[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.

wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbot/RobotContainer.java

@@ -4,15 +4,13 @@
 
 package edu.wpi.first.wpilibj.examples.armbot;
 
-import static edu.wpi.first.wpilibj.XboxController.Button;
-
 import edu.wpi.first.wpilibj.XboxController;
 import edu.wpi.first.wpilibj.examples.armbot.Constants.OIConstants;
 import edu.wpi.first.wpilibj.examples.armbot.subsystems.ArmSubsystem;
 import edu.wpi.first.wpilibj.examples.armbot.subsystems.DriveSubsystem;
 import edu.wpi.first.wpilibj2.command.Command;
-import edu.wpi.first.wpilibj2.command.InstantCommand;
-import edu.wpi.first.wpilibj2.command.RunCommand;
+import edu.wpi.first.wpilibj2.command.Commands;
+import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
 import edu.wpi.first.wpilibj2.command.button.JoystickButton;
 
 /**
@@ -27,7 +25,8 @@ public class RobotContainer {
   private final ArmSubsystem m_robotArm = new ArmSubsystem();
 
   // The driver's controller
-  XboxController m_driverController = new XboxController(OIConstants.kDriverControllerPort);
+  CommandXboxController m_driverController =
+      new CommandXboxController(OIConstants.kDriverControllerPort);
 
   /** The container for the robot. Contains subsystems, OI devices, and commands. */
   public RobotContainer() {
@@ -39,7 +38,7 @@ public class RobotContainer {
     m_robotDrive.setDefaultCommand(
         // A split-stick arcade command, with forward/backward controlled by the left
         // hand, and turning controlled by the right.
-        new RunCommand(
+        Commands.run(
             () ->
                 m_robotDrive.arcadeDrive(
                     -m_driverController.getLeftY(), m_driverController.getRightX()),
@@ -54,9 +53,10 @@ public class RobotContainer {
    */
   private void configureButtonBindings() {
     // Move the arm to 2 radians above horizontal when the 'A' button is pressed.
-    new JoystickButton(m_driverController, Button.kA.value)
+    m_driverController
+        .a()
         .onTrue(
-            new InstantCommand(
+            Commands.runOnce(
                 () -> {
                   m_robotArm.setGoal(2);
                   m_robotArm.enable();
@@ -64,9 +64,10 @@ public class RobotContainer {
                 m_robotArm));
 
     // Move the arm to neutral position when the 'B' button is pressed.
-    new JoystickButton(m_driverController, Button.kB.value)
+    m_driverController
+        .b()
         .onTrue(
-            new InstantCommand(
+            Commands.runOnce(
                 () -> {
                   m_robotArm.setGoal(Constants.ArmConstants.kArmOffsetRads);
                   m_robotArm.enable();
@@ -74,13 +75,13 @@ public class RobotContainer {
                 m_robotArm));
 
     // Disable the arm controller when Y is pressed.
-    new JoystickButton(m_driverController, Button.kY.value)
-        .onTrue(new InstantCommand(m_robotArm::disable));
+    m_driverController.y().onTrue(Commands.runOnce(m_robotArm::disable));
 
     // Drive at half speed when the bumper is held
-    new JoystickButton(m_driverController, Button.kRightBumper.value)
-        .onTrue(new InstantCommand(() -> m_robotDrive.setMaxOutput(0.5)))
-        .onFalse(new InstantCommand(() -> m_robotDrive.setMaxOutput(1)));
+    m_driverController
+        .rightBumper()
+        .onTrue(Commands.runOnce(() -> m_robotDrive.setMaxOutput(0.5)))
+        .onFalse(Commands.runOnce(() -> m_robotDrive.setMaxOutput(1.0)));
   }
 
   /**
@@ -97,6 +98,6 @@ public class RobotContainer {
    * @return the command to run in autonomous
    */
   public Command getAutonomousCommand() {
-    return new InstantCommand();
+    return Commands.none();
   }
 }

wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbotoffboard/RobotContainer.java

@@ -4,15 +4,13 @@
 
 package edu.wpi.first.wpilibj.examples.armbotoffboard;
 
-import static edu.wpi.first.wpilibj.XboxController.Button;
-
 import edu.wpi.first.wpilibj.XboxController;
 import edu.wpi.first.wpilibj.examples.armbotoffboard.Constants.OIConstants;
 import edu.wpi.first.wpilibj.examples.armbotoffboard.subsystems.ArmSubsystem;
 import edu.wpi.first.wpilibj.examples.armbotoffboard.subsystems.DriveSubsystem;
 import edu.wpi.first.wpilibj2.command.Command;
-import edu.wpi.first.wpilibj2.command.InstantCommand;
-import edu.wpi.first.wpilibj2.command.RunCommand;
+import edu.wpi.first.wpilibj2.command.Commands;
+import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
 import edu.wpi.first.wpilibj2.command.button.JoystickButton;
 
 /**
@@ -27,7 +25,8 @@ public class RobotContainer {
   private final ArmSubsystem m_robotArm = new ArmSubsystem();
 
   // The driver's controller
-  XboxController m_driverController = new XboxController(OIConstants.kDriverControllerPort);
+  CommandXboxController m_driverController =
+      new CommandXboxController(OIConstants.kDriverControllerPort);
 
   /** The container for the robot. Contains subsystems, OI devices, and commands. */
   public RobotContainer() {
@@ -39,11 +38,8 @@ public class RobotContainer {
     m_robotDrive.setDefaultCommand(
         // A split-stick arcade command, with forward/backward controlled by the left
         // hand, and turning controlled by the right.
-        new RunCommand(
-            () ->
-                m_robotDrive.arcadeDrive(
-                    -m_driverController.getLeftY(), m_driverController.getRightX()),
-            m_robotDrive));
+        m_robotDrive.arcadeDriveCommand(
+            () -> -m_driverController.getLeftY(), () -> m_driverController.getRightX()));
   }
 
   /**
@@ -54,19 +50,18 @@ public class RobotContainer {
    */
   private void configureButtonBindings() {
     // Move the arm to 2 radians above horizontal when the 'A' button is pressed.
-    new JoystickButton(m_driverController, Button.kA.value)
-        .onTrue(new InstantCommand(() -> m_robotArm.setGoal(2), m_robotArm));
+    m_driverController.a().onTrue(m_robotArm.setArmGoalCommand(2));
 
     // Move the arm to neutral position when the 'B' button is pressed.
-    new JoystickButton(m_driverController, Button.kB.value)
-        .onTrue(
-            new InstantCommand(
-                () -> m_robotArm.setGoal(Constants.ArmConstants.kArmOffsetRads), m_robotArm));
+    m_driverController
+        .b()
+        .onTrue(m_robotArm.setArmGoalCommand(Constants.ArmConstants.kArmOffsetRads));
 
     // Drive at half speed when the bumper is held
-    new JoystickButton(m_driverController, Button.kRightBumper.value)
-        .onTrue(new InstantCommand(() -> m_robotDrive.setMaxOutput(0.5)))
-        .onFalse(new InstantCommand(() -> m_robotDrive.setMaxOutput(1)));
+    m_driverController
+        .rightBumper()
+        .onTrue(m_robotDrive.limitOutputCommand(0.5))
+        .onFalse(m_robotDrive.limitOutputCommand(1));
   }
 
   /**
@@ -75,6 +70,6 @@ public class RobotContainer {
    * @return the command to run in autonomous
    */
   public Command getAutonomousCommand() {
-    return new InstantCommand();
+    return Commands.none();
   }
 }

wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbotoffboard/subsystems/ArmSubsystem.java

@@ -8,6 +8,8 @@ import edu.wpi.first.math.controller.ArmFeedforward;
 import edu.wpi.first.math.trajectory.TrapezoidProfile;
 import edu.wpi.first.wpilibj.examples.armbotoffboard.Constants.ArmConstants;
 import edu.wpi.first.wpilibj.examples.armbotoffboard.ExampleSmartMotorController;
+import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.Commands;
 import edu.wpi.first.wpilibj2.command.TrapezoidProfileSubsystem;
 
 /** A robot arm subsystem that moves with a motion profile. */
@@ -36,4 +38,8 @@ public class ArmSubsystem extends TrapezoidProfileSubsystem {
     m_motor.setSetpoint(
         ExampleSmartMotorController.PIDMode.kPosition, setpoint.position, feedforward / 12.0);
   }
+
+  public Command setArmGoalCommand(double kArmOffsetRads) {
+    return Commands.runOnce(() -> setGoal(kArmOffsetRads), this);
+  }
 }

wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbotoffboard/subsystems/DriveSubsystem.java

@@ -9,7 +9,10 @@ import edu.wpi.first.wpilibj.drive.DifferentialDrive;
 import edu.wpi.first.wpilibj.examples.armbotoffboard.Constants.DriveConstants;
 import edu.wpi.first.wpilibj.motorcontrol.MotorControllerGroup;
 import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
+import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.Commands;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import java.util.function.DoubleSupplier;
 
 public class DriveSubsystem extends SubsystemBase {
   // The motors on the left side of the drive.
@@ -54,13 +57,14 @@ public class DriveSubsystem extends SubsystemBase {
   }
 
   /**
-   * Drives the robot using arcade controls.
+   * A split-stick arcade command, with forward/backward controlled by the left hand, and turning
+   * controlled by the right.
    *
-   * @param fwd the commanded forward movement
-   * @param rot the commanded rotation
+   * @param fwd supplier for the commanded forward movement
+   * @param rot supplier for the commanded rotation
    */
-  public void arcadeDrive(double fwd, double rot) {
-    m_drive.arcadeDrive(fwd, rot);
+  public Command arcadeDriveCommand(DoubleSupplier fwd, DoubleSupplier rot) {
+    return Commands.run(() -> m_drive.arcadeDrive(fwd.getAsDouble(), rot.getAsDouble()), this);
   }
 
   /** Resets the drive encoders to currently read a position of 0. */
@@ -101,7 +105,7 @@ public class DriveSubsystem extends SubsystemBase {
    *
    * @param maxOutput the maximum output to which the drive will be constrained
    */
-  public void setMaxOutput(double maxOutput) {
-    m_drive.setMaxOutput(maxOutput);
+  public Command limitOutputCommand(double maxOutput) {
+    return Commands.runOnce(() -> m_drive.setMaxOutput(maxOutput));
   }
 }

wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/drivedistanceoffboard/RobotContainer.java

@@ -4,8 +4,6 @@
 
 package edu.wpi.first.wpilibj.examples.drivedistanceoffboard;
 
-import static edu.wpi.first.wpilibj.XboxController.Button;
-
 import edu.wpi.first.math.trajectory.TrapezoidProfile;
 import edu.wpi.first.wpilibj.XboxController;
 import edu.wpi.first.wpilibj.examples.drivedistanceoffboard.Constants.DriveConstants;
@@ -13,10 +11,9 @@ import edu.wpi.first.wpilibj.examples.drivedistanceoffboard.Constants.OIConstant
 import edu.wpi.first.wpilibj.examples.drivedistanceoffboard.commands.DriveDistanceProfiled;
 import edu.wpi.first.wpilibj.examples.drivedistanceoffboard.subsystems.DriveSubsystem;
 import edu.wpi.first.wpilibj2.command.Command;
-import edu.wpi.first.wpilibj2.command.InstantCommand;
-import edu.wpi.first.wpilibj2.command.RunCommand;
+import edu.wpi.first.wpilibj2.command.Commands;
 import edu.wpi.first.wpilibj2.command.TrapezoidProfileCommand;
-import edu.wpi.first.wpilibj2.command.button.JoystickButton;
+import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
 
 /**
  * This class is where the bulk of the robot should be declared. Since Command-based is a
@@ -28,8 +25,13 @@ public class RobotContainer {
   // The robot's subsystems
   private final DriveSubsystem m_robotDrive = new DriveSubsystem();
 
+  // Retained command references
+  private final Command m_driveFullSpeed = Commands.runOnce(() -> m_robotDrive.setMaxOutput(1));
+  private final Command m_driveHalfSpeed = Commands.runOnce(() -> m_robotDrive.setMaxOutput(0.5));
+
   // The driver's controller
-  XboxController m_driverController = new XboxController(OIConstants.kDriverControllerPort);
+  CommandXboxController m_driverController =
+      new CommandXboxController(OIConstants.kDriverControllerPort);
 
   /** The container for the robot. Contains subsystems, OI devices, and commands. */
   public RobotContainer() {
@@ -41,7 +43,7 @@ public class RobotContainer {
     m_robotDrive.setDefaultCommand(
         // A split-stick arcade command, with forward/backward controlled by the left
         // hand, and turning controlled by the right.
-        new RunCommand(
+        Commands.run(
             () ->
                 m_robotDrive.arcadeDrive(
                     -m_driverController.getLeftY(), m_driverController.getRightX()),
@@ -52,15 +54,18 @@ public class RobotContainer {
    * Use this method to define your button->command mappings. Buttons can be created by
    * instantiating a {@link edu.wpi.first.wpilibj.GenericHID} or one of its subclasses ({@link
    * edu.wpi.first.wpilibj.Joystick} or {@link XboxController}), and then passing it to a {@link
-   * JoystickButton}.
+   * edu.wpi.first.wpilibj2.command.button.JoystickButton}.
    */
   private void configureButtonBindings() {
+    // Drive at half speed when the bumper is held
+    m_driverController.rightBumper().onTrue(m_driveHalfSpeed).onFalse(m_driveFullSpeed);
+
     // Drive forward by 3 meters when the 'A' button is pressed, with a timeout of 10 seconds
-    new JoystickButton(m_driverController, Button.kA.value)
-        .onTrue(new DriveDistanceProfiled(3, m_robotDrive).withTimeout(10));
+    m_driverController.a().onTrue(new DriveDistanceProfiled(3, m_robotDrive).withTimeout(10));
 
     // Do the same thing as above when the 'B' button is pressed, but defined inline
-    new JoystickButton(m_driverController, Button.kB.value)
+    m_driverController
+        .b()
         .onTrue(
             new TrapezoidProfileCommand(
                     new TrapezoidProfile(
@@ -76,11 +81,6 @@ public class RobotContainer {
                     m_robotDrive)
                 .beforeStarting(m_robotDrive::resetEncoders)
                 .withTimeout(10));
-
-    // Drive at half speed when the bumper is held
-    new JoystickButton(m_driverController, Button.kRightBumper.value)
-        .onTrue(new InstantCommand(() -> m_robotDrive.setMaxOutput(0.5)))
-        .onFalse(new InstantCommand(() -> m_robotDrive.setMaxOutput(1)));
   }
 
   /**
@@ -89,6 +89,6 @@ public class RobotContainer {
    * @return the command to run in autonomous
    */
   public Command getAutonomousCommand() {
-    return new InstantCommand();
+    return Commands.none();
   }
 }

wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/frisbeebot/RobotContainer.java

@@ -4,20 +4,13 @@
 
 package edu.wpi.first.wpilibj.examples.frisbeebot;
 
-import static edu.wpi.first.wpilibj.XboxController.Button;
-
-import edu.wpi.first.wpilibj.XboxController;
 import edu.wpi.first.wpilibj.examples.frisbeebot.Constants.AutoConstants;
 import edu.wpi.first.wpilibj.examples.frisbeebot.Constants.OIConstants;
 import edu.wpi.first.wpilibj.examples.frisbeebot.subsystems.DriveSubsystem;
 import edu.wpi.first.wpilibj.examples.frisbeebot.subsystems.ShooterSubsystem;
 import edu.wpi.first.wpilibj2.command.Command;
-import edu.wpi.first.wpilibj2.command.ConditionalCommand;
-import edu.wpi.first.wpilibj2.command.InstantCommand;
-import edu.wpi.first.wpilibj2.command.RunCommand;
-import edu.wpi.first.wpilibj2.command.WaitCommand;
-import edu.wpi.first.wpilibj2.command.WaitUntilCommand;
-import edu.wpi.first.wpilibj2.command.button.JoystickButton;
+import edu.wpi.first.wpilibj2.command.Commands;
+import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
 
 /**
  * This class is where the bulk of the robot should be declared. Since Command-based is a
@@ -30,29 +23,34 @@ public class RobotContainer {
   private final DriveSubsystem m_robotDrive = new DriveSubsystem();
   private final ShooterSubsystem m_shooter = new ShooterSubsystem();
 
-  // A simple autonomous routine that shoots the loaded frisbees
-  private final Command m_autoCommand =
-      // Start the command by spinning up the shooter...
-      new InstantCommand(m_shooter::enable, m_shooter)
-          .andThen(
+  private final Command m_spinUpShooter = Commands.runOnce(m_shooter::enable, m_shooter);
+  private final Command m_stopShooter = Commands.runOnce(m_shooter::disable, m_shooter);
+
+  // An autonomous routine that shoots the loaded frisbees
+  Command m_autonomousCommand =
+      Commands.sequence(
+              // Start the command by spinning up the shooter...
+              Commands.runOnce(m_shooter::enable, m_shooter),
               // Wait until the shooter is at speed before feeding the frisbees
-              new WaitUntilCommand(m_shooter::atSetpoint),
+              Commands.waitUntil(m_shooter::atSetpoint),
               // Start running the feeder
-              new InstantCommand(m_shooter::runFeeder, m_shooter),
+              Commands.runOnce(m_shooter::runFeeder, m_shooter),
               // Shoot for the specified time
-              new WaitCommand(AutoConstants.kAutoShootTimeSeconds))
-          // Add a timeout (will end the command if, for instance, the shooter never gets up to
-          // speed)
+              Commands.waitSeconds(AutoConstants.kAutoShootTimeSeconds))
+          // Add a timeout (will end the command if, for instance, the shooter
+          // never gets up to speed)
           .withTimeout(AutoConstants.kAutoTimeoutSeconds)
           // When the command ends, turn off the shooter and the feeder
           .andThen(
-              () -> {
-                m_shooter.disable();
-                m_shooter.stopFeeder();
-              });
+              Commands.runOnce(
+                  () -> {
+                    m_shooter.disable();
+                    m_shooter.stopFeeder();
+                  }));
 
   // The driver's controller
-  XboxController m_driverController = new XboxController(OIConstants.kDriverControllerPort);
+  CommandXboxController m_driverController =
+      new CommandXboxController(OIConstants.kDriverControllerPort);
 
   /** The container for the robot. Contains subsystems, OI devices, and commands. */
   public RobotContainer() {
@@ -64,7 +62,7 @@ public class RobotContainer {
     m_robotDrive.setDefaultCommand(
         // A split-stick arcade command, with forward/backward controlled by the left
         // hand, and turning controlled by the right.
-        new RunCommand(
+        Commands.run(
             () ->
                 m_robotDrive.arcadeDrive(
                     -m_driverController.getLeftY(), m_driverController.getRightX()),
@@ -72,37 +70,47 @@ public class RobotContainer {
   }
 
   /**
-   * Use this method to define your button->command mappings. Buttons can be created by
-   * instantiating a {@link edu.wpi.first.wpilibj.GenericHID} or one of its subclasses ({@link
-   * edu.wpi.first.wpilibj.Joystick} or {@link XboxController}), and then passing it to a {@link
-   * edu.wpi.first.wpilibj2.command.button.JoystickButton}.
+   * Use this method to define your button->command mappings. Buttons can be created via the button
+   * factories on {@link edu.wpi.first.wpilibj2.command.button.CommandGenericHID} or one of its
+   * subclasses ({@link edu.wpi.first.wpilibj2.command.button.CommandJoystick} or {@link
+   * CommandXboxController}).
    */
   private void configureButtonBindings() {
+    // Configure your button bindings here
+
+    // We can bind commands while retaining references to them in RobotContainer
+
     // Spin up the shooter when the 'A' button is pressed
-    new JoystickButton(m_driverController, Button.kA.value)
-        .onTrue(new InstantCommand(m_shooter::enable, m_shooter));
+    m_driverController.a().onTrue(m_spinUpShooter);
 
     // Turn off the shooter when the 'B' button is pressed
-    new JoystickButton(m_driverController, Button.kB.value)
-        .onTrue(new InstantCommand(m_shooter::disable, m_shooter));
+    m_driverController.b().onTrue(m_stopShooter);
 
-    // Run the feeder when the 'X' button is held, but only if the shooter is at speed
-    new JoystickButton(m_driverController, Button.kX.value)
-        .onTrue(
-            new ConditionalCommand(
-                // Run the feeder
-                new InstantCommand(m_shooter::runFeeder, m_shooter),
-                // Do nothing
-                new InstantCommand(),
-                // Determine which of the above to do based on whether the shooter has reached the
-                // desired speed
-                m_shooter::atSetpoint))
-        .onFalse(new InstantCommand(m_shooter::stopFeeder, m_shooter));
+    // We can also write them as temporary variables outside the bindings
 
-    // Drive at half speed when the bumper is held
-    new JoystickButton(m_driverController, Button.kRightBumper.value)
-        .onTrue(new InstantCommand(() -> m_robotDrive.setMaxOutput(0.5)))
-        .onFalse(new InstantCommand(() -> m_robotDrive.setMaxOutput(1)));
+    // Shoots if the shooter wheel has reached the target speed
+    Command shoot =
+        Commands.either(
+            // Run the feeder
+            Commands.runOnce(m_shooter::runFeeder, m_shooter),
+            // Do nothing
+            Commands.none(),
+            // Determine which of the above to do based on whether the shooter has reached the
+            // desired speed
+            m_shooter::atSetpoint);
+
+    Command stopFeeder = Commands.runOnce(m_shooter::stopFeeder, m_shooter);
+
+    // Shoot when the 'X' button is pressed
+    m_driverController.x().onTrue(shoot).onFalse(stopFeeder);
+
+    // We can also define commands inline at the binding!
+
+    // While holding the shoulder button, drive at half speed
+    m_driverController
+        .rightBumper()
+        .onTrue(Commands.runOnce(() -> m_robotDrive.setMaxOutput(0.5)))
+        .onFalse(Commands.runOnce(() -> m_robotDrive.setMaxOutput(1)));
   }
 
   /**
@@ -111,6 +119,6 @@ public class RobotContainer {
    * @return the command to run in autonomous
    */
   public Command getAutonomousCommand() {
-    return m_autoCommand;
+    return m_autonomousCommand;
   }
 }

wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbotinlined/RobotContainer.java

@@ -4,21 +4,16 @@
 
 package edu.wpi.first.wpilibj.examples.hatchbotinlined;
 
-import static edu.wpi.first.wpilibj.PS4Controller.Button;
-
 import edu.wpi.first.wpilibj.PS4Controller;
-import edu.wpi.first.wpilibj.examples.hatchbotinlined.Constants.AutoConstants;
 import edu.wpi.first.wpilibj.examples.hatchbotinlined.Constants.OIConstants;
-import edu.wpi.first.wpilibj.examples.hatchbotinlined.commands.ComplexAutoCommand;
+import edu.wpi.first.wpilibj.examples.hatchbotinlined.commands.Autos;
 import edu.wpi.first.wpilibj.examples.hatchbotinlined.subsystems.DriveSubsystem;
 import edu.wpi.first.wpilibj.examples.hatchbotinlined.subsystems.HatchSubsystem;
 import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
 import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
 import edu.wpi.first.wpilibj2.command.Command;
-import edu.wpi.first.wpilibj2.command.FunctionalCommand;
-import edu.wpi.first.wpilibj2.command.InstantCommand;
-import edu.wpi.first.wpilibj2.command.RunCommand;
-import edu.wpi.first.wpilibj2.command.button.JoystickButton;
+import edu.wpi.first.wpilibj2.command.Commands;
+import edu.wpi.first.wpilibj2.command.button.CommandPS4Controller;
 
 /**
  * This class is where the bulk of the robot should be declared. Since Command-based is a
@@ -31,30 +26,20 @@ public class RobotContainer {
   private final DriveSubsystem m_robotDrive = new DriveSubsystem();
   private final HatchSubsystem m_hatchSubsystem = new HatchSubsystem();
 
+  // Retained command handles
+
   // The autonomous routines
-
   // A simple auto routine that drives forward a specified distance, and then stops.
-  private final Command m_simpleAuto =
-      new FunctionalCommand(
-          // Reset encoders on command start
-          m_robotDrive::resetEncoders,
-          // Drive forward while the command is executing
-          () -> m_robotDrive.arcadeDrive(AutoConstants.kAutoDriveSpeed, 0),
-          // Stop driving at the end of the command
-          interrupt -> m_robotDrive.arcadeDrive(0, 0),
-          // End the command when the robot's driven distance exceeds the desired value
-          () -> m_robotDrive.getAverageEncoderDistance() >= AutoConstants.kAutoDriveDistanceInches,
-          // Require the drive subsystem
-          m_robotDrive);
-
+  private final Command m_simpleAuto = Autos.simpleAuto(m_robotDrive);
   // A complex auto routine that drives forward, drops a hatch, and then drives backward.
-  private final Command m_complexAuto = new ComplexAutoCommand(m_robotDrive, m_hatchSubsystem);
+  private final Command m_complexAuto = Autos.complexAuto(m_robotDrive, m_hatchSubsystem);
 
   // A chooser for autonomous commands
   SendableChooser<Command> m_chooser = new SendableChooser<>();
 
   // The driver's controller
-  PS4Controller m_driverController = new PS4Controller(OIConstants.kDriverControllerPort);
+  CommandPS4Controller m_driverController =
+      new CommandPS4Controller(OIConstants.kDriverControllerPort);
 
   /** The container for the robot. Contains subsystems, OI devices, and commands. */
   public RobotContainer() {
@@ -66,7 +51,7 @@ public class RobotContainer {
     m_robotDrive.setDefaultCommand(
         // A split-stick arcade command, with forward/backward controlled by the left
         // hand, and turning controlled by the right.
-        new RunCommand(
+        Commands.run(
             () ->
                 m_robotDrive.arcadeDrive(
                     -m_driverController.getLeftY(), m_driverController.getRightX()),
@@ -88,15 +73,18 @@ public class RobotContainer {
    */
   private void configureButtonBindings() {
     // Grab the hatch when the Circle button is pressed.
-    new JoystickButton(m_driverController, Button.kCircle.value)
-        .onTrue(new InstantCommand(m_hatchSubsystem::grabHatch, m_hatchSubsystem));
+    m_driverController
+        .circle()
+        .onTrue(Commands.runOnce(m_hatchSubsystem::grabHatch, m_hatchSubsystem));
     // Release the hatch when the Square button is pressed.
-    new JoystickButton(m_driverController, Button.kSquare.value)
-        .onTrue(new InstantCommand(m_hatchSubsystem::releaseHatch, m_hatchSubsystem));
+    m_driverController
+        .square()
+        .onTrue(Commands.runOnce(m_hatchSubsystem::releaseHatch, m_hatchSubsystem));
     // While holding R1, drive at half speed
-    new JoystickButton(m_driverController, Button.kR1.value)
-        .onTrue(new InstantCommand(() -> m_robotDrive.setMaxOutput(0.5)))
-        .onFalse(new InstantCommand(() -> m_robotDrive.setMaxOutput(1)));
+    m_driverController
+        .R1()
+        .onTrue(Commands.runOnce(() -> m_robotDrive.setMaxOutput(0.5)))
+        .onFalse(Commands.runOnce(() -> m_robotDrive.setMaxOutput(1)));
   }
 
   /**

wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbotinlined/commands/Autos.java

@@ -7,20 +7,30 @@ package edu.wpi.first.wpilibj.examples.hatchbotinlined.commands;
 import edu.wpi.first.wpilibj.examples.hatchbotinlined.Constants.AutoConstants;
 import edu.wpi.first.wpilibj.examples.hatchbotinlined.subsystems.DriveSubsystem;
 import edu.wpi.first.wpilibj.examples.hatchbotinlined.subsystems.HatchSubsystem;
+import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.Commands;
 import edu.wpi.first.wpilibj2.command.FunctionalCommand;
-import edu.wpi.first.wpilibj2.command.InstantCommand;
-import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
 
-/** A complex auto command that drives forward, releases a hatch, and then drives backward. */
-public class ComplexAutoCommand extends SequentialCommandGroup {
-  /**
-   * Creates a new ComplexAutoCommand.
-   *
-   * @param driveSubsystem The drive subsystem this command will run on
-   * @param hatchSubsystem The hatch subsystem this command will run on
-   */
-  public ComplexAutoCommand(DriveSubsystem driveSubsystem, HatchSubsystem hatchSubsystem) {
-    addCommands(
+/** Container for auto command factories. */
+public final class Autos {
+  /** A simple auto routine that drives forward a specified distance, and then stops. */
+  public static Command simpleAuto(DriveSubsystem drive) {
+    return new FunctionalCommand(
+        // Reset encoders on command start
+        drive::resetEncoders,
+        // Drive forward while the command is executing
+        () -> drive.arcadeDrive(AutoConstants.kAutoDriveSpeed, 0),
+        // Stop driving at the end of the command
+        interrupt -> drive.arcadeDrive(0, 0),
+        // End the command when the robot's driven distance exceeds the desired value
+        () -> drive.getAverageEncoderDistance() >= AutoConstants.kAutoDriveDistanceInches,
+        // Require the drive subsystem
+        drive);
+  }
+
+  /** A complex auto routine that drives forward, drops a hatch, and then drives backward. */
+  public static Command complexAuto(DriveSubsystem driveSubsystem, HatchSubsystem hatchSubsystem) {
+    return Commands.sequence(
         // Drive forward up to the front of the cargo ship
         new FunctionalCommand(
             // Reset encoders on command start
@@ -37,7 +47,7 @@ public class ComplexAutoCommand extends SequentialCommandGroup {
             driveSubsystem),
 
         // Release the hatch
-        new InstantCommand(hatchSubsystem::releaseHatch, hatchSubsystem),
+        Commands.runOnce(hatchSubsystem::releaseHatch, hatchSubsystem),
 
         // Drive backward the specified distance
         new FunctionalCommand(
@@ -54,4 +64,8 @@ public class ComplexAutoCommand extends SequentialCommandGroup {
             // Require the drive subsystem
             driveSubsystem));
   }
+
+  private Autos() {
+    throw new UnsupportedOperationException("This is a utility class!");
+  }
 }