Update Python example RLIs

.github/workflows/inspector.json

@@ -13,7 +13,7 @@
     {
       "baseUrl": "https://raw.githubusercontent.com/robotpy/examples/",
       "versionScheme": "\\d{4}\\.\\d\\.\\d\\.\\d(?:-(?:alpha|beta)-\\d)?|[0-9a-f]{40}",
-      "latestVersion": "36c64f286a38478f5e04d60321c57b0a9d1c5f17"
+      "latestVersion": "4e7b525b47246e55ad617a66f2c3d9fda34484a3"
     },
     {
       "baseUrl": "https://raw.githubusercontent.com/wpilibsuite/vscode-wpilib/",

source/docs/contributing/frc-docs/style-guide.rst

@@ -111,7 +111,7 @@ When possible, instead of using code blocks, an RLI should be used.  This pulls
    :lines: 50-60
    :lineno-match:
 
-.. remoteliteralinclude:: https://raw.githubusercontent.com/robotpy/examples/36c64f286a38478f5e04d60321c57b0a9d1c5f17/GettingStarted/robot.py
+.. remoteliteralinclude:: https://raw.githubusercontent.com/robotpy/examples/4e7b525b47246e55ad617a66f2c3d9fda34484a3/GettingStarted/robot.py
    :language: python
    :lines: 12-29
    :lineno-match:

source/docs/software/advanced-controls/controllers/profiled-pidcontroller.rst

@@ -153,7 +153,7 @@ A more complete example of ``ProfiledPIDController`` usage is provided in the El
     :lines: 5-
     :lineno-match:
 
-  .. remoteliteralinclude:: https://raw.githubusercontent.com/robotpy/examples/36c64f286a38478f5e04d60321c57b0a9d1c5f17/ElevatorProfiledPID/robot.py
+  .. remoteliteralinclude:: https://raw.githubusercontent.com/robotpy/examples/4e7b525b47246e55ad617a66f2c3d9fda34484a3/ElevatorProfiledPID/robot.py
     :language: python
     :lines: 8-
     :lineno-match:

source/docs/software/advanced-controls/controllers/trapezoidal-profiles.rst

@@ -172,7 +172,7 @@ A more complete example of ``TrapezoidProfile`` usage is provided in the Elevato
     :lines: 5-
     :lineno-match:
 
-  .. remoteliteralinclude:: https://raw.githubusercontent.com/robotpy/examples/36c64f286a38478f5e04d60321c57b0a9d1c5f17/ElevatorTrapezoidProfile/robot.py
+  .. remoteliteralinclude:: https://raw.githubusercontent.com/robotpy/examples/4e7b525b47246e55ad617a66f2c3d9fda34484a3/ElevatorTrapezoidProfile/robot.py
     :language: python
     :lines: 8-
     :lineno-match:

source/docs/software/advanced-controls/state-space/state-space-flywheel-walkthrough.rst

@@ -86,12 +86,12 @@ The ``LinearSystem`` class contains methods for easily creating state-space syst
 
    .. tab-item:: Python
 
-      .. remoteliteralinclude:: https://raw.githubusercontent.com/robotpy/examples/36c64f286a38478f5e04d60321c57b0a9d1c5f17/StateSpaceFlywheelSysId/robot.py
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/robotpy/examples/4e7b525b47246e55ad617a66f2c3d9fda34484a3/StateSpaceFlywheelSysId/robot.py
          :language: python
          :lines: 23-27
          :lineno-match:
 
-      .. remoteliteralinclude:: https://raw.githubusercontent.com/robotpy/examples/36c64f286a38478f5e04d60321c57b0a9d1c5f17/StateSpaceFlywheelSysId/robot.py
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/robotpy/examples/4e7b525b47246e55ad617a66f2c3d9fda34484a3/StateSpaceFlywheelSysId/robot.py
          :language: python
          :lines: 37-48
          :lineno-match:
@@ -133,14 +133,14 @@ The ``LinearSystem`` class contains methods to easily create a model of a flywhe
    .. tab-item:: Python
       :sync: python
 
-      .. remoteliteralinclude:: https://raw.githubusercontent.com/robotpy/examples/36c64f286a38478f5e04d60321c57b0a9d1c5f17/StateSpaceFlywheel/robot.py
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/robotpy/examples/4e7b525b47246e55ad617a66f2c3d9fda34484a3/StateSpaceFlywheel/robot.py
          :language: python
-         :lines: 21-25
+         :lines: 22-26
          :lineno-match:
 
-      .. remoteliteralinclude:: https://raw.githubusercontent.com/robotpy/examples/36c64f286a38478f5e04d60321c57b0a9d1c5f17/StateSpaceFlywheel/robot.py
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/robotpy/examples/4e7b525b47246e55ad617a66f2c3d9fda34484a3/StateSpaceFlywheel/robot.py
          :language: python
-         :lines: 37-46
+         :lines: 38-47
          :lineno-match:
 
 ## Kalman Filters: Observing Flywheel State
@@ -182,9 +182,9 @@ Because the feedback controller computes error using the :term:`x-hat` estimated
    .. tab-item:: Python
       :sync: python
 
-      .. remoteliteralinclude:: https://raw.githubusercontent.com/robotpy/examples/36c64f286a38478f5e04d60321c57b0a9d1c5f17/StateSpaceFlywheel/robot.py
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/robotpy/examples/4e7b525b47246e55ad617a66f2c3d9fda34484a3/StateSpaceFlywheel/robot.py
          :language: python
-         :lines: 48-54
+         :lines: 49-55
          :lineno-match:
 
 Because Kalman filters use our state-space model in the :ref:`docs/software/advanced-controls/state-space/state-space-observers:Predict step`, it is important that our model is as accurate as possible. One way to verify this is to record a flywheel's input voltage and velocity over time, and replay this data by calling only ``predict`` on the Kalman filter. Then, the kV and kA gains (or moment of inertia and other constants) can be adjusted until the model closely matches the recorded data.
@@ -223,9 +223,9 @@ Much like ``SimpleMotorFeedforward`` can be used to generate feedforward voltage
    .. tab-item:: Python
       :sync: python
 
-      .. remoteliteralinclude:: https://raw.githubusercontent.com/robotpy/examples/36c64f286a38478f5e04d60321c57b0a9d1c5f17/StateSpaceFlywheel/robot.py
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/robotpy/examples/4e7b525b47246e55ad617a66f2c3d9fda34484a3/StateSpaceFlywheel/robot.py
          :language: python
-         :lines: 56-66
+         :lines: 57-67
          :lineno-match:
 
 ## Bringing it All Together: LinearSystemLoop
@@ -258,9 +258,9 @@ LinearSystemLoop combines our system, controller, and observer that we created e
    .. tab-item:: Python
       :sync: python
 
-      .. remoteliteralinclude:: https://raw.githubusercontent.com/robotpy/examples/36c64f286a38478f5e04d60321c57b0a9d1c5f17/StateSpaceFlywheel/robot.py
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/robotpy/examples/4e7b525b47246e55ad617a66f2c3d9fda34484a3/StateSpaceFlywheel/robot.py
          :language: python
-         :lines: 68-71
+         :lines: 69-72
          :lineno-match:
 
 Once we have our ``LinearSystemLoop``, the only thing left to do is actually run it. To do that, we'll periodically update our Kalman filter with our new encoder velocity measurements and apply new voltage commands to it. To do that, we first set the :term:`reference`, then ``correct`` with the current flywheel speed, ``predict`` the Kalman filter into the next timestep, and apply the inputs generated using ``getU``.
@@ -291,9 +291,9 @@ Once we have our ``LinearSystemLoop``, the only thing left to do is actually run
    .. tab-item:: Python
       :sync: python
 
-      .. remoteliteralinclude:: https://raw.githubusercontent.com/robotpy/examples/36c64f286a38478f5e04d60321c57b0a9d1c5f17/StateSpaceFlywheel/robot.py
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/robotpy/examples/4e7b525b47246e55ad617a66f2c3d9fda34484a3/StateSpaceFlywheel/robot.py
          :language: python
-         :lines: 87-109
+         :lines: 88-110
          :lineno-match:
 
 ## Angle Wrap with LQR

source/docs/software/advanced-controls/state-space/state-space-observers.rst

@@ -110,9 +110,9 @@ WPILib's Kalman Filter classes' constructors take a linear system, a vector of p
 
    .. tab-item:: Python
 
-      .. remoteliteralinclude:: https://raw.githubusercontent.com/robotpy/examples/36c64f286a38478f5e04d60321c57b0a9d1c5f17/StateSpaceFlywheel/robot.py
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/robotpy/examples/4e7b525b47246e55ad617a66f2c3d9fda34484a3/StateSpaceFlywheel/robot.py
          :language: python
-         :lines: 48-54
+         :lines: 49-55
          :lineno-match:
 
 ## Footnotes

source/docs/software/basic-programming/robot-preferences.rst

@@ -34,11 +34,11 @@ This example shows how to utilize Preferences to change the setpoint of a PID co
    .. tab-item:: Python
       :sync: Python
 
-      .. rli:: https://raw.githubusercontent.com/robotpy/examples/36c64f286a38478f5e04d60321c57b0a9d1c5f17/ArmSimulation/constants.py
+      .. rli:: https://raw.githubusercontent.com/robotpy/examples/4e7b525b47246e55ad617a66f2c3d9fda34484a3/ArmSimulation/constants.py
          :language: python
          :lines: 18-23
 
-      .. rli:: https://raw.githubusercontent.com/robotpy/examples/36c64f286a38478f5e04d60321c57b0a9d1c5f17/ArmSimulation/subsytems/arm.py
+      .. rli:: https://raw.githubusercontent.com/robotpy/examples/4e7b525b47246e55ad617a66f2c3d9fda34484a3/ArmSimulation/subsytems/arm.py
          :language: python
          :lines: 20-23,37-41
 
@@ -69,7 +69,7 @@ If using the Command Framework, this type of code could be placed in the constru
    .. tab-item:: Python
       :sync: Python
 
-      .. rli:: https://raw.githubusercontent.com/robotpy/examples/36c64f286a38478f5e04d60321c57b0a9d1c5f17/ArmSimulation/subsytems/arm.py
+      .. rli:: https://raw.githubusercontent.com/robotpy/examples/4e7b525b47246e55ad617a66f2c3d9fda34484a3/ArmSimulation/subsytems/arm.py
          :language: python
          :lines: 43-50
 
@@ -102,10 +102,10 @@ Depending on the data that is stored in preferences, you can use it when you rea
    .. tab-item:: Python
       :sync: Python
 
-      .. rli:: https://raw.githubusercontent.com/robotpy/examples/36c64f286a38478f5e04d60321c57b0a9d1c5f17/ArmSimulation/robot.py
+      .. rli:: https://raw.githubusercontent.com/robotpy/examples/4e7b525b47246e55ad617a66f2c3d9fda34484a3/ArmSimulation/robot.py
          :language: python
          :lines: 22-28
-      .. rli:: https://raw.githubusercontent.com/robotpy/examples/36c64f286a38478f5e04d60321c57b0a9d1c5f17/ArmSimulation/subsytems/arm.py
+      .. rli:: https://raw.githubusercontent.com/robotpy/examples/4e7b525b47246e55ad617a66f2c3d9fda34484a3/ArmSimulation/subsytems/arm.py
          :language: python
          :lines: 52-57
 

source/docs/software/can-devices/power-distribution-module.rst

@@ -42,7 +42,7 @@ Note: it is not necessary to create a PowerDistribution object unless you need t
          :language: c++
          :lines: 28-31
 
-      .. remoteliteralinclude:: https://raw.githubusercontent.com/robotpy/examples/36c64f286a38478f5e04d60321c57b0a9d1c5f17/CANPDP/robot.py
+      .. remoteliteralinclude:: https://raw.githubusercontent.com/robotpy/examples/4e7b525b47246e55ad617a66f2c3d9fda34484a3/CANPDP/robot.py
          :language: python
          :lines: 34-37
 
@@ -61,7 +61,7 @@ Monitoring the bus voltage can be useful for (among other things) detecting when
       :language: c++
       :lines: 33-35
 
-   .. remoteliteralinclude:: https://raw.githubusercontent.com/robotpy/examples/36c64f286a38478f5e04d60321c57b0a9d1c5f17/CANPDP/robot.py
+   .. remoteliteralinclude:: https://raw.githubusercontent.com/robotpy/examples/4e7b525b47246e55ad617a66f2c3d9fda34484a3/CANPDP/robot.py
       :language: python
       :lines: 39-41
 
@@ -80,7 +80,7 @@ Monitoring the temperature can be useful for detecting if the robot has been dra
       :language: c++
       :lines: 37-49
 
-   .. remoteliteralinclude:: https://raw.githubusercontent.com/robotpy/examples/36c64f286a38478f5e04d60321c57b0a9d1c5f17/CANPDP/robot.py
+   .. remoteliteralinclude:: https://raw.githubusercontent.com/robotpy/examples/4e7b525b47246e55ad617a66f2c3d9fda34484a3/CANPDP/robot.py
          :language: python
          :lines: 43-55
 
@@ -101,7 +101,7 @@ The PDP/PDH also allows users to monitor the current drawn by the individual dev
       :language: c++
       :lines: 22-26
 
-   .. remoteliteralinclude:: https://raw.githubusercontent.com/robotpy/examples/36c64f286a38478f5e04d60321c57b0a9d1c5f17/CANPDP/robot.py
+   .. remoteliteralinclude:: https://raw.githubusercontent.com/robotpy/examples/4e7b525b47246e55ad617a66f2c3d9fda34484a3/CANPDP/robot.py
       :language: python
       :lines: 28-32
 

source/docs/software/vision-processing/roborio/using-the-cameraserver-on-the-roborio.rst

@@ -18,7 +18,7 @@ The following program starts automatic capture of a USB camera like the Microsof
       :language: c++
       :lines: 7-8, 16-18, 20, 25-31
 
-   .. rli:: https://raw.githubusercontent.com/robotpy/examples/36c64f286a38478f5e04d60321c57b0a9d1c5f17/QuickVision/robot.py
+   .. rli:: https://raw.githubusercontent.com/robotpy/examples/4e7b525b47246e55ad617a66f2c3d9fda34484a3/QuickVision/robot.py
       :language: python
       :lines: 8-17
       :linenos:
@@ -69,14 +69,14 @@ In the following example a thread created in ``Robot`` constructor gets the Came
 
       Here's what your ``robot.py`` needs to contain to launch the image processing process:
 
-      .. rli:: https://raw.githubusercontent.com/robotpy/examples/36c64f286a38478f5e04d60321c57b0a9d1c5f17/IntermediateVision/robot.py
+      .. rli:: https://raw.githubusercontent.com/robotpy/examples/4e7b525b47246e55ad617a66f2c3d9fda34484a3/IntermediateVision/robot.py
          :language: python
          :lines: 8-17
          :linenos:
 
       The ``launch("vision.py")`` function says to launch ``vision.py`` and call the ``run`` function in that file. Here's what is in ``vision.py``:
 
-      .. rli:: https://raw.githubusercontent.com/robotpy/examples/36c64f286a38478f5e04d60321c57b0a9d1c5f17/IntermediateVision/vision.py
+      .. rli:: https://raw.githubusercontent.com/robotpy/examples/4e7b525b47246e55ad617a66f2c3d9fda34484a3/IntermediateVision/vision.py
          :language: python
          :lines: 12-55
          :linenos:

source/docs/zero-to-robot/step-4/creating-test-drivetrain-program-cpp-java-python.rst

@@ -148,7 +148,7 @@ Now let's look at various parts of the code.
 
          .. tab-item:: Python
 
-            .. remoteliteralinclude:: https://raw.githubusercontent.com/robotpy/examples/36c64f286a38478f5e04d60321c57b0a9d1c5f17/GettingStarted/robot.py
+            .. remoteliteralinclude:: https://raw.githubusercontent.com/robotpy/examples/4e7b525b47246e55ad617a66f2c3d9fda34484a3/GettingStarted/robot.py
                :language: python
                :lines: 8-9
                :lineno-match:
@@ -496,7 +496,7 @@ The ``Robot`` constructor for our sample program inverts the right side of the d
       :lines: 25-36
       :lineno-match:
 
-   .. remoteliteralinclude:: https://raw.githubusercontent.com/robotpy/examples/36c64f286a38478f5e04d60321c57b0a9d1c5f17/GettingStarted/robot.py
+   .. remoteliteralinclude:: https://raw.githubusercontent.com/robotpy/examples/4e7b525b47246e55ad617a66f2c3d9fda34484a3/GettingStarted/robot.py
       :language: python
       :lines: 31-43
       :lineno-match:
@@ -519,7 +519,7 @@ The ``AutonomousInit`` method is run once each time the robot transitions to aut
       :lines: 38-45
       :lineno-match:
 
-   .. remoteliteralinclude:: https://raw.githubusercontent.com/robotpy/examples/36c64f286a38478f5e04d60321c57b0a9d1c5f17/GettingStarted/robot.py
+   .. remoteliteralinclude:: https://raw.githubusercontent.com/robotpy/examples/4e7b525b47246e55ad617a66f2c3d9fda34484a3/GettingStarted/robot.py
       :language: python
       :lines: 45-52
       :lineno-match:
@@ -540,7 +540,7 @@ Like in Autonomous, the Teleop mode has a ``TeleopInit`` and ``TeleopPeriodic``
       :lines: 45-48
       :lineno-match:
 
-   .. remoteliteralinclude:: https://raw.githubusercontent.com/robotpy/examples/36c64f286a38478f5e04d60321c57b0a9d1c5f17/GettingStarted/robot.py
+   .. remoteliteralinclude:: https://raw.githubusercontent.com/robotpy/examples/4e7b525b47246e55ad617a66f2c3d9fda34484a3/GettingStarted/robot.py
       :language: python
       :lines: 54-58
       :lineno-match: