robotpy-native-romi 2025.3.2__py3-none-win_amd64.whl

native/romi/_init_robotpy_native_romi.py

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+# This file is automatically generated, DO NOT EDIT
+# fmt: off
+
+import native.wpilib._init_robotpy_native_wpilib
+
+def __load_library():
+    from os.path import abspath, join, dirname, exists
+    from ctypes import cdll
+
+    root = abspath(dirname(__file__))
+
+    lib_path = join(root, 'lib', 'romiVendordep.dll')
+
+    try:
+        return cdll.LoadLibrary(lib_path)
+    except FileNotFoundError:
+        if not exists(lib_path):
+            raise FileNotFoundError("romiVendordep.dll was not found on your system. Is this package correctly installed?")
+        raise Exception("romiVendordep.dll could not be loaded. Do you have Visual Studio C++ Redistributible installed?")
+
+__lib = __load_library()
+

native/romi/include/frc/romi/OnBoardIO.h

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+// 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.
+
+#pragma once
+
+#include <memory>
+
+#include <frc/DigitalInput.h>
+#include <frc/DigitalOutput.h>
+#include <units/time.h>
+
+namespace frc {
+
+/**
+ * @ingroup romi_api
+ * @{
+ */
+
+/**
+ * This class represents the onboard IO of the Romi
+ * reference robot. This includes the pushbuttons and
+ * LEDs.
+ *
+ * <p>DIO 0 - Button A (input only)
+ * DIO 1 - Button B (input) or Green LED (output)
+ * DIO 2 - Button C (input) or Red LED (output)
+ * DIO 3 - Yellow LED (output only)
+ */
+class OnBoardIO {
+ public:
+  /** Mode for Romi onboard IO */
+  enum ChannelMode { /** Input */ INPUT, /** Output */ OUTPUT };
+  OnBoardIO(OnBoardIO::ChannelMode dio1, OnBoardIO::ChannelMode dio2);
+
+  static constexpr auto kMessageInterval = 1_s;
+  units::second_t m_nextMessageTime = 0_s;
+
+  /**
+   * Gets if the A button is pressed.
+   */
+  bool GetButtonAPressed();
+
+  /**
+   * Gets if the B button is pressed.
+   */
+  bool GetButtonBPressed();
+
+  /**
+   * Gets if the C button is pressed.
+   */
+  bool GetButtonCPressed();
+
+  /**
+   * Sets the green LED.
+   */
+  void SetGreenLed(bool value);
+
+  /**
+   * Sets the red LED.
+   */
+  void SetRedLed(bool value);
+
+  /**
+   * Sets the yellow LED.
+   */
+  void SetYellowLed(bool value);
+
+ private:
+  frc::DigitalInput m_buttonA{0};
+  frc::DigitalOutput m_yellowLed{3};
+
+  // DIO 1
+  std::unique_ptr<frc::DigitalInput> m_buttonB;
+  std::unique_ptr<frc::DigitalOutput> m_greenLed;
+
+  // DIO 2
+  std::unique_ptr<frc::DigitalInput> m_buttonC;
+  std::unique_ptr<frc::DigitalOutput> m_redLed;
+};
+
+/** @} */
+
+}  // namespace frc

native/romi/include/frc/romi/RomiGyro.h

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+// 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.
+
+#pragma once
+
+#include <hal/SimDevice.h>
+#include <units/angle.h>
+#include <units/angular_velocity.h>
+
+namespace frc {
+
+/**
+ * @ingroup romi_api
+ * @{
+ */
+
+/**
+ * Use a rate gyro to return the robots heading relative to a starting position.
+ *
+ * This class is for the Romi onboard gyro, and will only work in
+ * simulation/Romi mode. Only one instance of a RomiGyro is supported.
+ */
+class RomiGyro {
+ public:
+  RomiGyro();
+
+  /**
+   * Return the actual angle in radians that the robot is currently facing.
+   *
+   * The angle is based on integration of the returned rate form the gyro.
+   * The angle is continuous, that is, it will continue from 2π->3π radians.
+   * This allows algorithms that wouldn't want to see a discontinuity in the
+   * gyro output as it sweeps from 2π to 0 on the second time around.
+   *
+   * @return The current heading of the robot.
+   */
+  units::radian_t GetAngle() const;
+
+  /**
+   * Return the rate of rotation of the gyro
+   *
+   * The rate is based on the most recent reading of the gyro.
+   *
+   * @return The current rate.
+   */
+  units::radians_per_second_t GetRate() const;
+
+  /**
+   * Get the rate of turn in around the X-axis.
+   *
+   * @return Rate of turn.
+   */
+  units::radians_per_second_t GetRateX() const;
+
+  /**
+   * Get the rate of turn in around the Y-axis.
+   *
+   * @return Rate of turn.
+   */
+  units::radians_per_second_t GetRateY() const;
+
+  /**
+   * Get the rate of turn around the Z-axis.
+   *
+   * @return Rate of turn.
+   */
+  units::radians_per_second_t GetRateZ() const;
+
+  /**
+   * Get the currently reported angle around the X-axis.
+   *
+   * @return Current angle around X-axis.
+   */
+  units::radian_t GetAngleX() const;
+
+  /**
+   * Get the currently reported angle around the Y-axis.
+   *
+   * @return Current angle around Y-axis.
+   */
+  units::radian_t GetAngleY() const;
+
+  /**
+   * Get the currently reported angle around the Z-axis.
+   *
+   * @return Current angle around Z-axis.
+   */
+  units::radian_t GetAngleZ() const;
+
+  /**
+   * Resets the gyro
+   */
+  void Reset();
+
+ private:
+  hal::SimDevice m_simDevice;
+  hal::SimDouble m_simRateX;
+  hal::SimDouble m_simRateY;
+  hal::SimDouble m_simRateZ;
+  hal::SimDouble m_simAngleX;
+  hal::SimDouble m_simAngleY;
+  hal::SimDouble m_simAngleZ;
+
+  double m_angleXOffset = 0;
+  double m_angleYOffset = 0;
+  double m_angleZOffset = 0;
+};
+
+/** @} */
+
+}  // namespace frc

native/romi/include/frc/romi/RomiMotor.h

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+// 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.
+
+#pragma once
+
+#include <frc/motorcontrol/PWMMotorController.h>
+
+namespace frc {
+
+/**
+ * @defgroup romi_api Romi Hardware API
+ * @{
+ */
+
+/**
+ * RomiMotor
+ *
+ * A general use PWM motor controller representing the motors on a Romi robot
+ */
+class RomiMotor : public PWMMotorController {
+ public:
+  /**
+   * Constructor for a RomiMotor.
+   *
+   * @param channel The PWM channel that the RomiMotor is attached to.
+   *                0 is left, 1 is right
+   */
+  explicit RomiMotor(int channel);
+
+  RomiMotor(RomiMotor&&) = default;
+  RomiMotor& operator=(RomiMotor&&) = default;
+};
+
+/** @} */
+
+}  // namespace frc

native/romi/robotpy-native-romi.pc

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+prefix=${pcfiledir}
+includedir=${prefix}/include
+libdir=${prefix}/lib
+pkgconf_pypi_initpy=native.romi._init_robotpy_native_romi
+
+Name: romi
+Description: WPILib Romi support library
+Version: 2025.3.2
+Requires: robotpy-native-wpilib
+Libs: -L${libdir} -lromiVendordep
+Cflags: -I${includedir}

robotpy_native_romi-2025.3.2.dist-info/METADATA

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+Metadata-Version: 2.4
+Name: robotpy-native-romi
+Version: 2025.3.2
+Summary: WPILib Romi support library
+License-Expression: BSD-3-Clause
+Requires-Dist: robotpy-native-wpilib==2025.3.2

robotpy_native_romi-2025.3.2.dist-info/RECORD

@@ -0,0 +1,11 @@
+native/romi/_init_robotpy_native_romi.py,sha256=jmfNqv6wDJRR0vqwkS1mb_cXoJAchaoZybZ8NWOj8n4,724
+native/romi/robotpy-native-romi.pc,sha256=Dmt7kwcfQCL2q6JzAoDPp89DhNF15M4YrZ3ShL8HTBw,300
+native/romi/include/frc/romi/OnBoardIO.h,sha256=8E7y1Jzz_3MmMVse6kdRFortwAtwFCievUSKaqzP9BQ,1737
+native/romi/include/frc/romi/RomiGyro.h,sha256=OQkil-zW6IB0RX6iplXDV7h_9zOpSS9fKZEyxbqAi1M,2591
+native/romi/include/frc/romi/RomiMotor.h,sha256=Lw7fVyDakRvAd7c_5k4kbg_QvUTXFPJHfKMlx5Zj3GM,811
+native/romi/lib/romiVendordep.dll,sha256=MLe7l8TDUPmZKJzvKdcDEnbdnP1lZLr3MhQB-NoLvm4,26112
+native/romi/lib/romiVendordep.lib,sha256=AaFSgW4T6mv4BAgRLDtrjv2VuLGuCPRg6v34ImSID18,21836
+robotpy_native_romi-2025.3.2.dist-info/METADATA,sha256=Av-icmSfUs4T4zSa4hMzMlqQRhrRoqK3ooP-d2Jer5o,183
+robotpy_native_romi-2025.3.2.dist-info/WHEEL,sha256=Vhj7RpPOKCXcsr4rUs7q4pISuo5nT6VsOuaQwH9GILY,94
+robotpy_native_romi-2025.3.2.dist-info/entry_points.txt,sha256=Xc0U2GpkqIPz_QT8WlVnn_B3LVysxH3WfKu9oe2gZSY,32
+robotpy_native_romi-2025.3.2.dist-info/RECORD,,

robotpy_native_romi-2025.3.2.dist-info/WHEEL

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+Wheel-Version: 1.0
+Generator: hatchling 1.27.0
+Root-Is-Purelib: false
+Tag: py3-none-win_amd64

robotpy_native_romi-2025.3.2.dist-info/entry_points.txt

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+[pkg_config]
+romi = native.romi