[copybara] Import robotpy examples (#8608)

GitOrigin-RevId: 9ba4bc3040fa7e772f5a594039e78fc6c43d114e
2026-06-22 01:11:42 +00:00 · 2026-02-20 18:30:35 -05:00
parent 1806cd2d78
commit 8f9fc4d1b6
136 changed files with 8989 additions and 3 deletions
--- a/robotpyExamples/HatchbotInlined/commands/autos.py
+++ b/robotpyExamples/HatchbotInlined/commands/autos.py
@@ -0,0 +1,75 @@
+#
+# 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 commands2
+import commands2.cmd
+
+import subsystems.drivesubsystem
+import subsystems.hatchsubsystem
+
+import constants
+
+
+class Autos:
+    """Container for auto command factories."""
+
+    def __init__(self) -> None:
+        raise Exception("This is a utility class!")
+
+    @staticmethod
+    def simpleAuto(drive: subsystems.drivesubsystem.DriveSubsystem):
+        """A simple auto routine that drives forward a specified distance, and then stops."""
+        return commands2.FunctionalCommand(
+            # Reset encoders on command start
+            drive.resetEncoders,
+            # Drive forward while the command is executing,
+            lambda: drive.arcadeDrive(constants.kAutoDriveSpeed, 0),
+            # Stop driving at the end of the command
+            lambda interrupt: drive.arcadeDrive(0, 0),
+            # End the command when the robot's driven distance exceeds the desired value
+            lambda: drive.getAverageEncoderDistance()
+            >= constants.kAutoDriveDistanceInches,
+            # Require the drive subsystem
+        )
+
+    @staticmethod
+    def complexAuto(
+        driveSubsystem: subsystems.drivesubsystem.DriveSubsystem,
+        hatchSubsystem: subsystems.hatchsubsystem.HatchSubsystem,
+    ):
+        """A complex auto routine that drives forward, drops a hatch, and then drives backward."""
+        return commands2.cmd.sequence(
+            # Drive forward up to the front of the cargo ship
+            commands2.FunctionalCommand(
+                # Reset encoders on command start
+                driveSubsystem.resetEncoders,
+                # Drive forward while the command is executing
+                lambda: driveSubsystem.arcadeDrive(constants.kAutoDriveSpeed, 0),
+                # Stop driving at the end of the command
+                lambda interrupt: driveSubsystem.arcadeDrive(0, 0),
+                # End the command when the robot's driven distance exceeds the desired value
+                lambda: driveSubsystem.getAverageEncoderDistance()
+                >= constants.kAutoDriveDistanceInches,
+                # Require the drive subsystem
+                driveSubsystem,
+            ),
+            # Release the hatch
+            hatchSubsystem.releaseHatch(),
+            # Drive backward the specified distance
+            commands2.FunctionalCommand(
+                # Reset encoders on command start
+                driveSubsystem.resetEncoders,
+                # Drive backwards while the command is executing
+                lambda: driveSubsystem.arcadeDrive(-constants.kAutoDriveSpeed, 0),
+                # Stop driving at the end of the command
+                lambda interrupt: driveSubsystem.arcadeDrive(0, 0),
+                # End the command when the robot's driven distance exceeds the desired value
+                lambda: abs(driveSubsystem.getAverageEncoderDistance())
+                >= constants.kAutoBackupDistanceInches,
+                # Require the drive subsystem
+                driveSubsystem,
+            ),
+        )