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wpilibcExamples/src/main/cpp/templates/commandbased/include/subsystems/ExampleSubsystem.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/CommandPtr.h>
+#include <frc2/command/SubsystemBase.h>
+
+class ExampleSubsystem : public frc2::SubsystemBase {
+ public:
+  ExampleSubsystem();
+
+  /**
+   * Example command factory method.
+   */
+  frc2::CommandPtr ExampleMethodCommand();
+
+  /**
+   * An example method querying a boolean state of the subsystem (for example, a
+   * digital sensor).
+   *
+   * @return value of some boolean subsystem state, such as a digital sensor.
+   */
+  bool ExampleCondition();
+
+  /**
+   * Will be called periodically whenever the CommandScheduler runs.
+   */
+  void Periodic() override;
+
+  /**
+   * Will be called periodically whenever the CommandScheduler runs during
+   * simulation.
+   */
+  void SimulationPeriodic() override;
+
+ private:
+  // Components (e.g. motor controllers and sensors) should generally be
+  // declared private and exposed only through public methods.
+};