wpilibsuite / wpilibsuite/SystemcoreTesting

ExpansionHubMotor.setReversed() stopped working

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Description

At some point calling setReversed() on any of our motors stopped taking effect. It worked at some point to flip our motors, but now it doesn't take affect for any motor.

The motor still can run, we can get encoder position / velocity, we can reset the encoder, but setReversed does nothing.

class ShooterSubsystem(Subsystem):
    def __init__(self):
        self.shooter_motor = wpilib.ExpansionHubMotor(0, 0)
        self.shooter_motor.setReversed(True) # Swapping this to False has no effect

RobotPy 2027.0.0a6.post1
Beta Systemcore HW, limelightosr-beta-11
Repo
Hybrid setup with 2 expansion hubs

Power cycles don't help, and I ssh'd into the systemcore to validate the file is getting deployed correctly

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First steps

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  3. Fork the repository and make your change on a branch.
  4. Open a pull request that references the issue number.

Research direction

Start with the ShooterSubsystem example in the linked FTC2025Flossie repository and trace the ExpansionHubMotor.setReversed() call. Reproduce the issue on the hybrid setup with two expansion hubs, checking whether motor direction changes while encoder operations still work; done means setReversed(True) and setReversed(False) produce opposite motor directions.

Written by the indexing model from the issue text.

Assessment

Tech stack
python
Domain
embedded-iot, robotics
Issue type
Bug
Difficulty
3/5
Estimated time
1-2 days
Activity status
Quiet
Clarity
Mostly clear
Newbie friendliness
48/100

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