[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/poseest/swervemodule.py

@@ -1,4 +1,4 @@
-Speeds  ###################################################################################
+###################################################################################
 # MIT License
 #
 # Copyright (c) PhotonVision
@@ -95,12 +95,16 @@ class SwerveModule:
         # Simulation Support
         self.simDriveEncoder = wpilib.simulation.EncoderSim(self.driveEncoder)
         self.simTurningEncoder = wpilib.simulation.EncoderSim(self.turningEncoder)
-        self.simDrivingMotor = wpilib.simulation.PWMSim(driveMotorChannel)
-        self.simTurningMotor = wpilib.simulation.PWMSim(turningMotorChannel)
+        self.simDrivingMotor = wpilib.simulation.PWMMotorControllerSim(
+            driveMotorChannel
+        )
+        self.simTurningMotor = wpilib.simulation.PWMMotorControllerSim(
+            turningMotorChannel
+        )
         self.simDrivingMotorFilter = wpimath.LinearFilter.singlePoleIIR(0.1, 0.02)
         self.simTurningMotorFilter = wpimath.LinearFilter.singlePoleIIR(0.0001, 0.02)
-        self.simTurningEncoderPos = 0
-        self.simDrivingEncoderPos = 0
+        self.simTurningEncoderPos = 0.0
+        self.simDrivingEncoderPos = 0.0
 
     def getVelocity(self) -> wpimath.SwerveModuleVelocity:
         """Returns the current state of the module.
@@ -155,6 +159,10 @@ class SwerveModule:
             self.turningEncoder.getDistance(), self.desiredVelocity.angle.radians()
         )
 
+        turnFeedforward = self.turnFeedforward.calculate(
+            self.turningPIDController.getSetpoint()
+        )
+
         self.driveMotor.setVoltage(driveOutput + driveFeedforward)
         self.turningMotor.setVoltage(turnOutput + turnFeedforward)
 
@@ -188,10 +196,12 @@ class SwerveModule:
 
     def simulationPeriodic(self) -> None:
         driveVoltage = (
-            self.simDrivingMotor.getSpeed() * wpilib.RobotController.getBatteryVoltage()
+            self.simDrivingMotor.getThrottle()
+            * wpilib.RobotController.getBatteryVoltage()
         )
         turnVoltage = (
-            self.simTurningMotor.getSpeed() * wpilib.RobotController.getBatteryVoltage()
+            self.simTurningMotor.getThrottle()
+            * wpilib.RobotController.getBatteryVoltage()
         )
         driveSpdRaw = (
             driveVoltage / 12.0 * self.driveFeedforward.maxAchievableVelocity(12.0, 0)