[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/DriveDistanceOffboard/cpp/RobotContainer.cpp

@@ -4,10 +4,6 @@
 
 #include "RobotContainer.h"
 
-#include <frc/shuffleboard/Shuffleboard.h>
-#include <frc2/command/Commands.h>
-#include <frc2/command/button/JoystickButton.h>
-
 #include "commands/DriveDistanceProfiled.h"
 
 RobotContainer::RobotContainer() {
@@ -29,39 +25,38 @@ void RobotContainer::ConfigureButtonBindings() {
   // Configure your button bindings here
 
   // While holding the shoulder button, drive at half speed
-  frc2::JoystickButton(&m_driverController,
-                       frc::XboxController::Button::kRightBumper)
-      .OnTrue(&m_driveHalfSpeed)
-      .OnFalse(&m_driveFullSpeed);
+  m_driverController.RightBumper()
+      .OnTrue(m_driveHalfSpeed.get())
+      .OnFalse(m_driveFullSpeed.get());
 
   // Drive forward by 3 meters when the 'A' button is pressed, with a timeout of
   // 10 seconds
-  frc2::JoystickButton(&m_driverController, frc::XboxController::Button::kA)
-      .OnTrue(DriveDistanceProfiled(3_m, &m_drive).WithTimeout(10_s));
+  m_driverController.A().OnTrue(
+      DriveDistanceProfiled(3_m, &m_drive).WithTimeout(10_s));
 
   // Do the same thing as above when the 'B' button is pressed, but defined
   // inline
-  frc2::JoystickButton(&m_driverController, frc::XboxController::Button::kB)
-      .OnTrue(
-          frc2::TrapezoidProfileCommand<units::meters>(
-              frc::TrapezoidProfile<units::meters>(
-                  // Limit the max acceleration and velocity
-                  {DriveConstants::kMaxSpeed, DriveConstants::kMaxAcceleration},
-                  // End at desired position in meters; implicitly starts at 0
-                  {3_m, 0_mps}),
-              // Pipe the profile state to the drive
-              [this](auto setpointState) {
-                m_drive.SetDriveStates(setpointState, setpointState);
-              },
-              // Require the drive
-              {&m_drive})
-              .ToPtr()
-              .BeforeStarting(
-                  frc2::cmd::RunOnce([this]() { m_drive.ResetEncoders(); }, {}))
-              .WithTimeout(10_s));
+  m_driverController.B().OnTrue(
+      frc2::TrapezoidProfileCommand<units::meters>(
+          frc::TrapezoidProfile<units::meters>(
+              // Limit the max acceleration and velocity
+              {DriveConstants::kMaxSpeed, DriveConstants::kMaxAcceleration},
+              // End at desired position in meters; implicitly starts at 0
+              {3_m, 0_mps}),
+          // Pipe the profile state to the drive
+          [this](auto setpointState) {
+            m_drive.SetDriveStates(setpointState, setpointState);
+          },
+          // Require the drive
+          {&m_drive})
+          // Convert to CommandPtr
+          .ToPtr()
+          .BeforeStarting(
+              frc2::cmd::RunOnce([this]() { m_drive.ResetEncoders(); }, {}))
+          .WithTimeout(10_s));
 }
 
 frc2::Command* RobotContainer::GetAutonomousCommand() {
   // Runs the chosen command in autonomous
-  return new frc2::InstantCommand([] {});
+  return nullptr;
 }

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

@@ -4,14 +4,10 @@
 
 #pragma once
 
-#include <frc/XboxController.h>
-#include <frc/smartdashboard/SendableChooser.h>
 #include <frc2/command/Command.h>
-#include <frc2/command/InstantCommand.h>
-#include <frc2/command/ParallelRaceGroup.h>
-#include <frc2/command/RunCommand.h>
-#include <frc2/command/SequentialCommandGroup.h>
-#include <frc2/command/StartEndCommand.h>
+#include <frc2/command/CommandPtr.h>
+#include <frc2/command/Commands.h>
+#include <frc2/command/button/CommandXboxController.h>
 
 #include "Constants.h"
 #include "subsystems/DriveSubsystem.h"
@@ -31,17 +27,19 @@ 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...
 
   // The robot's subsystems
   DriveSubsystem m_drive;
 
-  frc2::InstantCommand m_driveHalfSpeed{[this] { m_drive.SetMaxOutput(0.5); },
-                                        {}};
-  frc2::InstantCommand m_driveFullSpeed{[this] { m_drive.SetMaxOutput(1); },
-                                        {}};
+  // RobotContainer-owned commands
+  frc2::CommandPtr m_driveHalfSpeed =
+      frc2::cmd::RunOnce([this] { m_drive.SetMaxOutput(0.5); }, {});
+  frc2::CommandPtr m_driveFullSpeed =
+      frc2::cmd::RunOnce([this] { m_drive.SetMaxOutput(1); }, {});
 
   void ConfigureButtonBindings();
 };