[examples] Clean up examples (#8674)

Move various "examples" into snippets. Several examples that were less
than a full mechanism or robot were moved to snippets. `arcadedrive` and
`tankdrive` were removed in favor of their Gamepad variants. `hidrumble`
was removed due to being too simple. `potentiometerpid` was removed
because of low utility. `gyromecanum` replaced `mecanumdrive` for
deduplication and because very few teams run holonomic drivetrains
without gyros.

wpilibcExamples/src/test/cpp/examples/PotentiometerPID/cpp/PotentiometerPIDTest.cpp

@@ -1,166 +0,0 @@
-// 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.
-
-#include <thread>
-
-#include <gtest/gtest.h>
-
-#include "Robot.hpp"
-#include "wpi/hal/DriverStationTypes.h"
-#include "wpi/hal/simulation/MockHooks.h"
-#include "wpi/math/system/DCMotor.hpp"
-#include "wpi/simulation/AnalogInputSim.hpp"
-#include "wpi/simulation/DriverStationSim.hpp"
-#include "wpi/simulation/ElevatorSim.hpp"
-#include "wpi/simulation/JoystickSim.hpp"
-#include "wpi/simulation/PWMMotorControllerSim.hpp"
-#include "wpi/simulation/SimHooks.hpp"
-#include "wpi/system/RobotController.hpp"
-#include "wpi/units/length.hpp"
-#include "wpi/units/mass.hpp"
-#include "wpi/units/time.hpp"
-
-class PotentiometerPIDTest : public testing::Test {
-  wpi::math::DCMotor m_elevatorGearbox = wpi::math::DCMotor::Vex775Pro(4);
-  static constexpr double kElevatorGearing = 10.0;
-  static constexpr wpi::units::meter_t kElevatorDrumRadius = 2.0_in;
-  static constexpr wpi::units::kilogram_t kCarriageMass = 4.0_kg;
-
-  Robot m_robot;
-  std::optional<std::thread> m_thread;
-
- protected:
-  wpi::sim::ElevatorSim m_elevatorSim{m_elevatorGearbox,
-                                      kElevatorGearing,
-                                      kCarriageMass,
-                                      kElevatorDrumRadius,
-                                      0.0_m,
-                                      Robot::kFullHeight,
-                                      true,
-                                      0.0_m};
-  wpi::sim::PWMMotorControllerSim m_motorSim{Robot::kMotorChannel};
-  wpi::sim::AnalogInputSim m_analogSim{Robot::kPotChannel};
-  wpi::sim::JoystickSim m_joystickSim{Robot::kJoystickChannel};
-  int32_t m_callback;
-  int32_t m_port;
-
- public:
-  void SimPeriodicBefore() {
-    m_elevatorSim.SetInputVoltage(m_motorSim.GetDutyCycle() *
-                                  wpi::RobotController::GetBatteryVoltage());
-    m_elevatorSim.Update(20_ms);
-
-    /*
-    meters = (v / 3.3v) * range
-    meters / range = v / 3.3v
-    3.3v * (meters / range) = v
-     */
-    m_analogSim.SetVoltage(
-        (wpi::RobotController::GetVoltage3V3() *
-         (m_elevatorSim.GetPosition().value() / Robot::kFullHeight))
-            .value());
-  }
-
-  static void CallSimPeriodicBefore(void* param) {
-    static_cast<PotentiometerPIDTest*>(param)->SimPeriodicBefore();
-  }
-
-  void SetUp() override {
-    wpi::sim::PauseTiming();
-    wpi::sim::SetProgramStarted(false);
-    wpi::sim::DriverStationSim::ResetData();
-
-    m_joystickSim.SetButtonsMaximumIndex(12);
-
-    m_callback =
-        HALSIM_RegisterSimPeriodicBeforeCallback(CallSimPeriodicBefore, this);
-
-    m_thread = std::thread([&] { m_robot.StartCompetition(); });
-    wpi::sim::WaitForProgramStart();
-  }
-
-  void TearDown() override {
-    m_robot.EndCompetition();
-    m_thread->join();
-
-    HALSIM_CancelSimPeriodicBeforeCallback(m_callback);
-    m_analogSim.ResetData();
-  }
-};
-
-TEST_F(PotentiometerPIDTest, Teleop) {
-  // teleop init
-  {
-    wpi::sim::DriverStationSim::SetRobotMode(HAL_ROBOTMODE_TELEOPERATED);
-    wpi::sim::DriverStationSim::SetEnabled(true);
-    wpi::sim::DriverStationSim::NotifyNewData();
-
-    EXPECT_TRUE(m_analogSim.GetInitialized());
-  }
-
-  // first setpoint
-  {
-    // advance 50 timesteps
-    wpi::sim::StepTiming(1_s);
-
-    EXPECT_NEAR(Robot::kSetpoints[0].value(),
-                m_elevatorSim.GetPosition().value(), 0.1);
-  }
-
-  // second setpoint
-  {
-    // press button to advance setpoint
-    m_joystickSim.SetTrigger(true);
-    m_joystickSim.NotifyNewData();
-
-    // advance 50 timesteps
-    wpi::sim::StepTiming(1_s);
-
-    EXPECT_NEAR(Robot::kSetpoints[1].value(),
-                m_elevatorSim.GetPosition().value(), 0.1);
-  }
-
-  // we need to unpress the button
-  {
-    m_joystickSim.SetTrigger(false);
-    m_joystickSim.NotifyNewData();
-
-    // advance 10 timesteps
-    wpi::sim::StepTiming(0.2_s);
-  }
-
-  // third setpoint
-  {
-    // press button to advance setpoint
-    m_joystickSim.SetTrigger(true);
-    m_joystickSim.NotifyNewData();
-
-    // advance 50 timesteps
-    wpi::sim::StepTiming(1_s);
-
-    EXPECT_NEAR(Robot::kSetpoints[2].value(),
-                m_elevatorSim.GetPosition().value(), 0.1);
-  }
-
-  // we need to unpress the button
-  {
-    m_joystickSim.SetTrigger(false);
-    m_joystickSim.NotifyNewData();
-
-    // advance 10 timesteps
-    wpi::sim::StepTiming(0.2_s);
-  }
-
-  // rollover: first setpoint
-  {
-    // press button to advance setpoint
-    m_joystickSim.SetTrigger(true);
-    m_joystickSim.NotifyNewData();
-
-    // advance 60 timesteps
-    wpi::sim::StepTiming(1.2_s);
-    EXPECT_NEAR(Robot::kSetpoints[0].value(),
-                m_elevatorSim.GetPosition().value(), 0.1);
-  }
-}

wpilibcExamples/src/test/cpp/examples/PotentiometerPID/cpp/main.cpp

@@ -1,17 +0,0 @@
-// 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.
-
-#include <gtest/gtest.h>
-
-#include "wpi/hal/HAL.h"
-
-/**
- * Runs all unit tests.
- */
-int main(int argc, char** argv) {
-  HAL_Initialize(500, 0);
-  ::testing::InitGoogleTest(&argc, argv);
-  int ret = RUN_ALL_TESTS();
-  return ret;
-}