[commands] Add convenience factories (#4460)

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

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

@@ -0,0 +1,79 @@
+// 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 <numbers>
+
+#include <units/angle.h>
+#include <units/angular_velocity.h>
+#include <units/length.h>
+#include <units/time.h>
+#include <units/voltage.h>
+
+namespace DriveConstants {
+constexpr int kLeftMotor1Port = 0;
+constexpr int kLeftMotor2Port = 1;
+constexpr int kRightMotor1Port = 2;
+constexpr int kRightMotor2Port = 3;
+
+constexpr int kLeftEncoderPorts[]{0, 1};
+constexpr int kRightEncoderPorts[]{2, 3};
+constexpr bool kLeftEncoderReversed = false;
+constexpr bool kRightEncoderReversed = true;
+
+constexpr double kEncoderCPR = 1024;
+constexpr units::meter_t kWheelDiameter = 6.0_in;
+constexpr double kEncoderDistancePerPulse =
+    // Assumes the encoders are directly mounted on the wheel shafts
+    ((kWheelDiameter * std::numbers::pi) / kEncoderCPR).value();
+
+}  // namespace DriveConstants
+
+namespace IntakeConstants {
+constexpr int kMotorPort = 6;
+constexpr int kSolenoidPorts[]{0, 1};
+}  // namespace IntakeConstants
+
+namespace StorageConstants {
+constexpr int kMotorPort = 7;
+constexpr int kBallSensorPort = 6;
+}  // namespace StorageConstants
+
+namespace ShooterConstants {
+constexpr int kEncoderPorts[]{4, 5};
+constexpr bool kEncoderReversed = false;
+constexpr double kEncoderCPR = 1024;
+constexpr double kEncoderDistancePerPulse =
+    // Distance units will be rotations
+    1.0 / kEncoderCPR;
+
+constexpr int kShooterMotorPort = 4;
+constexpr int kFeederMotorPort = 5;
+
+constexpr auto kShooterFree = 5300_tps;
+constexpr auto kShooterTarget = 4000_tps;
+constexpr auto kShooterTolerance = 50_tps;
+
+// These are not real PID gains, and will have to be tuned for your specific
+// robot.
+constexpr double kP = 1;
+
+constexpr units::volt_t kS = 0.05_V;
+constexpr auto kV =
+    // Should have value 12V at free speed...
+    12.0_V / kShooterFree;
+
+constexpr double kFeederSpeed = 0.5;
+}  // namespace ShooterConstants
+
+namespace OIConstants {
+constexpr int kDriverControllerPort = 0;
+}  // namespace OIConstants
+
+namespace AutoConstants {
+constexpr units::second_t kTimeout = 3.0_s;
+constexpr units::meter_t kDriveDistance = 2.0_m;
+constexpr double kDriveSpeed = 0.5;
+}  // namespace AutoConstants