[examples] Renovate command-based examples (#4409)

Refactor some examples to use newer features, such as HID factories, library-provided command factories, CommandPtr (C++), as well as new idioms such as static/instance command factories.

wpilibcExamples/src/main/cpp/examples/ArmBot/cpp/RobotContainer.cpp

@@ -7,10 +7,11 @@
 #include <frc/shuffleboard/Shuffleboard.h>
 #include <frc2/command/Commands.h>
 #include <frc2/command/InstantCommand.h>
-#include <frc2/command/RunCommand.h>
 #include <frc2/command/button/JoystickButton.h>
 #include <units/angle.h>
 
+namespace ac = AutoConstants;
+
 RobotContainer::RobotContainer() {
   // Initialize all of your commands and subsystems here
 
@@ -18,7 +19,7 @@ RobotContainer::RobotContainer() {
   ConfigureButtonBindings();
 
   // Set up default drive command
-  m_drive.SetDefaultCommand(frc2::RunCommand(
+  m_drive.SetDefaultCommand(frc2::cmd::Run(
       [this] {
         m_drive.ArcadeDrive(-m_driverController.GetLeftY(),
                             m_driverController.GetRightX());
@@ -30,32 +31,29 @@ void RobotContainer::ConfigureButtonBindings() {
   // Configure your button bindings here
 
   // Move the arm to 2 radians above horizontal when the 'A' button is pressed.
-  frc2::JoystickButton(&m_driverController, frc::XboxController::Button::kA)
-      .OnTrue(frc2::cmd::RunOnce(
-          [this] {
-            m_arm.SetGoal(2_rad);
-            m_arm.Enable();
-          },
-          {&m_arm}));
+  m_driverController.A().OnTrue(frc2::cmd::RunOnce(
+      [this] {
+        m_arm.SetGoal(2_rad);
+        m_arm.Enable();
+      },
+      {&m_arm}));
 
   // Move the arm to neutral position when the 'B' button is pressed.
-  frc2::JoystickButton(&m_driverController, frc::XboxController::Button::kB)
-      .OnTrue(frc2::cmd::RunOnce(
-          [this] {
-            m_arm.SetGoal(ArmConstants::kArmOffset);
-            m_arm.Enable();
-          },
-          {&m_arm}));
+  m_driverController.B().OnTrue(frc2::cmd::RunOnce(
+      [this] {
+        m_arm.SetGoal(ArmConstants::kArmOffset);
+        m_arm.Enable();
+      },
+      {&m_arm}));
 
   // Disable the arm controller when Y is pressed.
-  frc2::JoystickButton(&m_driverController, frc::XboxController::Button::kY)
-      .OnTrue(frc2::cmd::RunOnce([this] { m_arm.Disable(); }, {&m_arm}));
+  m_driverController.Y().OnTrue(
+      frc2::cmd::RunOnce([this] { m_arm.Disable(); }, {&m_arm}));
 
   // While holding the shoulder button, drive at half speed
-  frc2::JoystickButton(&m_driverController,
-                       frc::XboxController::Button::kRightBumper)
+  m_driverController.RightBumper()
       .OnTrue(frc2::cmd::RunOnce([this] { m_drive.SetMaxOutput(0.5); }))
-      .OnFalse(frc2::cmd::RunOnce([this] { m_drive.SetMaxOutput(1); }));
+      .OnFalse(frc2::cmd::RunOnce([this] { m_drive.SetMaxOutput(1.0); }));
 }
 
 void RobotContainer::DisablePIDSubsystems() {
@@ -63,6 +61,5 @@ void RobotContainer::DisablePIDSubsystems() {
 }
 
 frc2::Command* RobotContainer::GetAutonomousCommand() {
-  // Runs the chosen command in autonomous
-  return new frc2::InstantCommand([] {});
+  return nullptr;
 }

wpilibcExamples/src/main/cpp/examples/ArmBot/include/RobotContainer.h

@@ -4,16 +4,13 @@
 
 #pragma once
 
-#include <frc/XboxController.h>
-#include <frc/smartdashboard/SendableChooser.h>
 #include <frc2/command/Command.h>
+#include <frc2/command/button/CommandXboxController.h>
 
 #include "Constants.h"
 #include "subsystems/ArmSubsystem.h"
 #include "subsystems/DriveSubsystem.h"
 
-namespace ac = AutoConstants;
-
 /**
  * This class is where the bulk of the robot should be declared.  Since
  * Command-based is a "declarative" paradigm, very little robot logic should
@@ -35,7 +32,8 @@ class RobotContainer {
 
  private:
   // The driver's controller
-  frc::XboxController m_driverController{OIConstants::kDriverControllerPort};
+  frc2::CommandXboxController m_driverController{
+      OIConstants::kDriverControllerPort};
 
   // The robot's subsystems and commands are defined here...
 
@@ -43,7 +41,5 @@ class RobotContainer {
   DriveSubsystem m_drive;
   ArmSubsystem m_arm;
 
-  // The chooser for the autonomous routines
-
   void ConfigureButtonBindings();
 };