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Remove strict WPILib version requirement #2307

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Merged
mcm001 merged 4 commits into from
Jan 18, 2026
Merged

Remove strict WPILib version requirement #2307

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7fbb7ad
Unpin RobotPy
Gold856 Jan 17, 2026
3b5f996
Rip out WPILib version checks because Gradle will enforce the correct…
Gold856 Jan 17, 2026
6f93a57
Merge branch 'main' into loosen-version-requirements
mcm001 Jan 18, 2026
f3d60aa
Merge branch 'main' into loosen-version-requirements
mcm001 Jan 18, 2026
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10 changes: 5 additions & 5 deletions photon-lib/py/setup.py
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Original file line number Diff line number Diff line change
Expand Up @@ -58,11 +58,11 @@
version=versionString,
install_requires=[
"numpy~=2.3",
"wpilib==2026.2.1",
"robotpy-wpimath==2026.2.1",
"robotpy-apriltag==2026.2.1",
"robotpy-cscore==2026.2.1",
"pyntcore==2026.2.1",
"wpilib>=2026.2.1,<2027",
"robotpy-wpimath>=2026.2.1,<2027",
"robotpy-apriltag>=2026.2.1,<2027",
"robotpy-cscore>=2026.2.1,<2027",
"pyntcore>=2026.2.1,<2027",
"opencv-python;platform_machine!='roborio'",
],
description=descriptionStr,
Expand Down
45 changes: 0 additions & 45 deletions photon-lib/src/main/java/org/photonvision/PhotonCamera.java
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Original file line number Diff line number Diff line change
Expand Up @@ -45,7 +45,6 @@
import edu.wpi.first.wpilibj.Alert.AlertType;
import edu.wpi.first.wpilibj.DriverStation;
import edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj.util.WPILibVersion;
import java.util.ArrayList;
import java.util.Arrays;
import java.util.List;
Expand Down Expand Up @@ -189,50 +188,6 @@ public PhotonCamera(NetworkTableInstance instance, String cameraName) {

static void verifyDependencies() {
// spotless:off
if (!WPILibVersion.Version.equals(PhotonVersion.wpilibTargetVersion)) {
String bfw = """




>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>\s
>>> !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!\s
>>> \s
>>> You are running an incompatible version \s
>>> of PhotonVision ! \s
>>> \s
>>> PhotonLib """
+ PhotonVersion.versionString
+ " is built for WPILib "
+ PhotonVersion.wpilibTargetVersion
+ "\n"
+ ">>> but you are using WPILib "
+ WPILibVersion.Version
+ """
\n>>> \s
>>> This is neither tested nor supported. \s
>>> You MUST update WPILib, PhotonLib, or both.
>>> Check `./gradlew dependencies` and ensure\s
>>> all mentions of OpenCV match the version \s
>>> that PhotonLib was built for. If you find a
>>> a mismatched version in a dependency, you\s
>>> must take steps to update the version of \s
>>> OpenCV used in that dependency. If you do\s
>>> not control that dependency and an updated\s
>>> version is not available, contact the \s
>>> developers of that dependency. \s
>>> \s
>>> Your code will now crash. \s
>>> We hope your day gets better. \s
>>> \s
>>> !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!\s
>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>\s
""";

DriverStation.reportWarning(bfw, false);
DriverStation.reportError(bfw, false);
throw new UnsupportedOperationException(bfw);
}
if (!Core.VERSION.equals(PhotonVersion.opencvTargetVersion)) {
String bfw = """

Expand Down
43 changes: 0 additions & 43 deletions photon-lib/src/main/native/cpp/photon/PhotonCamera.cpp
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Expand Up @@ -29,7 +29,6 @@
#include <string_view>
#include <vector>

#include <WPILibVersion.h>
#include <frc/Errors.h>
#include <frc/RobotController.h>
#include <frc/Timer.h>
Expand All @@ -47,48 +46,6 @@ static constexpr units::second_t WARN_DEBOUNCE_SEC = 5_s;
static constexpr units::second_t HEARTBEAT_DEBOUNCE_SEC = 500_ms;

inline void verifyDependencies() {
if (!(std::string_view{GetWPILibVersion()} ==
std::string_view{photon::PhotonVersion::wpilibTargetVersion})) {
std::string bfw =
"\n\n\n\n\n"
">>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>\n"
">>> !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!\n"
">>> \n"
">>> You are running an incompatible version \n"
">>> of PhotonVision ! \n"
">>> \n"
">>> PhotonLib ";
bfw += photon::PhotonVersion::versionString;
bfw += " is built for WPILib ";
bfw += photon::PhotonVersion::wpilibTargetVersion;
bfw +=
"\n"
">>> but you are using WPILib ";
bfw += GetWPILibVersion();
bfw +=
"\n>>> \n"
">>> This is neither tested nor supported. \n"
">>> You MUST update WPILib, PhotonLib, or both.\n"
">>> Check `./gradlew dependencies` and ensure\n"
">>> all mentions of WPILib match the version \n"
">>> that PhotonLib was built for. If you find a"
">>> a mismatched version in a dependency, you\n"
">>> must take steps to update the version of \n"
">>> WPILib used in that dependency. If you do\n"
">>> not control that dependency and an updated\n"
">>> version is not available, contact the \n"
">>> developers of that dependency. \n"
">>> \n"
">>> Your code will now crash. \n"
">>> We hope your day gets better. \n"
">>> \n"
">>> !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!\n"
">>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>\n";

FRC_ReportWarning(bfw);
FRC_ReportError(frc::err::Error, bfw);
throw new std::runtime_error(std::string{bfw});
}
if (!(std::string_view{cv::getVersionString()} ==
std::string_view{photon::PhotonVersion::opencvTargetVersion})) {
std::string bfw =
Expand Down
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