[copybara] Import robotpy examples (#8608)

GitOrigin-RevId: 9ba4bc3040fa7e772f5a594039e78fc6c43d114e

robotpyExamples/ElevatorSimulation/constants.py

@@ -0,0 +1,36 @@
+#
+# 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 math
+
+import wpimath.units
+
+kMotorPort = 0
+kEncoderAChannel = 0
+kEncoderBChannel = 1
+kJoystickPort = 0
+
+kElevatorKp = 5.0
+kElevatorKi = 0.0
+kElevatorKd = 0.0
+
+kElevatorkS = 0.0  # volts (V)
+kElevatorkG = 0.762  # volts (V)
+kElevatorkV = 0.762  # volt per velocity (V/(m/s))
+kElevatorkA = 0.0  # volt per acceleration (V/(m/s^2))
+
+kElevatorGearing = 10.0
+kElevatorDrumRadius = wpimath.units.inchesToMeters(2.0)
+kCarriageMass = 4.0  # kg
+
+kSetpoint = 0.75  # m
+# Encoder is reset to measure 0 at the bottom, so minimum height is 0.
+kMinElevatorHeight = 0.0  # m
+kMaxElevatorHeight = 1.25  # m
+
+# distance per pulse = (distance per revolution) / (pulses per revolution)
+#  = (Pi * D) / ppr
+kElevatorEncoderDistPerPulse = 2.0 * math.pi * kElevatorDrumRadius / 4096