[copybara] Import robotpy examples (#8608)

GitOrigin-RevId: 9ba4bc3040fa7e772f5a594039e78fc6c43d114e

robotpyExamples/DigitalCommunication/robot.py

@@ -0,0 +1,49 @@
+#!/usr/bin/env python3
+#
+# 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.
+#
+
+import wpilib
+
+
+class MyRobot(wpilib.TimedRobot):
+    """
+    This is a sample program demonstrating how to communicate to a light controller from the robot
+    code using the roboRIO's DIO ports.
+    """
+
+    # define ports for digitalcommunication with light controller
+    kAlliancePort = 0
+    kEnabledPort = 1
+    kAutonomousPort = 2
+    kAlertPort = 3
+
+    def __init__(self):
+        """Robot initialization function"""
+        super().__init__()
+
+        self.allianceOutput = wpilib.DigitalOutput(self.kAlliancePort)
+        self.enabledOutput = wpilib.DigitalOutput(self.kEnabledPort)
+        self.autonomousOutput = wpilib.DigitalOutput(self.kAutonomousPort)
+        self.alertOutput = wpilib.DigitalOutput(self.kAlertPort)
+
+    def robotPeriodic(self):
+        setAlliance = False
+        alliance = wpilib.DriverStation.getAlliance()
+        if alliance:
+            setAlliance = alliance == wpilib.DriverStation.Alliance.kRed
+
+        # pull alliance port high if on red alliance, pull low if on blue alliance
+        self.allianceOutput.set(setAlliance)
+
+        # pull enabled port high if enabled, low if disabled
+        self.enabledOutput.set(wpilib.DriverStation.isEnabled())
+
+        # pull auto port high if in autonomous, low if in teleop (or disabled)
+        self.autonomousOutput.set(wpilib.DriverStation.isAutonomous())
+
+        # pull alert port high if match time remaining is between 30 and 25 seconds
+        matchTime = wpilib.DriverStation.getMatchTime()
+        self.alertOutput.set(30 >= matchTime >= 25)