[copybara] Import robotpy examples (#8608)

GitOrigin-RevId: 9ba4bc3040fa7e772f5a594039e78fc6c43d114e

robotpyExamples/RapidReactCommandBot/subsystems/intake.py

@@ -0,0 +1,43 @@
+#
+# 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.
+#
+
+from commands2 import Command, Subsystem
+import wpilib
+
+from constants import IntakeConstants
+
+
+class Intake(Subsystem):
+    def __init__(self) -> None:
+        super().__init__()
+        self.motor = wpilib.PWMSparkMax(IntakeConstants.kMotorPort)
+
+        # Double solenoid connected to two channels of a PCM with the default CAN ID
+        self.pistons = wpilib.DoubleSolenoid(
+            0,
+            wpilib.PneumaticsModuleType.CTREPCM,
+            IntakeConstants.kSolenoidPorts[0],
+            IntakeConstants.kSolenoidPorts[1],
+        )
+
+    def intakeCommand(self) -> Command:
+        """Returns a command that deploys the intake, and then runs the intake motor
+        indefinitely.
+        """
+        return (
+            self.runOnce(lambda: self.pistons.set(wpilib.DoubleSolenoid.Value.kForward))
+            .andThen(self.run(lambda: self.motor.set(1.0)))
+            .withName("Intake")
+        )
+
+    def retractCommand(self) -> Command:
+        """Returns a command that turns off and retracts the intake."""
+        return self.runOnce(
+            lambda: (
+                self.motor.disable(),
+                self.pistons.set(wpilib.DoubleSolenoid.Value.kReverse),
+            )
+        ).withName("Retract")