[copybara] Import robotpy examples (#8608)

GitOrigin-RevId: 9ba4bc3040fa7e772f5a594039e78fc6c43d114e

robotpyExamples/UnitTest/constants.py

@@ -0,0 +1,16 @@
+#
+# 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.
+#
+
+
+class IntakeConstants:
+    kMotorPort = 1
+
+    kPistonFwdChannel = 0
+    kPistonRevChannel = 1
+    kIntakeSpeed = 0.5
+
+
+kJoystickIndex = 0

robotpyExamples/UnitTest/robot.py

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+#!/usr/bin/env python3
+#
+# 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 wpilib
+
+import constants
+from subsystems.intake import Intake
+
+
+class MyRobot(wpilib.TimedRobot):
+    """The methods in this class are called automatically corresponding to each mode, as
+    described in the TimedRobot documentation. If you change the name of this class or the
+    package after creating this project, you must also update the Main.java file in the
+    project.
+    """
+
+    def __init__(self) -> None:
+        super().__init__()
+        self.intake = Intake()
+        self.joystick = wpilib.Joystick(constants.kJoystickIndex)
+
+    def teleopPeriodic(self) -> None:
+        """This function is called periodically during operator control."""
+        # Activate the intake while the trigger is held
+        if self.joystick.getTrigger():
+            self.intake.activate(constants.IntakeConstants.kIntakeSpeed)
+        else:
+            self.intake.activate(0)
+
+        # Toggle deploying the intake when the top button is pressed
+        if self.joystick.getTop():
+            if self.intake.isDeployed():
+                self.intake.retract()
+            else:
+                self.intake.deploy()

robotpyExamples/UnitTest/subsystems/intake.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 wpilib
+
+from constants import IntakeConstants
+
+
+class Intake:
+    def __init__(self) -> None:
+        self.motor = wpilib.PWMSparkMax(IntakeConstants.kMotorPort)
+        self.piston = wpilib.DoubleSolenoid(
+            0,
+            wpilib.PneumaticsModuleType.CTREPCM,
+            IntakeConstants.kPistonFwdChannel,
+            IntakeConstants.kPistonRevChannel,
+        )
+
+    def deploy(self) -> None:
+        self.piston.set(wpilib.DoubleSolenoid.Value.kForward)
+
+    def retract(self) -> None:
+        self.piston.set(wpilib.DoubleSolenoid.Value.kReverse)
+        self.motor.set(0)  # turn off the motor
+
+    def activate(self, speed: float) -> None:
+        if self.isDeployed():
+            self.motor.set(speed)
+        else:  # if piston isn't open, do nothing
+            self.motor.set(0)
+
+    def isDeployed(self) -> bool:
+        return self.piston.get() == wpilib.DoubleSolenoid.Value.kForward