robotpy · virtuald · Dec 21, 2025 · Dec 21, 2025
diff --git a/docs/conf.py b/docs/conf.py
@@ -60,11 +60,6 @@
 
 # WPILib
 gen_package(root, "wpilib", exclude=["wpi_*"])
-gen_package(root, "wpilib.counter")
-gen_package(root, "wpilib.event")
-gen_package(root, "wpilib.drive")
-gen_package(root, "wpilib.interfaces")
-gen_package(root, "wpilib.shuffleboard")
 gen_package(root, "wpilib.simulation")
 gen_package(root, "wpilib.sysid")
 
@@ -79,19 +74,6 @@
 
 # WPIMath
 gen_package(root, "wpimath")
-gen_package(root, "wpimath.controller")
-gen_package(root, "wpimath.estimator")
-gen_package(root, "wpimath.filter")
-gen_package(root, "wpimath.geometry")
-gen_package(root, "wpimath.interpolation")
-gen_package(root, "wpimath.kinematics")
-gen_package(root, "wpimath.optimization")
-gen_package(root, "wpimath.path")
-gen_package(root, "wpimath.spline")
-gen_package(root, "wpimath.system")
-gen_package(root, "wpimath.system.plant")
-gen_package(root, "wpimath.trajectory")
-gen_package(root, "wpimath.trajectory.constraint")
 
 # WPINet
 gen_package(root, "wpinet")

diff --git a/subprojects/robotpy-apriltag/tests/test_detection.py b/subprojects/robotpy-apriltag/tests/test_detection.py
@@ -1,6 +1,6 @@
 import cv2
 import robotpy_apriltag
-from wpimath.geometry import Transform3d
+from wpimath import Transform3d
 
 import math
 import pathlib

diff --git a/subprojects/robotpy-romi/pyproject.toml b/subprojects/robotpy-romi/pyproject.toml
@@ -45,7 +45,7 @@ update_init = ["romi"]
 name = "romi"
 wraps = ["robotpy-native-romi"]
 depends = [
-    "wpilib", "wpimath_geometry"
+    "wpilib", "wpimath"
 ]
 
 [tool.semiwrap.extension_modules."romi._romi".headers]

diff --git a/subprojects/robotpy-wpilib/meson.build b/subprojects/robotpy-wpilib/meson.build
@@ -12,18 +12,6 @@ wpilib_sources += files(
     'wpilib/src/rpy/MotorControllerGroup.cpp',
 )
 
-wpilib_counter_sources += files(
-    'wpilib/counter/counter.cpp',
-)
-
-wpilib_drive_sources += files(
-    'wpilib/drive/drive.cpp',
-)
-
-wpilib_event_sources += files(
-    'wpilib/event/event.cpp',
-)
-
 wpilib_simulation_sources += files(
     'wpilib/simulation/simulation.cpp',
 )

diff --git a/subprojects/robotpy-wpilib/pyproject.toml b/subprojects/robotpy-wpilib/pyproject.toml
@@ -50,10 +50,6 @@ packages = ["wpilib"]
 [tool.semiwrap]
 update_init = [
     "wpilib",
-    "wpilib.counter",
-    "wpilib.drive",
-    "wpilib.event",
-    "wpilib.interfaces wpilib._wpilib.interfaces",
     "wpilib.simulation",
     "wpilib.sysid wpilib._wpilib.sysid",
 ]
@@ -78,9 +74,7 @@ scan_headers_ignore = [
 name = "wpilib"
 wraps = ["robotpy-native-wpilib"]
 depends = [
-    "wpihal", "wpiutil", "ntcore",
-    "wpimath", "wpimath_geometry", "wpimath_controls",
-    "wpilib_event"
+    "wpihal", "wpiutil", "ntcore", "wpimath"
 ]
 includes = ["wpilib/src"]
 
@@ -93,6 +87,16 @@ Filesystem = "rpy/Filesystem.h"
 MotorControllerGroup = "rpy/MotorControllerGroup.h"
 Notifier = "rpy/Notifier.h"
 
+# wpi/counter
+EdgeConfiguration = "wpi/counter/EdgeConfiguration.hpp"
+Tachometer = "wpi/counter/Tachometer.hpp"
+UpDownCounter = "wpi/counter/UpDownCounter.hpp"
+
+# wpi/drive
+DifferentialDrive = "wpi/drive/DifferentialDrive.hpp"
+MecanumDrive = "wpi/drive/MecanumDrive.hpp"
+RobotDriveBase = "wpi/drive/RobotDriveBase.hpp"
+
 # wpi/driverstation
 DSControlWord = "wpi/driverstation/DSControlWord.hpp"
 DriverStation = "wpi/driverstation/DriverStation.hpp"
@@ -104,6 +108,11 @@ PS5Controller = "wpi/driverstation/PS5Controller.hpp"
 StadiaController = "wpi/driverstation/StadiaController.hpp"
 XboxController = "wpi/driverstation/XboxController.hpp"
 
+# wpi/event
+BooleanEvent = "wpi/event/BooleanEvent.hpp"
+EventLoop = "wpi/event/EventLoop.hpp"
+NetworkBooleanEvent = "wpi/event/NetworkBooleanEvent.hpp"
+
 # wpi/framework
 IterativeRobotBase = "wpi/framework/IterativeRobotBase.hpp"
 RobotBase = "wpi/framework/RobotBase.hpp"
@@ -214,50 +223,10 @@ Preferences = "wpi/util/Preferences.hpp"
 SensorUtil = "wpi/util/SensorUtil.hpp"
 
 
-[tool.semiwrap.extension_modules."wpilib.counter._counter"]
-name = "wpilib_counter"
-wraps = ["robotpy-native-wpilib"]
-depends = ["wpilib"]
-yaml_path = "semiwrap/counter"
-
-[tool.semiwrap.extension_modules."wpilib.counter._counter".headers]
-# wpi/counter
-EdgeConfiguration = "wpi/counter/EdgeConfiguration.hpp"
-Tachometer = "wpi/counter/Tachometer.hpp"
-UpDownCounter = "wpi/counter/UpDownCounter.hpp"
-
-
-[tool.semiwrap.extension_modules."wpilib.drive._drive"]
-name = "wpilib_drive"
-wraps = ["robotpy-native-wpilib"]
-depends = ["wpilib"]
-yaml_path = "semiwrap/drive"
-
-[tool.semiwrap.extension_modules."wpilib.drive._drive".headers]
-# wpi/drive
-DifferentialDrive = "wpi/drive/DifferentialDrive.hpp"
-MecanumDrive = "wpi/drive/MecanumDrive.hpp"
-RobotDriveBase = "wpi/drive/RobotDriveBase.hpp"
-
-
-[tool.semiwrap.extension_modules."wpilib.event._event"]
-name = "wpilib_event"
-wraps = ["robotpy-native-wpilib"]
-# depends = ["wpilib", "wpimath_filter"]
-depends = ["wpimath_filter"]
-yaml_path = "semiwrap/event"
-
-[tool.semiwrap.extension_modules."wpilib.event._event".headers]
-# wpi/event
-BooleanEvent = "wpi/event/BooleanEvent.hpp"
-EventLoop = "wpi/event/EventLoop.hpp"
-NetworkBooleanEvent = "wpi/event/NetworkBooleanEvent.hpp"
-
-
 [tool.semiwrap.extension_modules."wpilib.simulation._simulation"]
 name = "wpilib_simulation"
 wraps = ["robotpy-native-wpilib"]
-depends = ["wpilib", "wpimath_controls", "wpimath_geometry", "wpimath_kinematics"]
+depends = ["wpilib", "wpimath"]
 yaml_path = "semiwrap/simulation"
 
 [tool.semiwrap.extension_modules."wpilib.simulation._simulation".headers]

diff --git a/...py-wpilib/semiwrap/event/BooleanEvent.yml → .../robotpy-wpilib/semiwrap/BooleanEvent.yml b/...py-wpilib/semiwrap/event/BooleanEvent.yml → .../robotpy-wpilib/semiwrap/BooleanEvent.yml
diff --git a/subprojects/robotpy-wpilib/semiwrap/CounterBase.yml b/subprojects/robotpy-wpilib/semiwrap/CounterBase.yml
@@ -1,6 +1,3 @@
-defaults:
-  subpackage: interfaces
-
 classes:
   wpi::CounterBase:
     enums:

diff --git a/...ilib/semiwrap/drive/DifferentialDrive.yml → ...tpy-wpilib/semiwrap/DifferentialDrive.yml b/...ilib/semiwrap/drive/DifferentialDrive.yml → ...tpy-wpilib/semiwrap/DifferentialDrive.yml
diff --git a/...ib/semiwrap/counter/EdgeConfiguration.yml → ...tpy-wpilib/semiwrap/EdgeConfiguration.yml b/...ib/semiwrap/counter/EdgeConfiguration.yml → ...tpy-wpilib/semiwrap/EdgeConfiguration.yml
diff --git a/...botpy-wpilib/semiwrap/event/EventLoop.yml → ...cts/robotpy-wpilib/semiwrap/EventLoop.yml b/...botpy-wpilib/semiwrap/event/EventLoop.yml → ...cts/robotpy-wpilib/semiwrap/EventLoop.yml
diff --git a/subprojects/robotpy-wpilib/semiwrap/GenericHID.yml b/subprojects/robotpy-wpilib/semiwrap/GenericHID.yml
@@ -1,6 +1,3 @@
-defaults:
-  subpackage: interfaces
-
 extra_includes:
 - wpi/driverstation/DriverStation.hpp
 - wpi/event/BooleanEvent.hpp

diff --git a/...py-wpilib/semiwrap/drive/MecanumDrive.yml → .../robotpy-wpilib/semiwrap/MecanumDrive.yml b/...py-wpilib/semiwrap/drive/MecanumDrive.yml → .../robotpy-wpilib/semiwrap/MecanumDrive.yml
diff --git a/subprojects/robotpy-wpilib/semiwrap/MotorController.yml b/subprojects/robotpy-wpilib/semiwrap/MotorController.yml
@@ -1,6 +1,3 @@
-defaults:
-  subpackage: interfaces
-
 classes:
   wpi::MotorController:
     methods:

diff --git a/...ib/semiwrap/event/NetworkBooleanEvent.yml → ...y-wpilib/semiwrap/NetworkBooleanEvent.yml b/...ib/semiwrap/event/NetworkBooleanEvent.yml → ...y-wpilib/semiwrap/NetworkBooleanEvent.yml
diff --git a/...-wpilib/semiwrap/drive/RobotDriveBase.yml → ...obotpy-wpilib/semiwrap/RobotDriveBase.yml b/...-wpilib/semiwrap/drive/RobotDriveBase.yml → ...obotpy-wpilib/semiwrap/RobotDriveBase.yml
diff --git a/...py-wpilib/semiwrap/counter/Tachometer.yml → ...ts/robotpy-wpilib/semiwrap/Tachometer.yml b/...py-wpilib/semiwrap/counter/Tachometer.yml → ...ts/robotpy-wpilib/semiwrap/Tachometer.yml
diff --git a/...wpilib/semiwrap/counter/UpDownCounter.yml → ...robotpy-wpilib/semiwrap/UpDownCounter.yml b/...wpilib/semiwrap/counter/UpDownCounter.yml → ...robotpy-wpilib/semiwrap/UpDownCounter.yml
diff --git a/subprojects/robotpy-wpilib/tests/test_wpilib_drive.py b/subprojects/robotpy-wpilib/tests/test_wpilib_drive.py
diff --git a/subprojects/robotpy-wpilib/tests/test_wpilib_interfaces.py b/subprojects/robotpy-wpilib/tests/test_wpilib_interfaces.py
diff --git a/subprojects/robotpy-wpilib/wpilib/__init__.py b/subprojects/robotpy-wpilib/wpilib/__init__.py
@@ -1,8 +1,5 @@
 from . import _init__wpilib
 
-# TODO: robotpy-build subpackage bug
-from wpimath._controls._controls import trajectory as _
-
 # autogenerated by 'semiwrap create-imports wpilib wpilib._wpilib'
 from ._wpilib import (
     ADXL345_I2C,
@@ -12,37 +9,46 @@
     AnalogEncoder,
     AnalogInput,
     AnalogPotentiometer,
+    BooleanEvent,
     CAN,
     CANStatus,
     Compressor,
     CompressorConfigType,
+    CounterBase,
     DSControlWord,
     DataLogManager,
+    DifferentialDrive,
     DigitalInput,
     DigitalOutput,
     DoubleSolenoid,
     DriverStation,
     DutyCycle,
     DutyCycleEncoder,
+    EdgeConfiguration,
     Encoder,
+    EventLoop,
     ExpansionHub,
     ExpansionHubMotor,
     ExpansionHubPidConstants,
     ExpansionHubServo,
     Field2d,
     FieldObject2d,
     Gamepad,
+    GenericHID,
     I2C,
     IterativeRobotBase,
     Joystick,
     Koors40,
     LEDPattern,
+    MecanumDrive,
     Mechanism2d,
     MechanismLigament2d,
     MechanismObject2d,
     MechanismRoot2d,
+    MotorController,
     MotorControllerGroup,
     MotorSafety,
+    NetworkBooleanEvent,
     Notifier,
     OnboardIMU,
     PS4Controller,
@@ -63,6 +69,7 @@
     Preferences,
     RobotBase,
     RobotController,
+    RobotDriveBase,
     RobotState,
     RuntimeType,
     SendableBuilderImpl,
@@ -77,11 +84,13 @@
     SparkMini,
     StadiaController,
     SystemServer,
+    Tachometer,
     Talon,
     TimedRobot,
     Timer,
     TimesliceRobot,
     Tracer,
+    UpDownCounter,
     VictorSP,
     Watchdog,
     XboxController,
@@ -102,37 +111,46 @@
     "AnalogEncoder",
     "AnalogInput",
     "AnalogPotentiometer",
+    "BooleanEvent",
     "CAN",
     "CANStatus",
     "Compressor",
     "CompressorConfigType",
+    "CounterBase",
     "DSControlWord",
     "DataLogManager",
+    "DifferentialDrive",
     "DigitalInput",
     "DigitalOutput",
     "DoubleSolenoid",
     "DriverStation",
     "DutyCycle",
     "DutyCycleEncoder",
+    "EdgeConfiguration",
     "Encoder",
+    "EventLoop",
     "ExpansionHub",
     "ExpansionHubMotor",
     "ExpansionHubPidConstants",
     "ExpansionHubServo",
     "Field2d",
     "FieldObject2d",
     "Gamepad",
+    "GenericHID",
     "I2C",
     "IterativeRobotBase",
     "Joystick",
     "Koors40",
     "LEDPattern",
+    "MecanumDrive",
     "Mechanism2d",
     "MechanismLigament2d",
     "MechanismObject2d",
     "MechanismRoot2d",
+    "MotorController",
     "MotorControllerGroup",
     "MotorSafety",
+    "NetworkBooleanEvent",
     "Notifier",
     "OnboardIMU",
     "PS4Controller",
@@ -153,6 +171,7 @@
     "Preferences",
     "RobotBase",
     "RobotController",
+    "RobotDriveBase",
     "RobotState",
     "RuntimeType",
     "SendableBuilderImpl",
@@ -167,11 +186,13 @@
     "SparkMini",
     "StadiaController",
     "SystemServer",
+    "Tachometer",
     "Talon",
     "TimedRobot",
     "Timer",
     "TimesliceRobot",
     "Tracer",
+    "UpDownCounter",
     "VictorSP",
     "Watchdog",
     "XboxController",

diff --git a/subprojects/robotpy-wpilib/wpilib/counter/__init__.py b/subprojects/robotpy-wpilib/wpilib/counter/__init__.py
diff --git a/subprojects/robotpy-wpilib/wpilib/counter/counter.cpp b/subprojects/robotpy-wpilib/wpilib/counter/counter.cpp
diff --git a/subprojects/robotpy-wpilib/wpilib/drive/__init__.py b/subprojects/robotpy-wpilib/wpilib/drive/__init__.py
diff --git a/subprojects/robotpy-wpilib/wpilib/drive/drive.cpp b/subprojects/robotpy-wpilib/wpilib/drive/drive.cpp
diff --git a/subprojects/robotpy-wpilib/wpilib/event/__init__.py b/subprojects/robotpy-wpilib/wpilib/event/__init__.py
diff --git a/subprojects/robotpy-wpilib/wpilib/event/event.cpp b/subprojects/robotpy-wpilib/wpilib/event/event.cpp