[copybara] Import robotpy examples (#8608)

GitOrigin-RevId: 9ba4bc3040fa7e772f5a594039e78fc6c43d114e

robotpyExamples/XrpReference/commands/arcadedrive.py

@@ -0,0 +1,34 @@
+#
+# 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.drivetrain import Drivetrain
+
+
+class ArcadeDrive(commands2.Command):
+    def __init__(
+        self,
+        drive: Drivetrain,
+        xaxisSpeedSupplier: typing.Callable[[], float],
+        zaxisRotateSupplier: typing.Callable[[], float],
+    ) -> None:
+        """Creates a new ArcadeDrive. This command will drive your robot according to the speed supplier
+        lambdas. This command does not terminate.
+
+        :param drivetrain:  The drivetrain subsystem on which this command will run
+        :param xaxisSpeedSupplier:     Callable supplier of forward/backward speed
+        :param zaxisRotateSupplier:    Callable supplier of rotational speed
+        """
+
+        self.drive = drive
+        self.xaxisSpeedSupplier = xaxisSpeedSupplier
+        self.zaxisRotateSupplier = zaxisRotateSupplier
+
+        self.addRequirements(self.drive)
+
+    def execute(self) -> None:
+        self.drive.arcadeDrive(self.xaxisSpeedSupplier(), self.zaxisRotateSupplier())