[copybara] Import robotpy examples (#8608)

GitOrigin-RevId: 9ba4bc3040fa7e772f5a594039e78fc6c43d114e

robotpyExamples/HatchbotTraditional/commands/complexauto.py

@@ -0,0 +1,35 @@
+#
+# 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 constants
+
+from .drivedistance import DriveDistance
+from .releasehatch import ReleaseHatch
+
+from subsystems.drivesubsystem import DriveSubsystem
+from subsystems.hatchsubsystem import HatchSubsystem
+
+
+class ComplexAuto(commands2.SequentialCommandGroup):
+    """
+    A complex auto command that drives forward, releases a hatch, and then drives backward.
+    """
+
+    def __init__(self, drive: DriveSubsystem, hatch: HatchSubsystem):
+        super().__init__(
+            # Drive forward the specified distance
+            DriveDistance(
+                constants.kAutoDriveDistanceInches, constants.kAutoDriveSpeed, drive
+            ),
+            # Release the hatch
+            ReleaseHatch(hatch),
+            # Drive backward the specified distance
+            DriveDistance(
+                constants.kAutoBackupDistanceInches, -constants.kAutoDriveSpeed, drive
+            ),
+        )

robotpyExamples/HatchbotTraditional/commands/defaultdrive.py

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+#
+# 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 typing
+import commands2
+from subsystems.drivesubsystem import DriveSubsystem
+
+
+class DefaultDrive(commands2.Command):
+    def __init__(
+        self,
+        drive: DriveSubsystem,
+        forward: typing.Callable[[], float],
+        rotation: typing.Callable[[], float],
+    ) -> None:
+
+        self.drive = drive
+        self.forward = forward
+        self.rotation = rotation
+
+        self.addRequirements(self.drive)
+
+    def execute(self) -> None:
+        self.drive.arcadeDrive(self.forward(), self.rotation())

robotpyExamples/HatchbotTraditional/commands/drivedistance.py

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+#
+# 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
+
+from subsystems.drivesubsystem import DriveSubsystem
+
+
+class DriveDistance(commands2.Command):
+    def __init__(self, inches: float, speed: float, drive: DriveSubsystem) -> None:
+        self.distance = inches
+        self.speed = speed
+        self.drive = drive
+        self.addRequirements(drive)
+
+    def initialize(self) -> None:
+        self.drive.resetEncoders()
+        self.drive.arcadeDrive(self.speed, 0)
+
+    def execute(self) -> None:
+        self.drive.arcadeDrive(self.speed, 0)
+
+    def end(self, interrupted: bool) -> None:
+        self.drive.arcadeDrive(0, 0)
+
+    def isFinished(self) -> bool:
+        return abs(self.drive.getAverageEncoderDistance()) >= self.distance

robotpyExamples/HatchbotTraditional/commands/grabhatch.py

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+#
+# 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
+from subsystems.hatchsubsystem import HatchSubsystem
+
+
+class GrabHatch(commands2.Command):
+    def __init__(self, hatch: HatchSubsystem) -> None:
+        self.hatch = hatch
+        self.addRequirements(hatch)
+
+    def initialize(self) -> None:
+        self.hatch.grabHatch()
+
+    def isFinished(self) -> bool:
+        return True

robotpyExamples/HatchbotTraditional/commands/halvedrivespeed.py

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+#
+# 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
+
+from subsystems.drivesubsystem import DriveSubsystem
+
+
+class HalveDriveSpeed(commands2.Command):
+    def __init__(self, drive: DriveSubsystem) -> None:
+        self.drive = drive
+
+    def initialize(self) -> None:
+        self.drive.setMaxOutput(0.5)
+
+    def end(self, interrupted: bool) -> None:
+        self.drive.setMaxOutput(1.0)

robotpyExamples/HatchbotTraditional/commands/releasehatch.py

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+#
+# 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
+
+from subsystems.hatchsubsystem import HatchSubsystem
+
+
+class ReleaseHatch(commands2.InstantCommand):
+    def __init__(self, hatch: HatchSubsystem) -> None:
+        super().__init__(hatch.releaseHatch, hatch)