[commands] Add convenience factories (#4460)

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

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

@@ -0,0 +1,52 @@
+// 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 <frc2/command/CommandPtr.h>
+#include <frc2/command/button/CommandXboxController.h>
+
+#include "Constants.h"
+#include "subsystems/Drive.h"
+#include "subsystems/Intake.h"
+#include "subsystems/Shooter.h"
+#include "subsystems/Storage.h"
+
+/**
+ * This class is where the bulk of the robot should be declared. Since
+ * Command-based is a "declarative" paradigm, very little robot logic should
+ * actually be handled in the {@link Robot} periodic methods (other than the
+ * scheduler calls). Instead, the structure of the robot (including subsystems,
+ * commands, and button mappings) should be declared here.
+ */
+class RapidReactCommandBot {
+ public:
+  /**
+   * Use this method to define bindings between conditions and commands. These
+   * are useful for automating robot behaviors based on button and sensor input.
+   *
+   * <p>Should be called during Robot::RobotInit().
+   *
+   * <p>Event binding methods are available on the frc2::Trigger class.
+   */
+  void ConfigureBindings();
+
+  /**
+   * Use this to define the command that runs during autonomous.
+   *
+   * <p>Scheduled during Robot::AutonomousInit().
+   */
+  frc2::CommandPtr GetAutonomousCommand();
+
+ private:
+  // The robot's subsystems
+  Drive m_drive;
+  Intake m_intake;
+  Shooter m_shooter;
+  Storage m_storage;
+
+  // The driver's controller
+  frc2::CommandXboxController m_driverController{
+      OIConstants::kDriverControllerPort};
+};