[examples] Update Command-based starter project (#4778)

wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/RobotContainer.java

@@ -6,7 +6,7 @@ package edu.wpi.first.wpilibj.templates.commandbased;
 
 import edu.wpi.first.wpilibj.GenericHID;
 import edu.wpi.first.wpilibj.XboxController;
-import edu.wpi.first.wpilibj.templates.commandbased.commands.ExampleCommand;
+import edu.wpi.first.wpilibj.templates.commandbased.commands.Autos;
 import edu.wpi.first.wpilibj.templates.commandbased.subsystems.ExampleSubsystem;
 import edu.wpi.first.wpilibj2.command.Command;
 
@@ -20,12 +20,10 @@ public class RobotContainer {
   // The robot's subsystems and commands are defined here...
   private final ExampleSubsystem m_exampleSubsystem = new ExampleSubsystem();
 
-  private final ExampleCommand m_autoCommand = new ExampleCommand(m_exampleSubsystem);
-
   /** The container for the robot. Contains subsystems, OI devices, and commands. */
   public RobotContainer() {
     // Configure the button bindings
-    configureButtonBindings();
+    configureBindings();
   }
 
   /**
@@ -34,7 +32,7 @@ public class RobotContainer {
    * edu.wpi.first.wpilibj.Joystick} or {@link XboxController}), and then passing it to a {@link
    * edu.wpi.first.wpilibj2.command.button.JoystickButton}.
    */
-  private void configureButtonBindings() {}
+  private void configureBindings() {}
 
   /**
    * Use this to pass the autonomous command to the main {@link Robot} class.
@@ -42,7 +40,7 @@ public class RobotContainer {
    * @return the command to run in autonomous
    */
   public Command getAutonomousCommand() {
-    // An ExampleCommand will run in autonomous
-    return m_autoCommand;
+    // An example command will be run in autonomous
+    return Autos.exampleAuto(m_exampleSubsystem);
   }
 }

wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/commands/Autos.java

@@ -0,0 +1,20 @@
+// 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.
+
+package edu.wpi.first.wpilibj.templates.commandbased.commands;
+
+import edu.wpi.first.wpilibj.templates.commandbased.subsystems.ExampleSubsystem;
+import edu.wpi.first.wpilibj2.command.CommandBase;
+import edu.wpi.first.wpilibj2.command.Commands;
+
+public final class Autos {
+  /** Example static factory for an autonomous command. */
+  public static CommandBase exampleAuto(ExampleSubsystem subsystem) {
+    return Commands.sequence(subsystem.exampleMethodCommand(), new ExampleCommand(subsystem));
+  }
+
+  private Autos() {
+    throw new UnsupportedOperationException("This is a utility class!");
+  }
+}

wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/subsystems/ExampleSubsystem.java

@@ -4,12 +4,27 @@
 
 package edu.wpi.first.wpilibj.templates.commandbased.subsystems;
 
+import edu.wpi.first.wpilibj2.command.CommandBase;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
 public class ExampleSubsystem extends SubsystemBase {
   /** Creates a new ExampleSubsystem. */
   public ExampleSubsystem() {}
 
+  /**
+   * Example command factory method.
+   *
+   * @return a command
+   */
+  public CommandBase exampleMethodCommand() {
+    // Inline construction of command goes here.
+    // Subsystem::RunOnce implicitly requires `this` subsystem.
+    return runOnce(
+        () -> {
+          /* one-time action goes here */
+        });
+  }
+
   @Override
   public void periodic() {
     // This method will be called once per scheduler run