Change C++ WaitCommand to use units (#1865)

Also remove unique_ptr usage.

wpilibcExamples/src/main/cpp/examples/Frisbeebot/include/Constants.h

@@ -7,6 +7,8 @@
 
 #pragma once
 
+#include <units/units.h>
+
 /**
  * The Constants header provides a convenient place for teams to hold robot-wide
  * numerical or bool constants.  This should not be used for any other purpose.
@@ -64,8 +66,8 @@ const double kFeederSpeed = .5;
 }  // namespace ShooterConstants
 
 namespace AutoConstants {
-const double kAutoTimeoutSeconds = 12;
-const double kAutoShootTimeSeconds = 7;
+constexpr auto kAutoTimeoutSeconds = 12_s;
+constexpr auto kAutoShootTimeSeconds = 7_s;
 }  // namespace AutoConstants
 
 namespace OIConstants {

wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/commands/OpenClaw.cpp

@@ -10,7 +10,7 @@
 #include "Robot.h"
 
 OpenClaw::OpenClaw(Claw* claw)
-    : frc2::CommandHelper<frc2::WaitCommand, OpenClaw>(1), m_claw(claw) {
+    : frc2::CommandHelper<frc2::WaitCommand, OpenClaw>(1_s), m_claw(claw) {
   SetName("OpenClaw");
   AddRequirements({m_claw});
 }

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

@@ -48,7 +48,8 @@ class RobotContainer {
   // Assorted commands to be bound to buttons
 
   // Turn to 90 degrees, with a 5 second timeout
-  frc2::ParallelRaceGroup m_turnTo90 = TurnToAngle{90, &m_drive}.WithTimeout(5);
+  frc2::ParallelRaceGroup m_turnTo90 =
+      TurnToAngle{90, &m_drive}.WithTimeout(5_s);
 
   // Stabilize the robot while driving
   frc2::PIDCommand m_stabilizeDriving{

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

@@ -36,7 +36,7 @@ class RobotContainer {
   // Three commands that do nothing; for demonstration purposes.
   frc2::InstantCommand m_instantCommand1;
   frc2::InstantCommand m_instantCommand2;
-  frc2::WaitCommand m_waitCommand{5};
+  frc2::WaitCommand m_waitCommand{5_s};
 
   void ConfigureButtonBindings();
 };