[copybara] Import robotpy examples (#8608)

GitOrigin-RevId: 9ba4bc3040fa7e772f5a594039e78fc6c43d114e

robotpyExamples/RapidReactCommandBot/rapidreactcommandbot.py

@@ -0,0 +1,88 @@
+#
+# 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 commands2.button import CommandNiDsXboxController, Trigger
+
+from constants import AutoConstants, OIConstants, ShooterConstants
+from subsystems.drive import Drive
+from subsystems.intake import Intake
+from subsystems.pneumatics import Pneumatics
+from subsystems.shooter import Shooter
+from subsystems.storage import Storage
+
+
+class RapidReactCommandBot:
+    """This class is where the bulk of the robot should be declared. Since Command-based is a
+    "declarative" paradigm, very little robot logic should actually be handled in the
+    :class:`.Robot` periodic methods (other than the scheduler calls). Instead, the structure of
+    the robot (including subsystems, commands, and button mappings) should be declared here.
+    """
+
+    def __init__(self) -> None:
+        # The robot's subsystems
+        self.drive = Drive()
+        self.intake = Intake()
+        self.storage = Storage()
+        self.shooter = Shooter()
+        self.pneumatics = Pneumatics()
+
+        # The driver's controller
+        self.driverController = CommandNiDsXboxController(
+            OIConstants.kDriverControllerPort
+        )
+
+    def configureBindings(self) -> None:
+        """Use this method to define bindings between conditions and commands. These are useful for
+        automating robot behaviors based on button and sensor input.
+
+        Should be called in the robot class constructor.
+
+        Event binding methods are available on the :class:`.Trigger` class.
+        """
+        # Automatically run the storage motor whenever the ball storage is not full,
+        # and turn it off whenever it fills. Uses subsystem-hosted trigger to
+        # improve readability and make inter-subsystem communication easier.
+        self.storage.hasCargo.whileFalse(self.storage.runCommand())
+
+        # Automatically disable and retract the intake whenever the ball storage is full.
+        self.storage.hasCargo.onTrue(self.intake.retractCommand())
+
+        # Control the drive with split-stick arcade controls
+        self.drive.setDefaultCommand(
+            self.drive.arcadeDriveCommand(
+                lambda: -self.driverController.getLeftY(),
+                lambda: -self.driverController.getRightX(),
+            )
+        )
+
+        # Deploy the intake with the X button
+        self.driverController.x().onTrue(self.intake.intakeCommand())
+        # Retract the intake with the Y button
+        self.driverController.y().onTrue(self.intake.retractCommand())
+
+        # Fire the shooter with the A button
+        self.driverController.a().onTrue(
+            commands2.cmd.parallel(
+                self.shooter.shootCommand(ShooterConstants.kShooterTargetRPS),
+                self.storage.runCommand(),
+            ).withName("Shoot")
+        )
+
+        # Toggle compressor with the Start button
+        self.driverController.start().toggleOnTrue(
+            self.pneumatics.disableCompressorCommand()
+        )
+
+    def getAutonomousCommand(self) -> commands2.Command:
+        """Use this to define the command that runs during autonomous.
+
+        Scheduled during :meth:`.Robot.autonomousInit`.
+        """
+        # Drive forward for 2 meters at half speed with a 3 second timeout
+        return self.drive.driveDistanceCommand(
+            AutoConstants.kDriveDistance, AutoConstants.kDriveSpeed
+        ).withTimeout(AutoConstants.kTimeout)