[python] Fixup python examples / build (#2509)

## Description

This fixes up and renables the python examples builds.

Main fixes
- Test shell script just straight up didn't do what it was intended to
do
- Replace analog imus (and half refactored sims) with OnboardIMU
- Fixes swerve velocities function signature
- "regenerates" the default robotpy test

## Meta

Merge checklist:
- [x] Pull Request title is [short, imperative
summary](https://cbea.ms/git-commit/) of proposed changes
- [x] The description documents the _what_ and _why_, including events
that led to this PR
- [ ] If this PR changes behavior or adds a feature, user documentation
is updated
- [ ] If this PR touches photon-serde, all messages have been
regenerated and hashes have not changed unexpectedly
- [ ] If this PR touches configuration, this is backwards compatible
with all settings going back to the previous seasons's last release
(seasons end after champs ends)
- [ ] If this PR touches pipeline settings or anything related to data
exchange, the frontend typing is updated
- [ ] If this PR addresses a bug, a regression test for it is added
- [ ] If this PR adds a dependency, the license has been checked for
compatibility and steps taken to follow it

---------

Co-authored-by: Matt Morley <matthew.morley.ca@gmail.com>
Co-authored-by: David Vo <auscompgeek@users.noreply.github.com>

photonlib-python-examples/aimattarget/drivetrain.py

@@ -53,8 +53,8 @@ class Drivetrain:
         self.debugField = wpilib.Field2d()
         wpilib.SmartDashboard.putData("Drivetrain Debug", self.debugField)
 
-        self.gyro = wpilib.AnalogGyro(0)
-        self.simGyro = wpilib.simulation.OnboardIMUSim(self.gyro)
+        self.gyro = wpilib.OnboardIMU(wpilib.OnboardIMU.MountOrientation.FLAT)
+        self.simGyro = wpilib.simulation.OnboardIMUSim()
         self._yaw = 0.0
 
         self.kinematics = wpimath.SwerveDrive4Kinematics(
@@ -77,7 +77,7 @@ class Drivetrain:
 
         self.targetChassisVelocities = wpimath.ChassisVelocities()
 
-        self.gyro.reset()
+        self.gyro.resetYaw()
 
     def drive(
         self,
@@ -126,13 +126,20 @@ class Drivetrain:
             ),
         )
 
-    def getModuleVelocities(self) -> list[wpimath.SwerveModuleVelocity]:
-        return [
+    def getModuleVelocities(
+        self,
+    ) -> tuple[
+        wpimath.SwerveModuleVelocity,
+        wpimath.SwerveModuleVelocity,
+        wpimath.SwerveModuleVelocity,
+        wpimath.SwerveModuleVelocity,
+    ]:
+        return (
             self.frontLeft.getVelocity(),
             self.frontRight.getVelocity(),
             self.backLeft.getVelocity(),
             self.backRight.getVelocity(),
-        ]
+        )
 
     def getModulePoses(self) -> list[wpimath.Pose2d]:
         p = self.odometry.getPose()
@@ -197,6 +204,6 @@ class Drivetrain:
         self.backLeft.simulationPeriodic()
         self.backRight.simulationPeriodic()
         rate = -1.0 * self.getChassisVelocities().omega_dps
-        self.simGyro.setRate(rate)
+        self.simGyro.setGyroRateZ(rate)
         self._yaw += rate * 0.02
-        self.simGyro.setYaw(self._yaw)
+        self.simGyro.setYaw(math.radians(self._yaw))