[commands] Add convenience factories (#4460)

Co-authored-by: Starlight220 <53231611+Starlight220@users.noreply.github.com>

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

@@ -0,0 +1,58 @@
+// 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 "Robot.h"
+
+void Robot::RobotInit() {
+  // Configure default commands and condition bindings on robot startup
+  m_robot.ConfigureBindings();
+}
+
+void Robot::RobotPeriodic() {
+  // Runs the Scheduler.  This is responsible for polling buttons, adding
+  // newly-scheduled commands, running already-scheduled commands, removing
+  // finished or interrupted commands, and running subsystem Periodic() methods.
+  // This must be called from the robot's periodic block in order for anything
+  // in the Command-based framework to work.
+  frc2::CommandScheduler::GetInstance().Run();
+}
+
+void Robot::DisabledInit() {}
+
+void Robot::DisabledPeriodic() {}
+
+void Robot::AutonomousInit() {
+  m_autonomousCommand = m_robot.GetAutonomousCommand();
+
+  if (m_autonomousCommand) {
+    m_autonomousCommand->Schedule();
+  }
+}
+
+void Robot::AutonomousPeriodic() {}
+
+void Robot::TeleopInit() {
+  // This makes sure that the autonomous stops running when
+  // teleop starts running. If you want the autonomous to
+  // continue until interrupted by another command, remove
+  // this line or comment it out.
+  if (m_autonomousCommand) {
+    m_autonomousCommand->Cancel();
+  }
+}
+
+void Robot::TeleopPeriodic() {}
+
+void Robot::TestInit() {
+  // Cancels all running commands at the start of test mode.
+  frc2::CommandScheduler::GetInstance().CancelAll();
+}
+
+void Robot::TestPeriodic() {}
+
+#ifndef RUNNING_FRC_TESTS
+int main() {
+  return frc::StartRobot<Robot>();
+}
+#endif