[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/XrpReference/robotcontainer.py

@@ -0,0 +1,95 @@
+#
+# 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
+import commands2.button
+import wpilib
+import xrp
+
+from commands.arcadedrive import ArcadeDrive
+from commands.autonomousdistance import AutonomousDistance
+from commands.autonomoustime import AutonomousTime
+
+from subsystems.arm import Arm
+from subsystems.drivetrain import Drivetrain
+
+
+class RobotContainer:
+    """
+    This class is where the bulk of the robot should be declared. Since Command-based is a
+    "declarative" paradigm, very little robot logic should actually be handled in the :class:`.Robot`
+    periodic methods (other than the scheduler calls). Instead, the structure of the robot (including
+    subsystems, commands, and button mappings) should be declared here.
+    """
+
+    def __init__(self) -> None:
+        # The robot's subsystems and commands are defined here...
+        self.drivetrain = Drivetrain()
+        self.onboardIO = xrp.XRPOnBoardIO()
+        self.arm = Arm()
+
+        # Assumes a gamepad plugged into channnel 0
+        self.controller = wpilib.Joystick(0)
+
+        # Create SmartDashboard chooser for autonomous routines
+        self.chooser = wpilib.SendableChooser()
+
+        self._configureButtonBindings()
+
+    def _configureButtonBindings(self):
+        """Use this method to define your button->command mappings. Buttons can be created by
+        instantiating a :class:`.GenericHID` or one of its subclasses (:class`.Joystick or
+        :class:`.XboxController`), and then passing it to a :class:`.JoystickButton`.
+        """
+
+        # Default command is arcade drive. This will run unless another command
+        # is scheduled over it
+        self.drivetrain.setDefaultCommand(self.getArcadeDriveCommand())
+
+        # Example of how to use the onboard IO
+        onboardButtonA = commands2.button.Trigger(self.onboardIO.getUserButtonPressed)
+        onboardButtonA.onTrue(commands2.PrintCommand("USER Button Pressed")).onFalse(
+            commands2.PrintCommand("USER Button Released")
+        )
+
+        joystickAButton = commands2.button.JoystickButton(self.controller, 1)
+        joystickAButton.onTrue(
+            commands2.InstantCommand(lambda: self.arm.setAngle(45.0), self.arm)
+        )
+        joystickAButton.onFalse(
+            commands2.InstantCommand(lambda: self.arm.setAngle(0.0), self.arm)
+        )
+
+        joystickBButton = commands2.button.JoystickButton(self.controller, 2)
+        joystickBButton.onTrue(
+            commands2.InstantCommand(lambda: self.arm.setAngle(90.0), self.arm)
+        )
+        joystickBButton.onFalse(
+            commands2.InstantCommand(lambda: self.arm.setAngle(0.0), self.arm)
+        )
+
+        # Setup SmartDashboard options
+        self.chooser.setDefaultOption(
+            "Auto Routine Distance", AutonomousDistance(self.drivetrain)
+        )
+        self.chooser.addOption("Auto Routine Time", AutonomousTime(self.drivetrain))
+        wpilib.SmartDashboard.putData(self.chooser)
+
+    def getAutonomousCommand(self) -> typing.Optional[commands2.Command]:
+        return self.chooser.getSelected()
+
+    def getArcadeDriveCommand(self) -> ArcadeDrive:
+        """Use this to pass the teleop command to the main robot class.
+
+        :returns: the command to run in teleop
+        """
+        return ArcadeDrive(
+            self.drivetrain,
+            lambda: -self.controller.getRawAxis(1),
+            lambda: -self.controller.getRawAxis(2),
+        )