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Update python RLIs to 2027.0.0a4 (#3278)
Update regex for mostrobotpy tags --------- Co-authored-by: github-actions <github-actions@github.com>
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‎.github/workflows/inspector.json‎

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"versionScheme": "\\d{4}\\.\\d\\.\\d\\.\\d(?:-(?:alpha|beta)-\\d)?|[0-9a-f]{40}",
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"latestVersion": "d88ac48cd5f1d0f11ec03c493301dc2048bb314a"
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"versionScheme": "\\d{4}\\.\\d\\.\\d(?:(?:a|b)\\d)?|[0-9a-f]{40}",
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"latestVersion": "2027.0.0a4"
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‎source/docs/contributing/frc-docs/style-guide.rst‎

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

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

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

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## Kalman Filters: Observing Flywheel State
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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.
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## Bringing it All Together: LinearSystemLoop
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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``.
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## Angle Wrap with LQR

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

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## Footnotes

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

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Preferences are stored using a name, the key. It's helpful to store the key in a constant, like ``kArmPositionKey`` and ``kArmPKey`` in the code above to avoid typing it multiple times and avoid typos. We also declare variables, ``kArmKp`` and ``armPositionDeg`` to hold the data retrieved from preferences.
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Reading a preference is easy. The ``getDouble`` method takes two parameters, the key to read, and a default value to use in case the preference doesn't exist. There are similar methods for other data types like booleans, ints, and strings.
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## Using Preferences in SmartDashboard
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‎source/docs/software/can-devices/power-distribution-module.rst‎

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Monitoring the bus voltage can be useful for (among other things) detecting when the robot is near a brownout, so that action can be taken to avoid brownout in a controlled manner. See the :doc:`roboRIO Brownouts document</docs/software/systemcore-info/roborio-brownouts>` for more information.
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Monitoring the total current, power, and energy can be useful for controlling how much power is being drawn from the battery, both for preventing brownouts and ensuring that mechanisms have sufficient power available to perform the actions required. Power is the bus voltage multiplied by the current with the units Watts. Energy is the power summed over time with units Joules.
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Monitoring individual device current draws can be useful for detecting shorts or stalled motors.

‎source/docs/software/commandbased/commands-v2/command-compositions.rst‎

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‎source/docs/software/commandbased/commands-v2/commands.rst‎

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The ``run`` factory, backed by the ``RunCommand`` ([Java](https://github.wpilib.org/allwpilib/docs/2027/java/org/wpilib/command2/RunCommand.html), [C++](https://github.wpilib.org/allwpilib/docs/2027/cpp/classwpi_1_1cmd_1_1_run_command.html), :external:py:class:`Python <commands2.RunCommand>`) class, creates a command that calls a lambda repeatedly, until interrupted.
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Notice that this command does not override ``isFinished()``, and thus will never end; this is the norm for commands that are intended to be used as default commands. Once more, this command is rather simple and calls the subsystem method only from one place, and as such, could be more concisely written using factories:
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