[BUG]: robotpy-commands-v2 - Subsystem.removeDefaultCommand() fails - 'CommandScheduler' is not defined.

[trindels]

Problem description

The removeDefaultCommand() function throws an error when you attempt to run it.

01:34:59:693 ERROR   : your.robot          : Unhandled exception
Traceback (most recent call last):
  File "c:\git\2026Robot\.venv\Lib\site-packages\wpilib\_impl\start.py", line 247, in _start
    self.robot.startCompetition()
    ~~~~~~~~~~~~~~~~~~~~~~~~~~~^^
  File "C:\git\2026Robot\robot.py", line 10, in robotInit
    system.removeDefaultCommand()
    ~~~~~~~~~~~~~~~~~~~~~~~~~~~^^
  File "c:\git\2026Robot\.venv\Lib\site-packages\commands2\subsystem.py", line 78, in removeDefaultCommand
    CommandScheduler.getInstance().removeDefaultCommand(self)
    ^^^^^^^^^^^^^^^^
NameError: name 'CommandScheduler' is not defined

After reviewing the subsystem.py source code, this could be resolved with adding the import for CommandScheduler at approximately line 78.

    def removeDefaultCommand(self) -> None:
        """
        Removes the default command for the subsystem. This will not cancel the default command if it
        is currently running.
        """
        from .commandscheduler import CommandScheduler

        CommandScheduler.getInstance().removeDefaultCommand(self)

Operating System

RoboRIO, Windows

Installed Python Packages

robotpy
robotpy[commands2]

Reproducible example code

from wpilib import TimedRobot
from commands2 import Subsystem, CommandScheduler

class Robot(TimedRobot):
  def robotInit(self):
    CommandScheduler.getInstance().run()

    system = Subsystem()
    system.setDefaultCommand( system.idle().withName("DefaultCommand") )
    system.removeDefaultCommand()

[auscompgeek]

Your proposed fix looks reasonable. Did you want to raise a PR?

[trindels]

PR has been created. Please let me know if there is anything else you need from me.