SparkSimFaultManager.h"
 
 # rev/util
-StatusLogger = "rev/util/StatusLogger.h"
+StatusLogger = "rev/util/StatusLogger.h"

rev/__init__.py

@@ -19,6 +19,12 @@
     ClosedLoopSlot,
     ColorMatch,
     ColorSensorV3,
+    DetachedEncoder,
+    DetachedEncoderConfig,
+    DetachedEncoderConfigAccessor,
+    DetachedEncoderLowLevel,
+    DetachedEncoderSim,
+    DetachedSignalsConfig,
     EncoderConfig,
     EncoderConfigAccessor,
     ExternalEncoderConfig,
@@ -32,8 +38,10 @@
     MAXMotionConfigAccessor,
     MovingAverageFilterSim,
     NoiseGenerator,
+    PersistMode,
     REVLibError,
     RelativeEncoder,
+    ResetMode,
     ServoChannel,
     ServoChannelConfig,
     ServoChannelConfigAccessor,
@@ -77,6 +85,7 @@
     SparkSim,
     SparkSimFaultManager,
     SparkSoftLimit,
+    SplineEncoder,
     StatusLogger,
 )
 
@@ -96,6 +105,12 @@
     "ClosedLoopSlot",
     "ColorMatch",
     "ColorSensorV3",
+    "DetachedEncoder",
+    "DetachedEncoderConfig",
+    "DetachedEncoderConfigAccessor",
+    "DetachedEncoderLowLevel",
+    "DetachedEncoderSim",
+    "DetachedSignalsConfig",
     "EncoderConfig",
     "EncoderConfigAccessor",
     "ExternalEncoderConfig",
@@ -109,8 +124,10 @@
     "MAXMotionConfigAccessor",
     "MovingAverageFilterSim",
     "NoiseGenerator",
+    "PersistMode",
     "REVLibError",
     "RelativeEncoder",
+    "ResetMode",
     "ServoChannel",
     "ServoChannelConfig",
     "ServoChannelConfigAccessor",
@@ -154,5 +171,6 @@
     "SparkSim",
     "SparkSimFaultManager",
     "SparkSoftLimit",
+    "SplineEncoder",
     "StatusLogger",
 ]

semiwrap/AbsoluteEncoderConfig.yml

@@ -14,3 +14,8 @@ classes:
       StartPulseUs:
       EndPulseUs:
       ZeroCentered:
+  rev::spark::AbsoluteEncoderConfig::Presets:
+    methods:
+      REV_ThroughBoreEncoder:
+      REV_ThroughBoreEncoderV2:
+      REV_SplineEncoder:

semiwrap/AlternateEncoderConfig.yml

@@ -15,3 +15,8 @@ classes:
       VelocityConversionFactor:
       AverageDepth:
       MeasurementPeriod:
+  rev::spark::AlternateEncoderConfig::Presets:
+    methods:
+      REV_ThroughBoreEncoder:
+      REV_ThroughBoreEncoderV2:
+      REV_SplineEncoder:

semiwrap/ClosedLoopConfig.yml

@@ -1,3 +1,6 @@
+extra_includes:
+- rev/DetachedEncoder.h
+
 classes:
   rev::spark::ClosedLoopConfig:
     base_qualnames:
@@ -29,5 +32,9 @@ classes:
       PositionWrappingMaxInput:
       PositionWrappingInputRange:
       SetFeedbackSensor:
+        overloads:
+          FeedbackSensor:
+          FeedbackSensor, int:
+          FeedbackSensor, rev::detached::DetachedEncoder&:
       Flatten:
       AllowedClosedLoopError:

semiwrap/ConfigureTypes.yml

@@ -0,0 +1,3 @@
+enums:
+  ResetMode:
+  PersistMode: