[commands] Add convenience factories (#4460)

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

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

@@ -0,0 +1,32 @@
+// 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/DoubleSolenoid.h>
+#include <frc/motorcontrol/PWMSparkMax.h>
+#include <frc2/command/CommandPtr.h>
+#include <frc2/command/SubsystemBase.h>
+
+#include "Constants.h"
+
+class Intake : public frc2::SubsystemBase {
+ public:
+  Intake() = default;
+
+  /** Returns a command that deploys the intake, and then runs the intake motor
+   * indefinitely. */
+  [[nodiscard]] frc2::CommandPtr IntakeCommand();
+
+  /** Returns a command that turns off and retracts the intake. */
+  [[nodiscard]] frc2::CommandPtr RetractCommand();
+
+ private:
+  frc::PWMSparkMax m_motor{IntakeConstants::kMotorPort};
+  frc::DoubleSolenoid m_piston{frc::PneumaticsModuleType::REVPH,
+                               IntakeConstants::kSolenoidPorts[0],
+                               IntakeConstants::kSolenoidPorts[1]};
+};