[copybara] Import robotpy examples (#8608)

GitOrigin-RevId: 9ba4bc3040fa7e772f5a594039e78fc6c43d114e

robotpyExamples/XrpReference/commands/drivetime.py

@@ -0,0 +1,46 @@
+#
+# 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
+import wpilib
+
+from subsystems.drivetrain import Drivetrain
+
+
+class DriveTime(commands2.Command):
+    """Creates a new DriveTime. This command will drive your robot for a desired speed and time."""
+
+    def __init__(self, speed: float, time: float, drive: Drivetrain) -> None:
+        """Creates a new DriveTime. This command will drive your robot for a desired speed and time.
+
+        :param speed: The speed which the robot will drive. Negative is in reverse.
+        :param time:  How much time to drive in seconds
+        :param drive: The drivetrain subsystem on which this command will run
+        """
+
+        self.speed = speed
+        self.duration = time
+        self.drive = drive
+        self.addRequirements(drive)
+
+        self.startTime = 0.0
+
+    def initialize(self) -> None:
+        """Called when the command is initially scheduled."""
+        self.startTime = wpilib.Timer.getFPGATimestamp()
+        self.drive.arcadeDrive(0, 0)
+
+    def execute(self) -> None:
+        """Called every time the scheduler runs while the command is scheduled."""
+        self.drive.arcadeDrive(self.speed, 0)
+
+    def end(self, interrupted: bool) -> None:
+        """Called once the command ends or is interrupted."""
+        self.drive.arcadeDrive(0, 0)
+
+    def isFinished(self) -> bool:
+        """Returns true when the command should end"""
+        return wpilib.Timer.getFPGATimestamp() - self.startTime >= self.duration