[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/HatchbotInlined/include/RobotContainer.h

@@ -4,17 +4,13 @@
 
 #pragma once
 
-#include <frc/PS4Controller.h>
 #include <frc/smartdashboard/SendableChooser.h>
 #include <frc2/command/Command.h>
-#include <frc2/command/FunctionalCommand.h>
-#include <frc2/command/InstantCommand.h>
-#include <frc2/command/ParallelRaceGroup.h>
-#include <frc2/command/RunCommand.h>
-#include <frc2/command/SequentialCommandGroup.h>
+#include <frc2/command/Commands.h>
+#include <frc2/command/button/CommandPS4Controller.h>
 
 #include "Constants.h"
-#include "commands/ComplexAuto.h"
+#include "commands/Autos.h"
 #include "subsystems/DriveSubsystem.h"
 #include "subsystems/HatchSubsystem.h"
 
@@ -35,7 +31,8 @@ class RobotContainer {
 
  private:
   // The driver's controller
-  frc::PS4Controller m_driverController{OIConstants::kDriverControllerPort};
+  frc2::CommandPS4Controller m_driverController{
+      OIConstants::kDriverControllerPort};
 
   // The robot's subsystems and commands are defined here...
 
@@ -43,33 +40,11 @@ class RobotContainer {
   DriveSubsystem m_drive;
   HatchSubsystem m_hatch;
 
+  // Commands owned by RobotContainer
+
   // The autonomous routines
-  frc2::FunctionalCommand m_simpleAuto = frc2::FunctionalCommand(
-      // Reset encoders on command start
-      [this] { m_drive.ResetEncoders(); },
-      // Drive forward while the command is executing
-      [this] { m_drive.ArcadeDrive(AutoConstants::kAutoDriveSpeed, 0); },
-      // Stop driving at the end of the command
-      [this](bool interrupted) { m_drive.ArcadeDrive(0, 0); },
-      // End the command when the robot's driven distance exceeds the desired
-      // value
-      [this] {
-        return m_drive.GetAverageEncoderDistance() >=
-               AutoConstants::kAutoDriveDistanceInches;
-      },
-      // Requires the drive subsystem
-      {&m_drive});
-  ComplexAuto m_complexAuto{&m_drive, &m_hatch};
-
-  // Assorted commands to be bound to buttons
-
-  frc2::InstantCommand m_grabHatch{[this] { m_hatch.GrabHatch(); }, {&m_hatch}};
-  frc2::InstantCommand m_releaseHatch{[this] { m_hatch.ReleaseHatch(); },
-                                      {&m_hatch}};
-  frc2::InstantCommand m_driveHalfSpeed{[this] { m_drive.SetMaxOutput(0.5); },
-                                        {}};
-  frc2::InstantCommand m_driveFullSpeed{[this] { m_drive.SetMaxOutput(1); },
-                                        {}};
+  frc2::CommandPtr m_simpleAuto = autos::SimpleAuto(&m_drive);
+  frc2::CommandPtr m_complexAuto = autos::ComplexAuto(&m_drive, &m_hatch);
 
   // The chooser for the autonomous routines
   frc::SendableChooser<frc2::Command*> m_chooser;

wpilibcExamples/src/main/cpp/examples/HatchbotInlined/include/commands/Autos.h

@@ -0,0 +1,26 @@
+// 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 "subsystems/DriveSubsystem.h"
+#include "subsystems/HatchSubsystem.h"
+
+/** Container for auto command factories. */
+namespace autos {
+
+/**
+ * A simple auto that drives forward, then stops.
+ */
+frc2::CommandPtr SimpleAuto(DriveSubsystem* drive);
+
+/**
+ * A complex auto command that drives forward, releases a hatch, and then drives
+ * backward.
+ */
+frc2::CommandPtr ComplexAuto(DriveSubsystem* drive, HatchSubsystem* hatch);
+
+}  // namespace autos

wpilibcExamples/src/main/cpp/examples/HatchbotInlined/include/commands/ComplexAuto.h

@@ -1,28 +0,0 @@
-// 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/CommandHelper.h>
-#include <frc2/command/SequentialCommandGroup.h>
-
-#include "Constants.h"
-#include "subsystems/DriveSubsystem.h"
-#include "subsystems/HatchSubsystem.h"
-
-/**
- * A complex auto command that drives forward, releases a hatch, and then drives
- * backward.
- */
-class ComplexAuto
-    : public frc2::CommandHelper<frc2::SequentialCommandGroup, ComplexAuto> {
- public:
-  /**
-   * Creates a new ComplexAuto.
-   *
-   * @param drive The drive subsystem this command will run on
-   * @param hatch The hatch subsystem this command will run on
-   */
-  ComplexAuto(DriveSubsystem* drive, HatchSubsystem* hatch);
-};