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This repository contains core python libraries that wrap the C++ artifacts ofallwpilib. These libraries areofficially supported for use in the FIRST Robotics Competition.

API documentation is athttps://robotpy.readthedocs.io/projects/robotpy/en/latest/

mostrobotpy consists of many interdependent python packages, which can befound in thesubprojects directory. Each subproject can be built likeany other python project, but it is recommended that you use ourrdev.shtool instead.

You must have a working C++ build system and python development headersinstalled for your system.

Next install dependencies using pip:

pip install -r rdev_requirements.txtpip install numpy

Then run this command to build all the wheels.

./rdev.sh ci run

All the resulting wheels are indist, which can be installed usingpip.

To install all robotpy packages ineditable modefirst run this to install dependencies:

./rdev.sh install-prereqs

Then each time you want to build everything:

./rdev.sh develop

For pure python development, you can just edit the files in this repository in-place, andchanges will take effect immediately.

If you are changing C++/wrapper code, you will need to rebuild the package that you aremodifying. You can either run the develop command above (which rebuilds everything) orrebuild an individual package:

./rdev.sh develop NAME

It can be a slow process, see thesemiwrap documentationfor tips to make it more efficient.

We only support cross-compiling for RoboRIO and raspbian via the WPILibdocker build containers. See.github/workflows/dist.yml'scross-buildjob for the name of the containers and the steps that must be run insidethe container.