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wpilibcExamples/src/main/cpp/commands/command2/ReplaceMeCommand2.hpp

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+// 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/Command.h>
+#include <frc2/command/CommandHelper.h>
+
+/**
+ * An example command.
+ *
+ * <p>Note that this extends CommandHelper, rather extending Command
+ * directly; this is crucially important, or else the decorator functions in
+ * Command will *not* work!
+ */
+class ReplaceMeCommand2
+    : public frc2::CommandHelper<frc2::Command, ReplaceMeCommand2> {
+ public:
+  /* You should consider using the more terse Command factories API instead
+   * https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands
+   */
+  ReplaceMeCommand2();
+
+  void Initialize() override;
+
+  void Execute() override;
+
+  void End(bool interrupted) override;
+
+  bool IsFinished() override;
+};