Update for 2027

Author: virtuald

.github/workflows/dist.yml

@@ -6,12 +6,13 @@ on:
   push:
     branches:
     - main
+    - '2027'
     tags:
     - '*'
 
 jobs:
   ci:
-    uses: robotpy/build-actions/.github/workflows/package-pure.yml@v2025
+    uses: robotpy/build-actions/.github/workflows/package-pure.yml@v2027
     with:
       enable_sphinx_check: false
     secrets:

commands2/commandscheduler.py

@@ -9,7 +9,6 @@
 import hal
 from typing_extensions import Self
 from wpilib import (
-    LiveWindow,
     RobotBase,
     RobotState,
     TimedRobot,
@@ -59,8 +58,6 @@ def resetInstance() -> None:
         inst = CommandScheduler._instance
         if inst:
             inst._defaultButtonLoop.clear()
-            LiveWindow.setEnabledCallback(lambda: None)
-            LiveWindow.setDisabledCallback(lambda: None)
             SendableRegistry.remove(inst)
 
         CommandScheduler._instance = None
@@ -109,18 +106,7 @@ def __init__(self) -> None:
 
         self._watchdog = Watchdog(TimedRobot.kDefaultPeriod, lambda: None)
 
-        hal.report(
-            hal.tResourceType.kResourceType_Command.value,
-            hal.tInstances.kCommand2_Scheduler.value,
-        )
-        SendableRegistry.addLW(self, "Scheduler")
-
-        def _on_lw_enabled():
-            self.disable()
-            self.cancelAll()
-
-        LiveWindow.setEnabledCallback(_on_lw_enabled)
-        LiveWindow.setDisabledCallback(self.enable)
+        hal.reportUsage("CommandScheduler", "")
 
     def setPeriod(self, period: float) -> None:
         """

commands2/subsystem.py

@@ -31,7 +31,7 @@ class Subsystem(Sendable):
     def __new__(cls, *arg, **kwargs) -> Self:
         instance = super().__new__(cls)
         super().__init__(instance)
-        SendableRegistry.addLW(instance, cls.__name__, cls.__name__)
+        SendableRegistry.add(instance, cls.__name__, cls.__name__)
         # add to the scheduler
         from .commandscheduler import CommandScheduler
 
@@ -219,7 +219,7 @@ def addChild(self, name: str, child: Sendable) -> None:
         :param name:  name to give child
         :param child: sendable
         """
-        SendableRegistry.addLW(child, self.getSubsystem(), name)
+        SendableRegistry.add(child, self.getSubsystem(), name)
 
     def initSendable(self, builder: SendableBuilder) -> None:
         builder.setSmartDashboardType("Subsystem")

setup.py

@@ -13,7 +13,7 @@
     package_data={"commands2": ["py.typed"]},
     packages=["commands2"],
     install_requires=[
-        "wpilib<2026,>=2025.1.1",
+        "wpilib<2028,>=2027.0.0a2",
         "typing_extensions>=4.1.0,<5",
     ],
     license="BSD-3-Clause",