Update to NavX beta

.github/workflows/dist.yml

@@ -11,7 +11,7 @@ on:
 
 jobs:
   ci:
-    uses: robotpy/build-actions/.github/workflows/package-ci.yml@v2025
+    uses: robotpy/build-actions/.github/workflows/package-ci.yml@v2026
     with:
       artifactory_repo_type: vendor
     secrets:

meson.build

@@ -17,7 +17,9 @@ libs_path = meson.current_source_dir() + '/lib/lib'
 
 navx_deps += [
     cpp.find_library('StudicaDriver', dirs: libs_path),
+    cpp.find_library('StudicaLibDriver', dirs: libs_path),
     cpp.find_library('Studica', dirs: libs_path),
+    cpp.find_library('StudicaLib', dirs: libs_path),
 ]
 
 subdir('semiwrap/modules')

navx/__init__.py

@@ -1,8 +1,8 @@
 from . import _init__navx
 
 # autogenerated by 'semiwrap create-imports navx navx._navx'
-from ._navx import AHRS
+from ._navx import AHRS, Navx
 
-__all__ = ["AHRS"]
+__all__ = ["AHRS", "Navx"]
 
 from .version import version as __version__

pyproject.toml

@@ -6,7 +6,7 @@ requires = [
     "semiwrap~=0.1",
     "hatch-meson~=0.1.0b2",
     "hatch-robotpy~=0.2.0",
-    "wpilib~=2025.3.2.2",
+    "wpilib~=2026.1.1b1",
 ]
 
 
@@ -16,7 +16,7 @@ dynamic = ["version"]
 description = "Python wrapper for Studica NavX sensor"
 license = "BSD-3-Clause"
 dependencies = [
-    "wpilib~=2025.3.2.2",
+    "wpilib~=2026.1.1b1",
 ]
 
 [[project.authors]]
@@ -40,19 +40,35 @@ packages = ["navx"]
 [[tool.hatch.build.hooks.robotpy.maven_lib_download]]
 artifact_id = "Studica-cpp"
 group_id = "com.studica.frc"
-repo_url = "https://dev.studica.com/maven/release/2025"
-version = "2025.0.1"
+repo_url = "https://dev.studica.com/maven/release/2026"
+version = "2026.0.0-beta"
 staticlibs = ["Studica"]
 extract_to = "lib"
 
 [[tool.hatch.build.hooks.robotpy.maven_lib_download]]
 artifact_id = "Studica-driver"
 group_id = "com.studica.frc"
-repo_url = "https://dev.studica.com/maven/release/2025"
-version = "2025.0.1"
+repo_url = "https://dev.studica.com/maven/release/2026"
+version = "2026.0.0-beta"
 staticlibs = ["StudicaDriver"]
 extract_to = "lib"
 
+[[tool.hatch.build.hooks.robotpy.maven_lib_download]]
+artifact_id = "StudicaLib-cpp"
+group_id = "com.studica.frc"
+repo_url = "https://dev.studica.com/maven/release/2026"
+version = "2026.0.1-beta"
+staticlibs = ["StudicaLib"]
+extract_to = "lib"
+
+[[tool.hatch.build.hooks.robotpy.maven_lib_download]]
+artifact_id = "StudicaLib-driver"
+group_id = "com.studica.frc"
+repo_url = "https://dev.studica.com/maven/release/2026"
+version = "2026.0.1-beta"
+staticlibs = ["StudicaLibDriver"]
+extract_to = "lib"
+
 
 [tool.hatch.build.hooks.semiwrap]
 
@@ -61,6 +77,8 @@ extract_to = "lib"
 
 [tool.semiwrap]
 update_init = ["navx"]
+scan_headers_ignore = ["*"]
+
 
 [tool.semiwrap.extension_modules."navx._navx"]
 name = "navx"
@@ -75,3 +93,4 @@ includes = [
 
 [tool.semiwrap.extension_modules."navx._navx".headers]
 AHRS = "studica/AHRS.h"
+NavX = "studica/Navx.h"

semiwrap/AHRS.yml

@@ -1,4 +1,3 @@
-
 extra_includes:
 - wpi/sendable/SendableHelper.h
 
@@ -10,12 +9,12 @@ classes:
       BoardAxis:
       NavXComType:
       NavXUpdateRate:
-      SerialDataType:
     methods:
       AHRS:
         overloads:
           NavXComType:
           NavXComType, NavXUpdateRate:
+          NavXComType, uint8_t:
       GetPitch:
         doc: |
           Returns the current pitch value (in degrees, from -180 to 180)
@@ -102,24 +101,6 @@ classes:
 
           :returns: Returns true if a valid update has been recently received
                     from the sensor.
-      GetByteCount:
-        doc: |
-          Returns the count in bytes of data received from the
-          sensor. This could can be useful for diagnosing
-          connectivity issues.
-
-          If the byte count is increasing, but the update count
-          (see :meth:`getUpdateCount`) is not, this indicates a software
-          misconfiguration.
-
-          :returns: The number of bytes received from the sensor.
-      GetUpdateCount:
-        doc: |
-          Returns the count of valid updates which have
-          been received from the sensor.  This count should increase
-          at the same rate indicated by the configured update rate.
-
-          :returns: The number of valid updates received from the sensor.
       GetLastSensorTimestamp:
         doc: |
           Returns the sensor timestamp corresponding to the
@@ -165,22 +146,6 @@ classes:
           body (e.g., the robot) on which the sensor is mounted.
 
           :returns: Current world linear acceleration in the Z-axis (in G).
-      IsMoving:
-        doc: |
-          Indicates if the sensor is currently detecting motion,
-          based upon the X and Y-axis world linear acceleration values.
-          If the sum of the absolute values of the X and Y axis exceed
-          a "motion threshold", the motion state is indicated.
-
-          :returns: Returns true if the sensor is currently detecting motion.
-      IsRotating:
-        doc: |
-          Indicates if the sensor is currently detecting motion,
-          based upon the X and Y-axis world linear acceleration values.
-          If the sum of the absolute values of the X and Y axis exceed
-          a "motion threshold", the motion state is indicated.
-
-          :returns: Returns true if the sensor is currently detecting motion.
       GetBarometricPressure:
         doc: |
           Returns the current barometric pressure, based upon calibrated readings
@@ -513,22 +478,6 @@ classes:
                       via the :meth:`getCompassHeading` method.
 
           :returns: Returns the mag field strength (in uTesla).
-      GetPressure:
-        doc: |
-          Returns the current barometric pressure (in millibar) [navX Aero only].
-
-          This value is valid only if a barometric pressure sensor is onboard.
-
-          :returns: Returns the current barometric pressure (in millibar).
-      GetTempC:
-        doc: |
-          Returns the current temperature (in degrees centigrade) reported by
-          the sensor's gyro/accelerometer circuit.
-
-          This value may be useful in order to perform advanced temperature-
-          correction of raw gyroscope and accelerometer values.
-
-          :returns: The current temperature (in degrees centigrade).
       GetBoardYawAxis:
         doc: |
           Returns information regarding which sensor board axis (X,Y or Z) and
@@ -551,10 +500,6 @@ classes:
           http://navx-mxp.kauailabs.com/navx-mxp/support/updating-firmware/
 
           :returns: The firmware version in the format [MajorVersion].[MinorVersion]
-      RegisterCallback:
-        ignore: true
-      DeregisterCallback:
-        ignore: true
       GetActualUpdateRate:
         doc: |
           Returns the navX-Model device's currently configured update
@@ -617,9 +562,12 @@ classes:
           of the X, Y and X-axis accelerometers.
 
           :returns: accelerometer full scale range in G.
-      Calibrate:
-        doc: |
-          Does nothing
+      GetPort:
+      ConfigureVelocity:
+      GetRobotCentricVelocityX:
+      GetRobotCentricVelocityY:
+      GetRobotCentricVelocityZ:
+      InitSendable:
   ::studica::AHRS::BoardYawAxis:
     attributes:
       board_axis:

semiwrap/NavX.yml

@@ -0,0 +1,22 @@
+classes:
+  ::studica::Navx:
+    methods:
+      Navx:
+        overloads:
+          int:
+          int, int:
+      GetYaw:
+      GetPitch:
+      GetRoll:
+      GetAlgoStates:
+      EnableOptionalMessages:
+      GetQuat6D:
+      GetQuat9D:
+      GetAngularVel:
+      GetLinearAccel:
+      GetCompass:
+      SelfTest:
+      SetODRHz:
+      Start:
+      GetSensorUUID:
+      GetTemperature:

tests/test_navx.py

@@ -19,3 +19,8 @@ def test_get_board_yaw_axis():
 def test_get_velocity_x():
     imu = navx.AHRS.create_spi()
     imu.getVelocityX()
+
+
+def test_navx_get_yaw():
+    imu = navx.Navx(0)
+    imu.getYaw()