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

wpilibcExamples/src/main/cpp/examples/Solenoid/include/Robot.h

@@ -0,0 +1,61 @@
+// 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/DoubleSolenoid.h>
+#include <frc/Joystick.h>
+#include <frc/PneumaticsControlModule.h>
+#include <frc/Solenoid.h>
+#include <frc/TimedRobot.h>
+
+/**
+ * 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 both
+ * channels are diverted to exhaust such that there is no pressure in either
+ * channel.
+ *
+ * Additionally, double solenoids take up two channels on your PCM whereas
+ * single solenoids only take a single channel.
+ */
+
+class Robot : public frc::TimedRobot {
+ public:
+  void RobotInit() override;
+  void TeleopPeriodic() override;
+
+ private:
+  frc::Joystick m_stick{0};
+
+  // Solenoid corresponds to a single solenoid.
+  // In this case, it's connected to channel 0 of a PH with the default CAN
+  // ID.
+  frc::Solenoid m_solenoid{frc::PneumaticsModuleType::REVPH, 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.
+  frc::DoubleSolenoid m_doubleSolenoid{frc::PneumaticsModuleType::REVPH, 1, 2};
+
+  // Compressor connected to a PH with a default CAN ID
+  frc::Compressor m_compressor{frc::PneumaticsModuleType::REVPH};
+
+  static constexpr int kSolenoidButton = 1;
+  static constexpr int kDoubleSolenoidForward = 2;
+  static constexpr int kDoubleSolenoidReverse = 3;
+  static constexpr int kCompressorButton = 4;
+};