[copybara] Import robotpy examples (#8608)

GitOrigin-RevId: 9ba4bc3040fa7e772f5a594039e78fc6c43d114e

robotpyExamples/EventLoop/robot.py

@@ -0,0 +1,87 @@
+#!/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 wpimath
+
+SHOT_VELOCITY = 200.0  # rpm
+TOLERANCE = 8.0  # rpm
+
+
+class MyRobot(wpilib.TimedRobot):
+    def __init__(self) -> None:
+        super().__init__()
+
+        self.shooter = wpilib.PWMSparkMax(0)
+        self.shooterEncoder = wpilib.Encoder(0, 1)
+        self.controller = wpimath.PIDController(0.3, 0, 0)
+        self.feedforward = wpimath.SimpleMotorFeedforwardMeters(0.1, 0.065)
+
+        self.kicker = wpilib.PWMSparkMax(1)
+
+        self.intake = wpilib.PWMSparkMax(2)
+
+        self.loop = wpilib.EventLoop()
+        self.joystick = wpilib.Joystick(0)
+
+        # Called once at the beginning of the robot program.
+        self.controller.setTolerance(TOLERANCE)
+
+        isBallAtKickerEvent = wpilib.BooleanEvent(
+            self.loop, lambda: False
+        )  # self.kickerSensor.getRange() < KICKER_THRESHOLD
+        intakeButton = wpilib.BooleanEvent(
+            self.loop, lambda: self.joystick.getRawButton(2)
+        )
+
+        # if the thumb button is held
+        intakeButton.and_(isBallAtKickerEvent.negate()).ifHigh(
+            # and there is not a ball at the kicker
+            # activate the intake
+            lambda: self.intake.set(0.5)
+        )
+
+        # if the thumb button is not held
+        intakeButton.negate().or_(isBallAtKickerEvent).ifHigh(
+            # or there is a ball in the kicker
+            # stop the intake
+            self.intake.stopMotor
+        )
+
+        shootTrigger = wpilib.BooleanEvent(self.loop, self.joystick.getTrigger)
+
+        # if the trigger is held
+        shootTrigger.ifHigh(
+            # accelerate the shooter wheel
+            lambda: self.shooter.setVoltage(
+                self.controller.calculate(self.shooterEncoder.getRate(), SHOT_VELOCITY)
+                + self.feedforward.calculate(SHOT_VELOCITY)
+            )
+        )
+
+        # if not, stop
+        shootTrigger.negate().ifHigh(self.shooter.stopMotor)
+
+        atTargetVelocity = wpilib.BooleanEvent(
+            self.loop, self.controller.atSetpoint
+        ).debounce(
+            # debounce for more stability
+            0.2
+        )
+
+        # if we're at the target velocity, kick the ball into the shooter wheel
+        atTargetVelocity.ifHigh(lambda: self.kicker.set(0.7))
+
+        # when we stop being at the target velocity, it means the ball was shot
+        atTargetVelocity.falling().ifHigh(
+            # so stop the kicker
+            self.kicker.stopMotor
+        )
+
+    def robotPeriodic(self) -> None:
+        # poll all the bindings
+        self.loop.poll()