[copybara] Import robotpy examples (#8608)

GitOrigin-RevId: 9ba4bc3040fa7e772f5a594039e78fc6c43d114e

robotpyExamples/RapidReactCommandBot/subsystems/pneumatics.py

@@ -0,0 +1,56 @@
+#
+# 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
+
+
+class Pneumatics(Subsystem):
+    """Subsystem for managing the compressor, pressure sensor, etc."""
+
+    # External analog pressure sensor
+    # product-specific voltage->pressure conversion, see product manual
+    # in this case, 250(V/5)-25
+    # the scale parameter in the AnalogPotentiometer constructor is scaled from 1 instead of 5,
+    # so if r is the raw AnalogPotentiometer output, the pressure is 250r-25
+    kScale = 250.0
+    kOffset = -25.0
+
+    def __init__(self) -> None:
+        super().__init__()
+        self.pressureTransducer = wpilib.AnalogPotentiometer(
+            # the AnalogIn port
+            2,
+            self.kScale,
+            self.kOffset,
+        )
+
+        # Compressor connected to a PCM with a default CAN ID (0)
+        self.compressor = wpilib.Compressor(0, wpilib.PneumaticsModuleType.CTREPCM)
+
+    def getPressure(self) -> float:
+        """Query the analog pressure sensor.
+
+        :returns: the measured pressure, in PSI
+        """
+        # Get the pressure (in PSI) from an analog pressure sensor connected to the RIO.
+        return self.pressureTransducer.get()
+
+    def disableCompressorCommand(self) -> Command:
+        """Disable the compressor closed-loop for as long as the command runs.
+
+        Structured this way as the compressor is enabled by default.
+
+        :returns: command
+        """
+        return self.startEnd(
+            # Disable closed-loop mode on the compressor.
+            self.compressor.disable,
+            # Enable closed-loop mode based on the digital pressure switch connected to the
+            # PCM/PH.
+            # The switch is open when the pressure is over ~120 PSI.
+            self.compressor.enableDigital,
+        ).withName("Compressor Disabled")