[examples] Improve Pneumatics example coverage in Solenoid and RapidReactCmdBot examples (#4998)

wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/cpp/RapidReactCommandBot.cpp

@@ -40,6 +40,10 @@ void RapidReactCommandBot::ConfigureBindings() {
           m_storage.RunCommand())
           // Since we composed this inline we should give it a name
           .WithName("Shoot"));
+
+  // Toggle compressor with the Start button
+  m_driverController.Start().ToggleOnTrue(
+      m_pneumatics.DisableCompressorCommand());
 }
 
 frc2::CommandPtr RapidReactCommandBot::GetAutonomousCommand() {

wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/cpp/subsystems/Pneumatics.cpp

@@ -0,0 +1,27 @@
+// 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 "subsystems/Pneumatics.h"
+
+Pneumatics::Pneumatics() {}
+
+frc2::CommandPtr Pneumatics::DisableCompressorCommand() {
+  return StartEnd(
+      [&] {
+        // Disable closed-loop mode on the compressor.
+        m_compressor.Disable();
+      },
+      [&] {
+        // 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.
+        m_compressor.EnableDigital();
+      });
+}
+
+units::pounds_per_square_inch_t Pneumatics::GetPressure() {
+  // Get the pressure (in PSI) from an analog pressure sensor connected to
+  // the RIO.
+  return units::pounds_per_square_inch_t{m_pressureTransducer.Get()};
+}

wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/include/RapidReactCommandBot.h

@@ -10,6 +10,7 @@
 #include "Constants.h"
 #include "subsystems/Drive.h"
 #include "subsystems/Intake.h"
+#include "subsystems/Pneumatics.h"
 #include "subsystems/Shooter.h"
 #include "subsystems/Storage.h"
 
@@ -45,6 +46,7 @@ class RapidReactCommandBot {
   Intake m_intake;
   Shooter m_shooter;
   Storage m_storage;
+  Pneumatics m_pneumatics;
 
   // The driver's controller
   frc2::CommandXboxController m_driverController{

wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/include/subsystems/Intake.h

@@ -28,7 +28,9 @@ class Intake : public frc2::SubsystemBase {
 
  private:
   frc::PWMSparkMax m_motor{IntakeConstants::kMotorPort};
-  frc::DoubleSolenoid m_piston{frc::PneumaticsModuleType::REVPH,
+
+  // Double solenoid connected to two channels of a PCM with the default CAN ID
+  frc::DoubleSolenoid m_piston{frc::PneumaticsModuleType::CTREPCM,
                                IntakeConstants::kSolenoidPorts[0],
                                IntakeConstants::kSolenoidPorts[1]};
 };

wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/include/subsystems/Pneumatics.h

@@ -0,0 +1,43 @@
+// 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.
+
+#pragma once
+
+#include <frc/AnalogPotentiometer.h>
+#include <frc/Compressor.h>
+#include <frc/PneumaticsControlModule.h>
+#include <frc2/command/CommandPtr.h>
+#include <frc2/command/SubsystemBase.h>
+#include <units/pressure.h>
+
+#include "Constants.h"
+
+class Pneumatics : frc2::SubsystemBase {
+ public:
+  Pneumatics();
+  /** Returns a command that disables the compressor indefinitely. */
+  [[nodiscard]] frc2::CommandPtr DisableCompressorCommand();
+
+  /**
+   * Query the analog pressure sensor.
+   *
+   * @return the measured pressure, in PSI
+   */
+  units::pounds_per_square_inch_t GetPressure();
+
+ private:
+  // External analog pressure sensor
+  // product-specific voltage->pressure conversion, see product manual
+  // in this case, 250(V/5)-25
+  // the scale parameter in the AnalogPotentiometer constructor is scaled from
+  // 1 instead of 5, so if r is the raw AnalogPotentiometer output, the
+  // pressure is 250r-25
+  static constexpr double kScale = 250;
+  static constexpr double kOffset = -25;
+  frc::AnalogPotentiometer m_pressureTransducer{/* the AnalogIn port*/ 2,
+                                                kScale, kOffset};
+
+  // Compressor connected to a PH with a default CAN ID
+  frc::Compressor m_compressor{frc::PneumaticsModuleType::CTREPCM};
+};