[copybara] Import robotpy examples (#8608)

GitOrigin-RevId: 9ba4bc3040fa7e772f5a594039e78fc6c43d114e

robotpyExamples/ElevatorExponentialSimulation/robot.py

@@ -0,0 +1,43 @@
+#!/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
+
+import constants
+from subsystems.elevator import Elevator
+
+
+class MyRobot(wpilib.TimedRobot):
+    """This is a sample program to demonstrate the use of elevator simulation."""
+
+    def __init__(self) -> None:
+        super().__init__(0.020)
+        self.joystick = wpilib.Joystick(constants.kJoystickPort)
+        self.elevator = Elevator()
+
+    def robotPeriodic(self) -> None:
+        # Update the telemetry, including mechanism visualization, regardless of mode.
+        self.elevator.updateTelemetry()
+
+    def simulationPeriodic(self) -> None:
+        # Update the simulation model.
+        self.elevator.simulationPeriodic()
+
+    def teleopInit(self) -> None:
+        self.elevator.reset()
+
+    def teleopPeriodic(self) -> None:
+        if self.joystick.getTrigger():
+            # Here, we set the constant setpoint of 10 meters.
+            self.elevator.reachGoal(constants.kSetpoint)
+        else:
+            # Otherwise, we update the setpoint to 1 meter.
+            self.elevator.reachGoal(constants.kLowerkSetpoint)
+
+    def disabledInit(self) -> None:
+        # This just makes sure that our simulation code knows that the motor's off.
+        self.elevator.stop()