diff --git a/examples/robot/DSGamepadChooser/robot.py b/examples/robot/DSGamepadChooser/robot.py
new file mode 100644
index 000000000..c393d2174
--- /dev/null
+++ b/examples/robot/DSGamepadChooser/robot.py
@@ -0,0 +1,85 @@
+#!/usr/bin/env python3
+#
+# Copyright (c) FIRST and other WPILib contributors.
+# Open Source Software; you can modify and/or share it under the terms of
+# the WPILib BSD license file in the root directory of this project.
+#
+
+from hal import RobotMode
+import wpilib
+from wpilib.opmoderobot import OpModeRobot
+
+
+class DoNothingTeleop(wpilib.PeriodicOpMode):
+    """A teleop opmode that intentionally does nothing."""
+
+
+class ScoreAuto(wpilib.PeriodicOpMode):
+    """An autonomous opmode with selectable scoring parameters."""
+
+    def __init__(self) -> None:
+        super().__init__()
+        wpilib.DriverStationDisplay.setMode(wpilib.DriverStationDisplay.Mode.Line)
+        self.chooser = wpilib.DSGamepadChooser(0)
+        self.chooser.addOptions("Target", ["High", "Mid", "Low"])
+        self.chooser.addIntegerOptions("Delay", 0, 5, 1)
+        self.chooser.addDoubleOptions("Speed", 0.25, 1.0, 0.25)
+        self.target = "High"
+        self.delay = 0
+        self.speed = 0.25
+
+    def disabledPeriodic(self) -> None:
+        self.chooser.update()
+        wpilib.DriverStationDisplay.updateLines()
+
+    def start(self) -> None:
+        self.target = self.chooser.getSelected("Target")
+        self.delay = self.chooser.getSelectedInteger("Delay")
+        self.speed = self.chooser.getSelectedDouble("Speed")
+
+    def periodic(self) -> None:
+        wpilib.DriverStationDisplay.addData("Selected Auto", "Score")
+        wpilib.DriverStationDisplay.addData("Target", self.target)
+        wpilib.DriverStationDisplay.addData("Delay", self.delay)
+        wpilib.DriverStationDisplay.addData("Speed", self.speed)
+        wpilib.DriverStationDisplay.updateLines()
+
+
+class BalanceAuto(wpilib.PeriodicOpMode):
+    """An autonomous opmode with selectable balance parameters."""
+
+    def __init__(self) -> None:
+        super().__init__()
+        wpilib.DriverStationDisplay.setMode(wpilib.DriverStationDisplay.Mode.Line)
+        self.chooser = wpilib.DSGamepadChooser(0)
+        self.chooser.addOptions("Approach", ["Left", "Center", "Right"])
+        self.chooser.addIntegerOptions("Attempts", 1, 3, 1)
+        self.chooser.addDoubleOptions("Turn Scale", 0.2, 1.0, 0.2)
+        self.approach = "Center"
+        self.attempts = 1
+        self.turnScale = 0.5
+
+    def disabledPeriodic(self) -> None:
+        self.chooser.update()
+        wpilib.DriverStationDisplay.updateLines()
+
+    def start(self) -> None:
+        self.approach = self.chooser.getSelected("Approach")
+        self.attempts = self.chooser.getSelectedInteger("Attempts")
+        self.turnScale = self.chooser.getSelectedDouble("Turn Scale")
+
+    def periodic(self) -> None:
+        wpilib.DriverStationDisplay.addData("Selected Auto", "Balance")
+        wpilib.DriverStationDisplay.addData("Approach", self.approach)
+        wpilib.DriverStationDisplay.addData("Attempts", self.attempts)
+        wpilib.DriverStationDisplay.addData("Turn Scale", self.turnScale)
+        wpilib.DriverStationDisplay.updateLines()
+
+
+class MyRobot(OpModeRobot):
+    def __init__(self) -> None:
+        super().__init__()
+        self.add_opmode(DoNothingTeleop, RobotMode.TELEOPERATED, "Do Nothing Teleop")
+        self.add_opmode(ScoreAuto, RobotMode.AUTONOMOUS, "Score Auto")
+        self.add_opmode(BalanceAuto, RobotMode.AUTONOMOUS, "Balance Auto")
+        self.publish_opmodes()
diff --git a/examples/robot/examples.toml b/examples/robot/examples.toml
index efef6ea1f..35494cfd9 100644
--- a/examples/robot/examples.toml
+++ b/examples/robot/examples.toml
@@ -15,6 +15,7 @@ base = [
   "Encoder",
   "GettingStarted",
   "Gyro",
+  "DSGamepadChooser",
   "HatchbotInlined",
   "HatchbotTraditional",
   "MecanumBot",
diff --git a/rdev.toml b/rdev.toml
index ed5bb6c4a..32788dbc0 100644
--- a/rdev.toml
+++ b/rdev.toml
@@ -22,7 +22,7 @@ wrapper = "2027.0.0a6.post4"
 
 [params]
 
-wpilib_bin_version = "2027.0.0-alpha-6-139-g34fee9a73"
+wpilib_bin_version = "2027.0.0-alpha-6-167-gdb3a9c428"
 wpilib_bin_url = "https://frcmaven.wpi.edu/artifactory/development-2027"
 # wpilib_bin_url = "https://frcmaven.wpi.edu/artifactory/development-2027"
 
diff --git a/subprojects/pyntcore/ntcore/src/py2value.h b/subprojects/pyntcore/ntcore/src/py2value.h
index fce52c8ec..25d71bfed 100644
--- a/subprojects/pyntcore/ntcore/src/py2value.h
+++ b/subprojects/pyntcore/ntcore/src/py2value.h
@@ -1,6 +1,7 @@
 #pragma once
 
-#include <fmt/format.h>
+#include <format>
+
 #include <semiwrap.h>
 
 #include "wpi/nt/NetworkTableType.hpp"
@@ -18,7 +19,7 @@ py::function valueFactoryByType(wpi::nt::NetworkTableType type);
 
 inline void ensure_value_is(NT_Type expected, wpi::nt::Value* v) {
   if (v->type() != expected) {
-    throw py::value_error(fmt::format("Value type is {}, not {}",
+    throw py::value_error(std::format("Value type is {}, not {}",
                                       nttype2str(v->type()),
                                       nttype2str(expected)));
   }
diff --git a/subprojects/robotpy-commands-v2/commands2/commandscheduler.py b/subprojects/robotpy-commands-v2/commands2/commandscheduler.py
index 16986c7cc..3da8d9de3 100644
--- a/subprojects/robotpy-commands-v2/commands2/commandscheduler.py
+++ b/subprojects/robotpy-commands-v2/commands2/commandscheduler.py
@@ -100,9 +100,7 @@ def __init__(self) -> None:
 
         self._in_run_loop = False
         self._to_schedule: Dict[Command, None] = {}
-        # python: to_cancel_interruptors stored in _to_cancel dict
         self._to_cancel: Dict[Command, Optional[Command]] = {}
-        # self._to_cancel_interruptors: List[Optional[Command]] = []
         self._ending_commands: Set[Command] = set()
 
         self._watchdog = Watchdog(TimedRobot.DEFAULT_PERIOD, lambda: None)
diff --git a/subprojects/robotpy-commands-v2/tools/hids/first_ds_hids.json b/subprojects/robotpy-commands-v2/tools/hids/first_ds_hids.json
index 0908002cb..df2c4223a 100644
--- a/subprojects/robotpy-commands-v2/tools/hids/first_ds_hids.json
+++ b/subprojects/robotpy-commands-v2/tools/hids/first_ds_hids.json
@@ -231,7 +231,7 @@
   },
   {
     "ClassName": "GameCube",
-    "HIDType": "STANDARD",
+    "HIDType": "GAMECUBE",
     "axes": {
       "leftX": 0,
       "leftY": 1,
@@ -335,7 +335,7 @@
   },
   {
     "ClassName": "Steam",
-    "HIDType": "STANDARD",
+    "HIDType": "STEAM",
     "axes": {
       "leftX": 0,
       "leftY": 1,
diff --git a/subprojects/robotpy-cscore/pyproject.toml b/subprojects/robotpy-cscore/pyproject.toml
index 999e04808..096aa50bd 100644
--- a/subprojects/robotpy-cscore/pyproject.toml
+++ b/subprojects/robotpy-cscore/pyproject.toml
@@ -44,7 +44,7 @@ version_file = "cscore/version.py"
 artifact_id = "cscore-cpp"
 group_id = "org.wpilib.cscore"
 repo_url = "https://frcmaven.wpi.edu/artifactory/development-2027"
-version = "2027.0.0-alpha-6-139-g34fee9a73"
+version = "2027.0.0-alpha-6-167-gdb3a9c428"
 
 staticlibs = ["cscore"]
 extract_to = "lib"
@@ -53,7 +53,7 @@ extract_to = "lib"
 artifact_id = "cameraserver-cpp"
 group_id = "org.wpilib.cameraserver"
 repo_url = "https://frcmaven.wpi.edu/artifactory/development-2027"
-version = "2027.0.0-alpha-6-139-g34fee9a73"
+version = "2027.0.0-alpha-6-167-gdb3a9c428"
 
 staticlibs = ["cameraserver"]
 extract_to = "lib"
diff --git a/subprojects/robotpy-halsim-ds-socket/pyproject.toml b/subprojects/robotpy-halsim-ds-socket/pyproject.toml
index cc6f919a9..913c48cca 100644
--- a/subprojects/robotpy-halsim-ds-socket/pyproject.toml
+++ b/subprojects/robotpy-halsim-ds-socket/pyproject.toml
@@ -30,7 +30,7 @@ version_file = "halsim_ds_socket/version.py"
 artifact_id = "halsim_ds_socket"
 group_id = "org.wpilib.halsim"
 repo_url = "https://frcmaven.wpi.edu/artifactory/development-2027"
-version = "2027.0.0-alpha-6-139-g34fee9a73"
+version = "2027.0.0-alpha-6-167-gdb3a9c428"
 use_headers = false
 
 extract_to = "halsim_ds_socket"
diff --git a/subprojects/robotpy-halsim-ws/pyproject.toml b/subprojects/robotpy-halsim-ws/pyproject.toml
index 19866ce05..9c64ce64d 100644
--- a/subprojects/robotpy-halsim-ws/pyproject.toml
+++ b/subprojects/robotpy-halsim-ws/pyproject.toml
@@ -35,7 +35,7 @@ version_file = "halsim_ws/version.py"
 artifact_id = "halsim_ws_server"
 group_id = "org.wpilib.halsim"
 repo_url = "https://frcmaven.wpi.edu/artifactory/development-2027"
-version = "2027.0.0-alpha-6-139-g34fee9a73"
+version = "2027.0.0-alpha-6-167-gdb3a9c428"
 use_headers = false
 
 extract_to = "halsim_ws/server"
@@ -45,7 +45,7 @@ libs = ["halsim_ws_server"]
 artifact_id = "halsim_ws_client"
 group_id = "org.wpilib.halsim"
 repo_url = "https://frcmaven.wpi.edu/artifactory/development-2027"
-version = "2027.0.0-alpha-6-139-g34fee9a73"
+version = "2027.0.0-alpha-6-167-gdb3a9c428"
 use_headers = false
 
 extract_to = "halsim_ws/client"
diff --git a/subprojects/robotpy-native-apriltag/pyproject.toml b/subprojects/robotpy-native-apriltag/pyproject.toml
index 566608eb2..093156e4c 100644
--- a/subprojects/robotpy-native-apriltag/pyproject.toml
+++ b/subprojects/robotpy-native-apriltag/pyproject.toml
@@ -27,7 +27,7 @@ packages = ["src/native"]
 artifact_id = "apriltag-cpp"
 group_id = "org.wpilib.apriltag"
 repo_url = "https://frcmaven.wpi.edu/artifactory/development-2027"
-version = "2027.0.0-alpha-6-139-g34fee9a73"
+version = "2027.0.0-alpha-6-167-gdb3a9c428"
 
 extract_to = "src/native/apriltag"
 libs = ["apriltag"]
diff --git a/subprojects/robotpy-native-datalog/pyproject.toml b/subprojects/robotpy-native-datalog/pyproject.toml
index ab5eca40d..2a18b8a37 100644
--- a/subprojects/robotpy-native-datalog/pyproject.toml
+++ b/subprojects/robotpy-native-datalog/pyproject.toml
@@ -26,7 +26,7 @@ packages = ["src/native"]
 artifact_id = "datalog-cpp"
 group_id = "org.wpilib.datalog"
 repo_url = "https://frcmaven.wpi.edu/artifactory/development-2027"
-version = "2027.0.0-alpha-6-139-g34fee9a73"
+version = "2027.0.0-alpha-6-167-gdb3a9c428"
 
 extract_to = "src/native/datalog"
 libs = ["datalog"]
diff --git a/subprojects/robotpy-native-halsim-gui/pyproject.toml b/subprojects/robotpy-native-halsim-gui/pyproject.toml
index dbe19c644..8a93d8a80 100644
--- a/subprojects/robotpy-native-halsim-gui/pyproject.toml
+++ b/subprojects/robotpy-native-halsim-gui/pyproject.toml
@@ -29,7 +29,7 @@ packages = ["src/native"]
 artifact_id = "halsim_gui"
 group_id = "org.wpilib.halsim"
 repo_url = "https://frcmaven.wpi.edu/artifactory/development-2027"
-version = "2027.0.0-alpha-6-139-g34fee9a73"
+version = "2027.0.0-alpha-6-167-gdb3a9c428"
 use_headers = true
 
 extract_to = "src/native/halsim_gui"
diff --git a/subprojects/robotpy-native-ntcore/pyproject.toml b/subprojects/robotpy-native-ntcore/pyproject.toml
index a3a427677..5b3f02bf0 100644
--- a/subprojects/robotpy-native-ntcore/pyproject.toml
+++ b/subprojects/robotpy-native-ntcore/pyproject.toml
@@ -29,7 +29,7 @@ packages = ["src/native"]
 artifact_id = "ntcore-cpp"
 group_id = "org.wpilib.ntcore"
 repo_url = "https://frcmaven.wpi.edu/artifactory/development-2027"
-version = "2027.0.0-alpha-6-139-g34fee9a73"
+version = "2027.0.0-alpha-6-167-gdb3a9c428"
 
 extract_to = "src/native/ntcore"
 libs = ["ntcore"]
diff --git a/subprojects/robotpy-native-romi/pyproject.toml b/subprojects/robotpy-native-romi/pyproject.toml
index 804e1b481..557bceb82 100644
--- a/subprojects/robotpy-native-romi/pyproject.toml
+++ b/subprojects/robotpy-native-romi/pyproject.toml
@@ -25,7 +25,7 @@ packages = ["src/native"]
 artifact_id = "romiVendordep-cpp"
 group_id = "org.wpilib.romiVendordep"
 repo_url = "https://frcmaven.wpi.edu/artifactory/development-2027"
-version = "2027.0.0-alpha-6-139-g34fee9a73"
+version = "2027.0.0-alpha-6-167-gdb3a9c428"
 
 extract_to = "src/native/romi"
 libs = ["romiVendordep"]
diff --git a/subprojects/robotpy-native-wpihal/pyproject.toml b/subprojects/robotpy-native-wpihal/pyproject.toml
index 52c0f4ae8..aae31cc6d 100644
--- a/subprojects/robotpy-native-wpihal/pyproject.toml
+++ b/subprojects/robotpy-native-wpihal/pyproject.toml
@@ -27,7 +27,7 @@ packages = ["src/native"]
 artifact_id = "hal-cpp"
 group_id = "org.wpilib.hal"
 repo_url = "https://frcmaven.wpi.edu/artifactory/development-2027"
-version = "2027.0.0-alpha-6-139-g34fee9a73"
+version = "2027.0.0-alpha-6-167-gdb3a9c428"
 
 extract_to = "src/native/wpihal"
 libs = ["wpiHal"]
diff --git a/subprojects/robotpy-native-wpilib/pyproject.toml b/subprojects/robotpy-native-wpilib/pyproject.toml
index 20fa8899b..e3a3a12c2 100644
--- a/subprojects/robotpy-native-wpilib/pyproject.toml
+++ b/subprojects/robotpy-native-wpilib/pyproject.toml
@@ -33,7 +33,7 @@ packages = ["src/native"]
 artifact_id = "wpilibc-cpp"
 group_id = "org.wpilib.wpilibc"
 repo_url = "https://frcmaven.wpi.edu/artifactory/development-2027"
-version = "2027.0.0-alpha-6-139-g34fee9a73"
+version = "2027.0.0-alpha-6-167-gdb3a9c428"
 
 extract_to = "src/native/wpilib"
 libs = ["wpilibc"]
diff --git a/subprojects/robotpy-native-wpimath/pyproject.toml b/subprojects/robotpy-native-wpimath/pyproject.toml
index c99a58be1..f848ef9fc 100644
--- a/subprojects/robotpy-native-wpimath/pyproject.toml
+++ b/subprojects/robotpy-native-wpimath/pyproject.toml
@@ -25,7 +25,7 @@ packages = ["src/native"]
 artifact_id = "wpimath-cpp"
 group_id = "org.wpilib.wpimath"
 repo_url = "https://frcmaven.wpi.edu/artifactory/development-2027"
-version = "2027.0.0-alpha-6-139-g34fee9a73"
+version = "2027.0.0-alpha-6-167-gdb3a9c428"
 
 extract_to = "src/native/wpimath"
 libs = ["wpimath"]
diff --git a/subprojects/robotpy-native-wpinet/pyproject.toml b/subprojects/robotpy-native-wpinet/pyproject.toml
index 89ab4afd6..816c58820 100644
--- a/subprojects/robotpy-native-wpinet/pyproject.toml
+++ b/subprojects/robotpy-native-wpinet/pyproject.toml
@@ -25,7 +25,7 @@ packages = ["src/native"]
 artifact_id = "wpinet-cpp"
 group_id = "org.wpilib.wpinet"
 repo_url = "https://frcmaven.wpi.edu/artifactory/development-2027"
-version = "2027.0.0-alpha-6-139-g34fee9a73"
+version = "2027.0.0-alpha-6-167-gdb3a9c428"
 
 extract_to = "src/native/wpinet"
 libs = ["wpinet"]
diff --git a/subprojects/robotpy-native-wpiutil/pyproject.toml b/subprojects/robotpy-native-wpiutil/pyproject.toml
index c07dcf7f1..9a498df79 100644
--- a/subprojects/robotpy-native-wpiutil/pyproject.toml
+++ b/subprojects/robotpy-native-wpiutil/pyproject.toml
@@ -24,7 +24,7 @@ packages = ["src/native"]
 artifact_id = "wpiutil-cpp"
 group_id = "org.wpilib.wpiutil"
 repo_url = "https://frcmaven.wpi.edu/artifactory/development-2027"
-version = "2027.0.0-alpha-6-139-g34fee9a73"
+version = "2027.0.0-alpha-6-167-gdb3a9c428"
 
 extract_to = "src/native/wpiutil"
 libs = ["wpiutil"]
diff --git a/subprojects/robotpy-native-xrp/pyproject.toml b/subprojects/robotpy-native-xrp/pyproject.toml
index ffbc3ff7a..87b826d18 100644
--- a/subprojects/robotpy-native-xrp/pyproject.toml
+++ b/subprojects/robotpy-native-xrp/pyproject.toml
@@ -25,7 +25,7 @@ packages = ["src/native"]
 artifact_id = "xrpVendordep-cpp"
 group_id = "org.wpilib.xrpVendordep"
 repo_url = "https://frcmaven.wpi.edu/artifactory/development-2027"
-version = "2027.0.0-alpha-6-139-g34fee9a73"
+version = "2027.0.0-alpha-6-167-gdb3a9c428"
 
 extract_to = "src/native/xrp"
 libs = ["xrpVendordep"]
diff --git a/subprojects/robotpy-wpilib/pyproject.toml b/subprojects/robotpy-wpilib/pyproject.toml
index 09edde8b4..2677094e5 100644
--- a/subprojects/robotpy-wpilib/pyproject.toml
+++ b/subprojects/robotpy-wpilib/pyproject.toml
@@ -124,6 +124,7 @@ POVDirection = "wpi/driverstation/POVDirection.hpp"
 RobotState = "wpi/driverstation/RobotState.hpp"
 TouchpadFinger = "wpi/driverstation/TouchpadFinger.hpp"
 Gamepad = "wpi/driverstation/Gamepad.hpp"
+DSGamepadChooser = "wpi/driverstation/DSGamepadChooser.hpp"
 GenericHID = "wpi/driverstation/GenericHID.hpp"
 HIDDevice = "wpi/driverstation/HIDDevice.hpp"
 Joystick = "wpi/driverstation/Joystick.hpp"
diff --git a/subprojects/robotpy-wpilib/semiwrap/DSGamepadChooser.yml b/subprojects/robotpy-wpilib/semiwrap/DSGamepadChooser.yml
new file mode 100644
index 000000000..8f6067426
--- /dev/null
+++ b/subprojects/robotpy-wpilib/semiwrap/DSGamepadChooser.yml
@@ -0,0 +1,48 @@
+extra_includes:
+- pybind11/stl.h
+- wpi/driverstation/Gamepad.hpp
+
+classes:
+  wpi::DSGamepadChooser:
+    methods:
+      DSGamepadChooser:
+        overloads:
+          int:
+          Gamepad&:
+            keepalive:
+            - [1, 2]
+      GetGamepad:
+        overloads:
+          "":
+            return_value_policy: reference_internal
+          '[const]':
+            ignore: true
+      AddOptions:
+        overloads:
+          std::string_view, std::vector<std::string>:
+            return_value_policy: reference_internal
+          std::string_view, std::initializer_list<std::string_view>:
+            ignore: true
+      AddIntegerOptions:
+        return_value_policy: reference_internal
+      AddDoubleOptions:
+        return_value_policy: reference_internal
+      Update:
+      GetSelected:
+      GetSelectedInteger:
+      GetSelectedDouble:
+      GetSelectedIndex:
+      GetSelectableNames:
+      GetSelectedSelectable:
+        overloads:
+          "":
+            return_value_policy: reference_internal
+          '[const]':
+            ignore: true
+
+  wpi::DSGamepadChooser::GamepadSelectable:
+    methods:
+      GetName:
+      GetOptions:
+      GetSelected:
+      GetSelectedIndex:
diff --git a/subprojects/robotpy-wpilib/semiwrap/ExpansionHubMotor.yml b/subprojects/robotpy-wpilib/semiwrap/ExpansionHubMotor.yml
index 1ecd7b1b7..8adb28566 100644
--- a/subprojects/robotpy-wpilib/semiwrap/ExpansionHubMotor.yml
+++ b/subprojects/robotpy-wpilib/semiwrap/ExpansionHubMotor.yml
@@ -7,8 +7,6 @@ classes:
       SetPositionSetpoint:
       SetVelocitySetpoint:
       SetEnabled:
-      SetFloatOn0:
-        rename: set_float_on_0
       GetCurrent:
       SetDistancePerCount:
       GetEncoderVelocity:
@@ -17,8 +15,10 @@ classes:
       ResetEncoder:
       IsHubConnected:
       Follow:
+      Unfollow:
       GetVelocityConstants:
       GetPositionConstants:
-      Unfollow:
+      SetNeutralMode:
     enums:
+      NeutralMode:
       FollowDirection:
diff --git a/subprojects/robotpy-wpilib/semiwrap/FieldObject2d.yml b/subprojects/robotpy-wpilib/semiwrap/FieldObject2d.yml
index 3a0cc15dc..acce1b6ee 100644
--- a/subprojects/robotpy-wpilib/semiwrap/FieldObject2d.yml
+++ b/subprojects/robotpy-wpilib/semiwrap/FieldObject2d.yml
@@ -1,6 +1,6 @@
 extra_includes:
 - wpi/math/trajectory/DifferentialTrajectory.hpp
-- wpi/math/trajectory/SplineTrajectory.hpp
+- wpi/math/trajectory/DrivetrainSplineTrajectory.hpp
 - wpi/math/trajectory/HolonomicTrajectory.hpp
 - wpi/math/trajectory/Trajectory.hpp
 
@@ -22,9 +22,9 @@ classes:
             ignore: true
       SetTrajectory:
         template_impls:
-        - [wpi::math::SplineSample]
         - [wpi::math::DifferentialSample]
-        - [wpi::math::TrajectorySample]
+        - [wpi::math::DrivetrainSplineSample]
+        - [wpi::math::HolonomicSample]
       GetPoses:
         overloads:
           '[const]':
diff --git a/subprojects/robotpy-wpilib/semiwrap/simulation/AddressableLEDSim.yml b/subprojects/robotpy-wpilib/semiwrap/simulation/AddressableLEDSim.yml
index 6794bc0cd..09c2e9192 100644
--- a/subprojects/robotpy-wpilib/semiwrap/simulation/AddressableLEDSim.yml
+++ b/subprojects/robotpy-wpilib/semiwrap/simulation/AddressableLEDSim.yml
@@ -37,7 +37,7 @@ classes:
         cpp_code: |
           [](wpi::sim::AddressableLEDSim &self, std::span<wpi::AddressableLED::LEDData> &data) {
             if (static_cast<int>(data.size()) != self.GetLength()) {
-               std::string msg = fmt::format("data must have length {} (got {})", self.GetLength(), data.size());
+               std::string msg = std::format("data must have length {} (got {})", self.GetLength(), data.size());
                throw py::value_error(msg);
             }
             self.SetData(data.data());
diff --git a/subprojects/robotpy-wpilib/tests/driverstation/test_ds_gamepad_chooser.py b/subprojects/robotpy-wpilib/tests/driverstation/test_ds_gamepad_chooser.py
new file mode 100644
index 000000000..4708b5213
--- /dev/null
+++ b/subprojects/robotpy-wpilib/tests/driverstation/test_ds_gamepad_chooser.py
@@ -0,0 +1,102 @@
+import pytest
+
+from wpilib import DriverStationDisplay, Gamepad, DSGamepadChooser
+from wpilib.simulation import DriverStationSim, GamepadSim
+
+
+@pytest.fixture(autouse=True)
+def reset_driver_station_sim():
+    DriverStationSim.reset_data()
+    DriverStationDisplay.set_mode(DriverStationDisplay.Mode.LINE)
+
+
+def tap(sim: GamepadSim, chooser: DSGamepadChooser, button: Gamepad.Button) -> None:
+    sim.set_button(button, True)
+    sim.notify_new_data()
+    chooser.update()
+
+    sim.set_button(button, False)
+    sim.notify_new_data()
+    chooser.update()
+
+
+def test_add_options_selects_first_option_by_default() -> None:
+    chooser = DSGamepadChooser(0)
+
+    selectable = chooser.add_options("Auto", ["Left", "Center", "Right"])
+
+    assert selectable.get_selected() == "Left"
+    assert chooser.get_selected("Auto") == "Left"
+    assert chooser.get_selected_index("Auto") == 0
+    assert chooser.get_selectable_names() == ["Auto"]
+    assert chooser.get_selected_selectable().get_name() == selectable.get_name()
+
+
+def test_add_integer_options_creates_range() -> None:
+    chooser = DSGamepadChooser(0)
+
+    selectable = chooser.add_integer_options("Delay", -2, 3, 2)
+
+    assert selectable.get_options() == ["-2", "0", "2", "3"]
+    assert selectable.get_selected() == "-2"
+    assert chooser.get_selected_integer("Delay") == -2
+
+
+def test_add_double_options_creates_range() -> None:
+    chooser = DSGamepadChooser(0)
+
+    selectable = chooser.add_double_options("Speed", 0.0, 1.0, 0.3)
+
+    assert selectable.get_options() == ["0.0", "0.3", "0.6", "0.9", "1.0"]
+    assert selectable.get_selected() == "0.0"
+    assert chooser.get_selected_double("Speed") == pytest.approx(0.0)
+
+
+def test_dpad_moves_between_selectables_and_options() -> None:
+    gamepad = Gamepad(0)
+    sim = GamepadSim(gamepad)
+    chooser = DSGamepadChooser(gamepad)
+    auto = chooser.add_options("Auto", ["Left", "Center", "Right"])
+    delay = chooser.add_integer_options("Delay", 0, 2, 1)
+
+    tap(sim, chooser, Gamepad.Button.DPAD_RIGHT)
+    assert auto.get_selected() == "Center"
+    assert delay.get_selected() == "0"
+    assert chooser.get_selected_selectable().get_name() == "Auto"
+
+    tap(sim, chooser, Gamepad.Button.DPAD_DOWN)
+    assert chooser.get_selected_selectable().get_name() == "Delay"
+
+    tap(sim, chooser, Gamepad.Button.DPAD_RIGHT)
+    assert delay.get_selected() == "1"
+    assert auto.get_selected() == "Center"
+
+    tap(sim, chooser, Gamepad.Button.DPAD_LEFT)
+    tap(sim, chooser, Gamepad.Button.DPAD_LEFT)
+    assert delay.get_selected() == "2"
+
+    tap(sim, chooser, Gamepad.Button.DPAD_UP)
+    assert chooser.get_selected_selectable().get_name() == "Auto"
+
+    tap(sim, chooser, Gamepad.Button.DPAD_LEFT)
+    tap(sim, chooser, Gamepad.Button.DPAD_LEFT)
+    assert auto.get_selected() == "Right"
+
+
+def test_rejects_invalid_selectables() -> None:
+    chooser = DSGamepadChooser(0)
+
+    with pytest.raises(ValueError):
+        chooser.add_options("", ["A"])
+    with pytest.raises(ValueError):
+        chooser.add_options("Empty", [])
+    with pytest.raises(ValueError):
+        chooser.add_integer_options("Bad", 0, 2, 0)
+    with pytest.raises(ValueError):
+        chooser.add_double_options("Bad", 0.0, 1.0, 0.0)
+
+    chooser.add_options("Auto", ["A"])
+    with pytest.raises(ValueError):
+        chooser.add_options("Auto", ["B"])
+    with pytest.raises(ValueError):
+        chooser.get_selected("Missing")
diff --git a/subprojects/robotpy-wpilib/wpilib/__init__.py b/subprojects/robotpy-wpilib/wpilib/__init__.py
index 41736e82c..4be0edb19 100644
--- a/subprojects/robotpy-wpilib/wpilib/__init__.py
+++ b/subprojects/robotpy-wpilib/wpilib/__init__.py
@@ -44,6 +44,7 @@
     FieldObject2d,
     GameCubeController,
     Gamepad,
+    DSGamepadChooser,
     GenericHID,
     HIDDevice,
     I2C,
@@ -173,6 +174,7 @@
     "FieldObject2d",
     "GameCubeController",
     "Gamepad",
+    "DSGamepadChooser",
     "GenericHID",
     "HIDDevice",
     "I2C",
diff --git a/subprojects/robotpy-wpimath/pyproject.toml b/subprojects/robotpy-wpimath/pyproject.toml
index 908ef3988..570a30b87 100644
--- a/subprojects/robotpy-wpimath/pyproject.toml
+++ b/subprojects/robotpy-wpimath/pyproject.toml
@@ -1579,10 +1579,11 @@ NumericalJacobian = "wpi/math/system/NumericalJacobian.hpp"
 # wpi/math/trajectory
 DifferentialSample = "wpi/math/trajectory/DifferentialSample.hpp"
 DifferentialTrajectory = "wpi/math/trajectory/DifferentialTrajectory.hpp"
+DrivetrainSplineSample = "wpi/math/trajectory/DrivetrainSplineSample.hpp"
+DrivetrainSplineTrajectory = "wpi/math/trajectory/DrivetrainSplineTrajectory.hpp"
 ExponentialProfile = "wpi/math/trajectory/ExponentialProfile.hpp"
+HolonomicSample = "wpi/math/trajectory/HolonomicSample.hpp"
 HolonomicTrajectory = "wpi/math/trajectory/HolonomicTrajectory.hpp"
-SplineSample = "wpi/math/trajectory/SplineSample.hpp"
-SplineTrajectory = "wpi/math/trajectory/SplineTrajectory.hpp"
 Trajectory = "wpi/math/trajectory/Trajectory.hpp"
 TrajectoryConfig = "wpi/math/trajectory/TrajectoryConfig.hpp"
 TrajectoryGenerator = "wpi/math/trajectory/TrajectoryGenerator.hpp"
diff --git a/subprojects/robotpy-wpimath/semiwrap/DifferentialSample.yml b/subprojects/robotpy-wpimath/semiwrap/DifferentialSample.yml
index 3671e0780..1d19113ea 100644
--- a/subprojects/robotpy-wpimath/semiwrap/DifferentialSample.yml
+++ b/subprojects/robotpy-wpimath/semiwrap/DifferentialSample.yml
@@ -15,20 +15,19 @@ classes:
   wpi::math::DifferentialSample:
     force_no_trampoline: true
     attributes:
-      leftSpeed:
-      rightSpeed:
+      leftVelocity:
+      rightVelocity:
     methods:
       DifferentialSample:
         overloads:
           "":
-          const TrajectorySample&, wpi::units::meters_per_second_t, wpi::units::meters_per_second_t:
-          const TrajectorySample&, const DifferentialDriveKinematics&:
-          const SplineSample&, const DifferentialDriveKinematics&:
           ? wpi::units::second_t, const Pose2d&, const ChassisVelocities&, const ChassisAccelerations&, wpi::units::meters_per_second_t, wpi::units::meters_per_second_t
           :
           ? wpi::units::second_t, const Pose2d&, const ChassisVelocities&, const ChassisAccelerations&, const DifferentialDriveKinematics&
           :
+          const HolonomicSample&, wpi::units::meters_per_second_t, wpi::units::meters_per_second_t:
+          const HolonomicSample&, const DifferentialDriveKinematics&:
+          const DrivetrainSplineSample&, const DifferentialDriveKinematics&:
       Transform:
       RelativeTo:
-      WithNewTimestamp:
       operator==:
diff --git a/subprojects/robotpy-wpimath/semiwrap/SplineSample.yml b/subprojects/robotpy-wpimath/semiwrap/DrivetrainSplineSample.yml
similarity index 84%
rename from subprojects/robotpy-wpimath/semiwrap/SplineSample.yml
rename to subprojects/robotpy-wpimath/semiwrap/DrivetrainSplineSample.yml
index f45c49a1c..659ee60a9 100644
--- a/subprojects/robotpy-wpimath/semiwrap/SplineSample.yml
+++ b/subprojects/robotpy-wpimath/semiwrap/DrivetrainSplineSample.yml
@@ -4,21 +4,20 @@ functions:
   from_json:
     ignore: true
 classes:
-  wpi::math::SplineSample:
+  wpi::math::DrivetrainSplineSample:
     force_no_trampoline: true
     attributes:
       curvature:
     methods:
-      SplineSample:
+      DrivetrainSplineSample:
         overloads:
           "":
           ? wpi::units::second_t, const Pose2d&, wpi::units::meters_per_second_t, wpi::units::meters_per_second_squared_t, wpi::units::curvature_t
           :
           wpi::units::second_t, const Pose2d&, const ChassisVelocities&, const ChassisAccelerations&, wpi::units::curvature_t:
-          const TrajectorySample&:
+          const HolonomicSample&:
       ForwardVelocity:
       ForwardAcceleration:
       Transform:
       RelativeTo:
-      WithNewTimestamp:
       operator==:
diff --git a/subprojects/robotpy-wpimath/semiwrap/SplineTrajectory.yml b/subprojects/robotpy-wpimath/semiwrap/DrivetrainSplineTrajectory.yml
similarity index 51%
rename from subprojects/robotpy-wpimath/semiwrap/SplineTrajectory.yml
rename to subprojects/robotpy-wpimath/semiwrap/DrivetrainSplineTrajectory.yml
index 1d3008b8c..904f1fbf9 100644
--- a/subprojects/robotpy-wpimath/semiwrap/SplineTrajectory.yml
+++ b/subprojects/robotpy-wpimath/semiwrap/DrivetrainSplineTrajectory.yml
@@ -1,11 +1,11 @@
 classes:
-  wpi::math::SplineTrajectory:
+  wpi::math::DrivetrainSplineTrajectory:
     force_no_trampoline: true
     methods:
-      SplineTrajectory:
+      DrivetrainSplineTrajectory:
         overloads:
-          std::vector<SplineSample>:
-          std::initializer_list<SplineSample>:
+          std::vector<DrivetrainSplineSample>:
+          std::initializer_list<DrivetrainSplineSample>:
             ignore: true
       TransformBy:
       RelativeTo:
diff --git a/subprojects/robotpy-wpimath/semiwrap/HolonomicSample.yml b/subprojects/robotpy-wpimath/semiwrap/HolonomicSample.yml
new file mode 100644
index 000000000..b9699409f
--- /dev/null
+++ b/subprojects/robotpy-wpimath/semiwrap/HolonomicSample.yml
@@ -0,0 +1,29 @@
+functions:
+  to_json:
+    overloads:
+      wpi::util::json&, const HolonomicSample&:
+        ignore: true
+      wpi::util::json&, const std::vector<HolonomicSample>&:
+        ignore: true
+  from_json:
+    overloads:
+      const wpi::util::json&, HolonomicSample&:
+        ignore: true
+      const wpi::util::json&, std::vector<HolonomicSample>&:
+        ignore: true
+  KinematicInterpolate:
+classes:
+  wpi::math::HolonomicSample:
+    force_no_trampoline: true
+    attributes:
+      pose:
+      velocity:
+      acceleration:
+    methods:
+      HolonomicSample:
+        overloads:
+          "":
+          wpi::units::second_t, const Pose2d&, const ChassisVelocities&, const ChassisAccelerations&:
+      operator==:
+      Transform:
+      RelativeTo:
diff --git a/subprojects/robotpy-wpimath/semiwrap/LTVUnicycleController.yml b/subprojects/robotpy-wpimath/semiwrap/LTVUnicycleController.yml
index b5393555f..f949a8887 100644
--- a/subprojects/robotpy-wpimath/semiwrap/LTVUnicycleController.yml
+++ b/subprojects/robotpy-wpimath/semiwrap/LTVUnicycleController.yml
@@ -13,5 +13,5 @@ classes:
       Calculate:
         overloads:
           const Pose2d&, const Pose2d&, wpi::units::meters_per_second_t, wpi::units::radians_per_second_t:
-          const Pose2d&, const SplineSample&:
+          const Pose2d&, const HolonomicSample&:
       SetEnabled:
diff --git a/subprojects/robotpy-wpimath/semiwrap/Trajectory.yml b/subprojects/robotpy-wpimath/semiwrap/Trajectory.yml
index 172e7dc5f..2e7e06382 100644
--- a/subprojects/robotpy-wpimath/semiwrap/Trajectory.yml
+++ b/subprojects/robotpy-wpimath/semiwrap/Trajectory.yml
@@ -1,7 +1,7 @@
 extra_includes:
 - geometryToString.h
-- wpi/math/trajectory/SplineSample.hpp
 - wpi/math/trajectory/DifferentialSample.hpp
+- wpi/math/trajectory/DrivetrainSplineSample.hpp
 
 classes:
   wpi::math::Trajectory:
@@ -30,15 +30,15 @@ classes:
       m_duration:
 
 templates:
-  SplineTrajectoryBase:
-    qualname: wpi::math::Trajectory
-    params:
-    - wpi::math::SplineSample
   DifferentialTrajectoryBase:
     qualname: wpi::math::Trajectory
     params:
     - wpi::math::DifferentialSample
+  DrivetrainSplineTrajectoryBase:
+    qualname: wpi::math::Trajectory
+    params:
+    - wpi::math::DrivetrainSplineSample
   HolonomicTrajectoryBase:
     qualname: wpi::math::Trajectory
     params:
-    - wpi::math::TrajectorySample
+    - wpi::math::HolonomicSample
diff --git a/subprojects/robotpy-wpimath/semiwrap/TrajectorySample.yml b/subprojects/robotpy-wpimath/semiwrap/TrajectorySample.yml
index 9c8c9fb4f..1e6b3b66b 100644
--- a/subprojects/robotpy-wpimath/semiwrap/TrajectorySample.yml
+++ b/subprojects/robotpy-wpimath/semiwrap/TrajectorySample.yml
@@ -1,5 +1,4 @@
 functions:
-  KinematicInterpolate:
   to_json:
     overloads:
       wpi::util::json&, const TrajectorySample&:
@@ -14,17 +13,12 @@ functions:
         ignore: true
 classes:
   wpi::math::TrajectorySample:
+    force_no_trampoline: true
     attributes:
-      timestamp:
-      pose:
-      velocity:
-      acceleration:
+      time:
     methods:
       TrajectorySample:
         overloads:
           "":
-          wpi::units::second_t, const Pose2d&, const ChassisVelocities&, const ChassisAccelerations&:
+          wpi::units::second_t:
       operator==:
-      Transform:
-      RelativeTo:
-      WithNewTimestamp:
diff --git a/subprojects/robotpy-wpimath/tests/test_trajectory.py b/subprojects/robotpy-wpimath/tests/test_trajectory.py
index 8c406265c..4740ceada 100644
--- a/subprojects/robotpy-wpimath/tests/test_trajectory.py
+++ b/subprojects/robotpy-wpimath/tests/test_trajectory.py
@@ -2,6 +2,7 @@
 
 from wpimath import (
     CubicHermiteSpline,
+    DrivetrainSplineTrajectory,
     Ellipse2d,
     EllipticalRegionConstraint,
     MaxVelocityConstraint,
@@ -10,9 +11,8 @@
     RectangularRegionConstraint,
     Rotation2d,
     SplineHelper,
-    TrajectoryConstraint,
-    SplineTrajectory,
     TrajectoryConfig,
+    TrajectoryConstraint,
     TrajectoryGenerator,
     TrajectoryParameterizer,
     Transform2d,
@@ -20,7 +20,7 @@
 )
 
 
-def get_test_trajectory(config: TrajectoryConfig) -> SplineTrajectory:
+def get_test_trajectory(config: TrajectoryConfig) -> DrivetrainSplineTrajectory:
     # 2018 cross scale auto waypoints
     side_start = Pose2d.from_feet(1.54, 23.23, Rotation2d.from_degrees(180))
     cross_scale = Pose2d.from_feet(23.7, 6.8, Rotation2d.from_degrees(-160))
diff --git a/subprojects/robotpy-wpimath/wpimath/__init__.py b/subprojects/robotpy-wpimath/wpimath/__init__.py
index 34a965ded..7f7ae00a6 100644
--- a/subprojects/robotpy-wpimath/wpimath/__init__.py
+++ b/subprojects/robotpy-wpimath/wpimath/__init__.py
@@ -38,6 +38,9 @@
     DifferentialSample,
     DifferentialTrajectory,
     DifferentialTrajectoryBase,
+    DrivetrainSplineSample,
+    DrivetrainSplineTrajectory,
+    DrivetrainSplineTrajectoryBase,
     EdgeCounterFilter,
     ElevatorFeedforward,
     Ellipse2d,
@@ -47,11 +50,12 @@
     ExtendedKalmanFilter_2_1_1,
     ExtendedKalmanFilter_2_1_2,
     ExtendedKalmanFilter_2_2_2,
+    HolonomicSample,
+    HolonomicTrajectory,
+    HolonomicTrajectoryBase,
     ImplicitModelFollower_1_1,
     ImplicitModelFollower_2_1,
     ImplicitModelFollower_2_2,
-    HolonomicTrajectory,
-    HolonomicTrajectoryBase,
     KalmanFilter_1_1_1,
     KalmanFilter_2_1_1,
     KalmanFilter_2_1_2,
@@ -123,9 +127,6 @@
     Spline5,
     SplineHelper,
     SplineParameterizer,
-    SplineSample,
-    SplineTrajectory,
-    SplineTrajectoryBase,
     SwerveDrive2Kinematics,
     SwerveDrive2KinematicsBase,
     SwerveDrive2KinematicsConstraint,
@@ -241,6 +242,9 @@
     "DifferentialSample",
     "DifferentialTrajectory",
     "DifferentialTrajectoryBase",
+    "DrivetrainSplineSample",
+    "DrivetrainSplineTrajectory",
+    "DrivetrainSplineTrajectoryBase",
     "EdgeCounterFilter",
     "ElevatorFeedforward",
     "Ellipse2d",
@@ -250,6 +254,7 @@
     "ExtendedKalmanFilter_2_1_1",
     "ExtendedKalmanFilter_2_1_2",
     "ExtendedKalmanFilter_2_2_2",
+    "HolonomicSample",
     "HolonomicTrajectory",
     "HolonomicTrajectoryBase",
     "ImplicitModelFollower_1_1",
@@ -326,9 +331,6 @@
     "Spline5",
     "SplineHelper",
     "SplineParameterizer",
-    "SplineSample",
-    "SplineTrajectory",
-    "SplineTrajectoryBase",
     "SwerveDrive2Kinematics",
     "SwerveDrive2KinematicsBase",
     "SwerveDrive2KinematicsConstraint",
diff --git a/subprojects/robotpy-wpiutil/pyproject.toml b/subprojects/robotpy-wpiutil/pyproject.toml
index e328ac06c..c3d637f79 100644
--- a/subprojects/robotpy-wpiutil/pyproject.toml
+++ b/subprojects/robotpy-wpiutil/pyproject.toml
@@ -46,7 +46,6 @@ update_init = [
 scan_headers_ignore = [
     "debugging.hpp",
     "debugging/*",
-    "fmt/*",
     "google/*",
     "wpi/*",
     "wpystruct_fns.h",
diff --git a/subprojects/robotpy-wpiutil/wpiutil/src/wpistruct/wpystruct.h b/subprojects/robotpy-wpiutil/wpiutil/src/wpistruct/wpystruct.h
index 64c14f84c..1b3eb6757 100644
--- a/subprojects/robotpy-wpiutil/wpiutil/src/wpistruct/wpystruct.h
+++ b/subprojects/robotpy-wpiutil/wpiutil/src/wpistruct/wpystruct.h
@@ -1,12 +1,12 @@
 
 #pragma once
 
+#include <format>
 #include <functional>
 #include <memory>
 #include <string>
 #include <string_view>
 
-#include <fmt/format.h>
 #include <pybind11/functional.h>
 #include <pybind11/typing.h>
 #include <semiwrap.h>
@@ -190,7 +190,7 @@ struct WPyStructPyConverter : WPyStructConverter {
     py::bytes result = m_pack(value.py);
     std::string_view rview = result;
     if (rview.size() != data.size()) {
-      std::string msg = fmt::format(
+      std::string msg = std::format(
           "{} pack did not return {} bytes (returned {})",
           pytypename(py::type::of(value.py)), data.size(), rview.size());
       throw py::value_error(msg);
@@ -230,7 +230,7 @@ struct WPyStructInfo {
   explicit WPyStructInfo(const py::type& t) {
     if (!py::hasattr(t, "WPIStruct")) {
       throw py::type_error(
-          fmt::format("{} is not struct serializable (does not have WPIStruct)",
+          std::format("{} is not struct serializable (does not have WPIStruct)",
                       pytypename(t)));
     }
 
@@ -249,7 +249,7 @@ struct WPyStructInfo {
     try {
       cvt = std::make_shared<WPyStructPyConverter>(s);
     } catch (py::error_already_set& e) {
-      std::string msg = fmt::format(
+      std::string msg = std::format(
           "{} is not struct serializable (invalid WPIStruct)", pytypename(t));
       py::raise_from(e, PyExc_TypeError, msg.c_str());
       throw py::error_already_set();
diff --git a/subprojects/robotpy-xrp/pyproject.toml b/subprojects/robotpy-xrp/pyproject.toml
index a70991eb5..538e48697 100644
--- a/subprojects/robotpy-xrp/pyproject.toml
+++ b/subprojects/robotpy-xrp/pyproject.toml
@@ -38,7 +38,7 @@ version_file = "xrp/version.py"
 artifact_id = "halsim_xrp"
 group_id = "org.wpilib.halsim"
 repo_url = "https://frcmaven.wpi.edu/artifactory/development-2027"
-version = "2027.0.0-alpha-6-139-g34fee9a73"
+version = "2027.0.0-alpha-6-167-gdb3a9c428"
 use_headers = false
 
 extract_to = "xrp/extension"