[robotpy][examples] Split examples and snippets (#8944)

This also updates the bazel scripts to behave more like the C++ and Java
examples, and updates the copybara scripts to be able to sync up
`mostrobotpy`

robotpyExamples/examples/RapidReactCommandBot/subsystems/shooter.py

@@ -0,0 +1,69 @@
+#
+# 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, InstantCommand, Subsystem, cmd
+import wpilib
+import wpimath
+
+from constants import ShooterConstants
+
+
+class Shooter(Subsystem):
+    def __init__(self) -> None:
+        """The shooter subsystem for the robot."""
+        super().__init__()
+        self.shooterMotor = wpilib.PWMSparkMax(ShooterConstants.kShooterMotorPort)
+        self.feederMotor = wpilib.PWMSparkMax(ShooterConstants.kFeederMotorPort)
+        self.shooterEncoder = wpilib.Encoder(
+            ShooterConstants.kEncoderPorts[0],
+            ShooterConstants.kEncoderPorts[1],
+            ShooterConstants.kEncoderReversed,
+        )
+        self.shooterFeedforward = wpimath.SimpleMotorFeedforwardMeters(
+            ShooterConstants.kS, ShooterConstants.kV
+        )
+        self.shooterFeedback = wpimath.PIDController(ShooterConstants.kP, 0.0, 0.0)
+
+        self.shooterFeedback.setTolerance(ShooterConstants.kShooterToleranceRPS)
+        self.shooterEncoder.setDistancePerPulse(
+            ShooterConstants.kEncoderDistancePerPulse
+        )
+
+        # Set default command to turn off both the shooter and feeder motors, and then idle
+        self.setDefaultCommand(
+            self.runOnce(
+                lambda: (
+                    self.shooterMotor.disable(),
+                    self.feederMotor.disable(),
+                )
+            )
+            .andThen(self.run(lambda: None))
+            .withName("Idle")
+        )
+
+    def shootCommand(self, setpointRotationsPerSecond: float) -> Command:
+        """Returns a command to shoot the balls currently stored in the robot. Spins the shooter
+        flywheel up to the specified setpoint, and then runs the feeder motor.
+
+        :param setpointRotationsPerSecond: The desired shooter velocity
+        """
+
+        def _run_shooter() -> None:
+            self.shooterMotor.set(
+                self.shooterFeedforward.calculate(setpointRotationsPerSecond)
+                + self.shooterFeedback.calculate(
+                    self.shooterEncoder.getRate(), setpointRotationsPerSecond
+                )
+            )
+
+        return cmd.parallel(
+            # Run the shooter flywheel at the desired setpoint using feedforward and feedback
+            self.run(_run_shooter),
+            # Wait until the shooter has reached the setpoint, and then run the feeder
+            cmd.waitUntil(self.shooterFeedback.atSetpoint).andThen(
+                InstantCommand(lambda: self.feederMotor.set(1))
+            ),
+        ).withName("Shoot")