[commands] Add convenience factories (#4460)

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

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

@@ -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.
+
+#pragma once
+
+#include <functional>
+
+#include <frc/Encoder.h>
+#include <frc/drive/DifferentialDrive.h>
+#include <frc/motorcontrol/MotorControllerGroup.h>
+#include <frc/motorcontrol/PWMSparkMax.h>
+#include <frc2/command/CommandPtr.h>
+#include <frc2/command/SubsystemBase.h>
+#include <units/length.h>
+
+#include "Constants.h"
+
+class Drive : public frc2::SubsystemBase {
+ public:
+  Drive();
+  /**
+   * Returns a command that drives the robot with arcade controls.
+   *
+   * @param fwd the commanded forward movement
+   * @param rot the commanded rotation
+   */
+  [[nodiscard]] frc2::CommandPtr ArcadeDriveCommand(
+      std::function<double()> fwd, std::function<double()> rot);
+
+  /**
+   * Returns a command that drives the robot forward a specified distance at a
+   * specified speed.
+   *
+   * @param distance The distance to drive forward in meters
+   * @param speed The fraction of max speed at which to drive
+   */
+  [[nodiscard]] frc2::CommandPtr DriveDistanceCommand(units::meter_t distance,
+                                                      double speed);
+
+ private:
+  frc::PWMSparkMax m_leftLeader{DriveConstants::kLeftMotor1Port};
+  frc::PWMSparkMax m_leftFollower{DriveConstants::kLeftMotor2Port};
+  frc::PWMSparkMax m_rightLeader{DriveConstants::kRightMotor1Port};
+  frc::PWMSparkMax m_rightFollower{DriveConstants::kRightMotor2Port};
+
+  frc::MotorControllerGroup m_leftMotors{m_leftLeader, m_leftFollower};
+  frc::MotorControllerGroup m_rightMotors{m_rightLeader, m_rightFollower};
+
+  frc::DifferentialDrive m_drive{m_leftMotors, m_rightMotors};
+
+  frc::Encoder m_leftEncoder{DriveConstants::kLeftEncoderPorts[0],
+                             DriveConstants::kLeftEncoderPorts[1],
+                             DriveConstants::kLeftEncoderReversed};
+  frc::Encoder m_rightEncoder{DriveConstants::kRightEncoderPorts[0],
+                              DriveConstants::kRightEncoderPorts[1],
+                              DriveConstants::kRightEncoderReversed};
+};