[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/snippets/Solenoid/robot.py

@@ -0,0 +1,122 @@
+#!/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
+
+kSolenoidButton = 1
+kDoubleSolenoidForwardButton = 2
+kDoubleSolenoidReverseButton = 3
+kCompressorButton = 4
+
+
+class MyRobot(wpilib.TimedRobot):
+    """
+    This is a sample program showing the use of the solenoid classes during operator control. Three
+    buttons from a joystick will be used to control two solenoids: One button to control the position
+    of a single solenoid and the other two buttons to control a double solenoid. Single solenoids can
+    either be on or off, such that the air diverted through them goes through either one channel or
+    the other. Double solenoids have three states: Off, Forward, and Reverse. Forward and Reverse
+    divert the air through the two channels and correspond to the on and off of a single solenoid,
+    but a double solenoid can also be "off", where the solenoid will remain in its default power off
+    state. Additionally, double solenoids take up two channels on your PCM whereas single solenoids
+    only take a single channel.
+    """
+
+    def __init__(self) -> None:
+        super().__init__()
+        self.joystick = wpilib.Joystick(0)
+
+        # Solenoid corresponds to a single solenoid.
+        # In this case, it's connected to channel 0 of a PH with the default CAN ID.
+        self.solenoid = wpilib.Solenoid(
+            busId=0, moduleType=wpilib.PneumaticsModuleType.REV_PH, channel=0
+        )
+
+        # DoubleSolenoid corresponds to a double solenoid.
+        # In this case, it's connected to channels 1 and 2 of a PH with the default CAN ID.
+        self.doubleSolenoid = wpilib.DoubleSolenoid(
+            busId=0,
+            moduleType=wpilib.PneumaticsModuleType.REV_PH,
+            forwardChannel=1,
+            reverseChannel=2,
+        )
+
+        # Compressor connected to a PH with a default CAN ID (1)
+        self.compressor = wpilib.Compressor(
+            busId=0, moduleType=wpilib.PneumaticsModuleType.REV_PH
+        )
+
+        # Publish elements to dashboard.
+        wpilib.SmartDashboard.putData("Single Solenoid", self.solenoid)
+        wpilib.SmartDashboard.putData("Double Solenoid", self.doubleSolenoid)
+        wpilib.SmartDashboard.putData("Compressor", self.compressor)
+
+    def teleopPeriodic(self) -> None:
+        # Publish some raw data
+        # Get the pressure (in PSI) from the analog sensor connected to the PH.
+        # This function is supported only on the PH!
+        # On a PCM, this function will return 0.
+        wpilib.SmartDashboard.putNumber(
+            "PH Pressure [PSI]", self.compressor.getPressure()
+        )
+        # Get compressor current draw.
+        wpilib.SmartDashboard.putNumber(
+            "Compressor Current", self.compressor.getCurrent()
+        )
+        # Get whether the compressor is active.
+        wpilib.SmartDashboard.putBoolean(
+            "Compressor Active", self.compressor.isEnabled()
+        )
+        # Get the digital pressure switch connected to the PCM/PH.
+        # The switch is open when the pressure is over ~120 PSI.
+        wpilib.SmartDashboard.putBoolean(
+            "Pressure Switch", self.compressor.getPressureSwitchValue()
+        )
+
+        # The output of GetRawButton is true/false depending on whether
+        # the button is pressed; Set takes a boolean for whether
+        # to retract the solenoid (false) or extend it (true).
+        self.solenoid.set(self.joystick.getRawButton(kSolenoidButton))
+
+        # GetRawButtonPressed will only return true once per press.
+        # If a button is pressed, set the solenoid to the respective channel.
+
+        if self.joystick.getRawButtonPressed(kDoubleSolenoidForwardButton):
+            self.doubleSolenoid.set(wpilib.DoubleSolenoid.Value.FORWARD)
+        elif self.joystick.getRawButtonPressed(kDoubleSolenoidReverseButton):
+            self.doubleSolenoid.set(wpilib.DoubleSolenoid.Value.REVERSE)
+
+        # On button press, toggle the compressor.
+        if self.joystick.getRawButtonPressed(kCompressorButton):
+            # Check whether the compressor is currently enabled.
+            isCompressorEnabled = self.compressor.isEnabled()
+            if isCompressorEnabled:
+                # Disable closed-loop mode on the compressor
+                self.compressor.disable()
+            else:
+                # Change the if statements to select the closed-loop you want to use:
+
+                if False:
+                    # Enable closed-loop mode based on the digital pressure switch connected to the PCM/PH.
+                    # The switch is open when the pressure is over ~120 PSI.
+                    self.compressor.enableDigital()
+
+                if True:
+                    # Enable closed-loop mode based on the analog pressure sensor connected to the PH.
+                    # The compressor will run while the pressure reported by the sensor is in the
+                    # specified range ([70 PSI, 120 PSI] in this example).
+                    # Analog mode exists only on the PH! On the PCM, this enables digital control.
+                    self.compressor.enableAnalog(70, 120)
+
+                if False:
+                    # Enable closed-loop mode based on both the digital pressure switch AND the analog
+                    # pressure sensor connected to the PH.
+                    # The compressor will run while the pressure reported by the analog sensor is in the
+                    # specified range ([70 PSI, 120 PSI] in this example) AND the digital switch reports
+                    # that the system is not full.
+                    # Hybrid mode exists only on the PH! On the PCM, this enables digital control.
+                    self.compressor.enableHybrid(70, 120)