[examples] DigitalCommunication, I2CCommunication: Add tests (#4865)

wpilibcExamples/src/main/cpp/examples/I2CCommunication/include/Robot.h

@@ -0,0 +1,25 @@
+// 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.
+
+#pragma once
+
+#include <array>
+
+#include <frc/I2C.h>
+#include <frc/TimedRobot.h>
+
+/**
+ * This is a sample program demonstrating how to communicate to a light
+ * controller from the robot code using the roboRIO's I2C port.
+ */
+class Robot : public frc::TimedRobot {
+ public:
+  void RobotPeriodic() override;
+
+  static constexpr frc::I2C::Port kPort = frc::I2C::Port::kOnboard;
+
+ private:
+  static constexpr int deviceAddress = 4;
+  frc::I2C arduino{kPort, deviceAddress};
+};