[templates] Add bindings to command-based template (#4838)

wpilibcExamples/src/main/cpp/templates/commandbased/cpp/RobotContainer.cpp

@@ -4,7 +4,10 @@
 
 #include "RobotContainer.h"
 
+#include <frc2/command/button/Trigger.h>
+
 #include "commands/Autos.h"
+#include "commands/ExampleCommand.h"
 
 RobotContainer::RobotContainer() {
   // Initialize all of your commands and subsystems here
@@ -14,7 +17,16 @@ RobotContainer::RobotContainer() {
 }
 
 void RobotContainer::ConfigureBindings() {
-  // Configure your button bindings here
+  // Configure your trigger bindings here
+
+  // Schedule `ExampleCommand` when `exampleCondition` changes to `true`
+  frc2::Trigger([this] {
+    return m_subsystem.ExampleCondition();
+  }).OnTrue(ExampleCommand(&m_subsystem).ToPtr());
+
+  // Schedule `ExampleMethodCommand` when the Xbox controller's B button is
+  // pressed, cancelling on release.
+  m_driverController.B().WhileTrue(m_subsystem.ExampleMethodCommand());
 }
 
 frc2::CommandPtr RobotContainer::GetAutonomousCommand() {

wpilibcExamples/src/main/cpp/templates/commandbased/cpp/subsystems/ExampleSubsystem.cpp

@@ -14,6 +14,11 @@ frc2::CommandPtr ExampleSubsystem::ExampleMethodCommand() {
   return RunOnce([/* this */] { /* one-time action goes here */ });
 }
 
+bool ExampleSubsystem::ExampleCondition() {
+  // Query some boolean state, such as a digital sensor.
+  return false;
+}
+
 void ExampleSubsystem::Periodic() {
   // Implementation of subsystem periodic method goes here.
 }

wpilibcExamples/src/main/cpp/templates/commandbased/include/Constants.h

@@ -13,3 +13,9 @@
  * command-specific namespaces within this header, which can then be used where
  * they are needed.
  */
+
+namespace OperatorConstants {
+
+constexpr int kDriverControllerPort = 0;
+
+}  // namespace OperatorConstants

wpilibcExamples/src/main/cpp/templates/commandbased/include/RobotContainer.h

@@ -5,7 +5,9 @@
 #pragma once
 
 #include <frc2/command/CommandPtr.h>
+#include <frc2/command/button/CommandXboxController.h>
 
+#include "Constants.h"
 #include "subsystems/ExampleSubsystem.h"
 
 /**
@@ -13,7 +15,7 @@
  * Command-based is a "declarative" paradigm, very little robot logic should
  * actually be handled in the {@link Robot} periodic methods (other than the
  * scheduler calls).  Instead, the structure of the robot (including subsystems,
- * commands, and button mappings) should be declared here.
+ * commands, and trigger mappings) should be declared here.
  */
 class RobotContainer {
  public:
@@ -22,6 +24,10 @@ class RobotContainer {
   frc2::CommandPtr GetAutonomousCommand();
 
  private:
+  // Replace with CommandPS4Controller or CommandJoystick if needed
+  frc2::CommandXboxController m_driverController{
+      OperatorConstants::kDriverControllerPort};
+
   // The robot's subsystems are defined here...
   ExampleSubsystem m_subsystem;
 

wpilibcExamples/src/main/cpp/templates/commandbased/include/subsystems/ExampleSubsystem.h

@@ -16,6 +16,14 @@ class ExampleSubsystem : public frc2::SubsystemBase {
    */
   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.
    */

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

@@ -12,4 +12,8 @@ package edu.wpi.first.wpilibj.templates.commandbased;
  * <p>It is advised to statically import this class (or one of its inner classes) wherever the
  * constants are needed, to reduce verbosity.
  */
-public final class Constants {}
+public final class Constants {
+  public static class OperatorConstants {
+    public static final int kDriverControllerPort = 0;
+  }
+}

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

@@ -4,35 +4,52 @@
 
 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.Constants.OperatorConstants;
 import edu.wpi.first.wpilibj.templates.commandbased.commands.Autos;
+import edu.wpi.first.wpilibj.templates.commandbased.commands.ExampleCommand;
 import edu.wpi.first.wpilibj.templates.commandbased.subsystems.ExampleSubsystem;
 import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
+import edu.wpi.first.wpilibj2.command.button.Trigger;
 
 /**
  * This class is where the bulk of the robot should be declared. Since Command-based is a
  * "declarative" paradigm, very little robot logic should actually be handled in the {@link Robot}
  * periodic methods (other than the scheduler calls). Instead, the structure of the robot (including
- * subsystems, commands, and button mappings) should be declared here.
+ * subsystems, commands, and trigger mappings) should be declared here.
  */
 public class RobotContainer {
   // The robot's subsystems and commands are defined here...
   private final ExampleSubsystem m_exampleSubsystem = new ExampleSubsystem();
 
+  // Replace with CommandPS4Controller or CommandJoystick if needed
+  private final CommandXboxController m_driverController =
+      new CommandXboxController(OperatorConstants.kDriverControllerPort);
+
   /** The container for the robot. Contains subsystems, OI devices, and commands. */
   public RobotContainer() {
-    // Configure the button bindings
+    // Configure the trigger bindings
     configureBindings();
   }
 
   /**
-   * Use this method to define your button->command mappings. Buttons can be created by
-   * instantiating a {@link 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 trigger->command mappings. Triggers can be created via the
+   * {@link Trigger#Trigger(java.util.function.BooleanSupplier)} constructor with an arbitrary
+   * predicate, or via the named factories in {@link
+   * edu.wpi.first.wpilibj2.command.button.CommandGenericHID}'s subclasses for {@link
+   * CommandXboxController Xbox}/{@link edu.wpi.first.wpilibj2.command.button.CommandPS4Controller
+   * PS4} controllers or {@link edu.wpi.first.wpilibj2.command.button.CommandJoystick Flight
+   * joysticks}.
    */
-  private void configureBindings() {}
+  private void configureBindings() {
+    // Schedule `ExampleCommand` when `exampleCondition` changes to `true`
+    new Trigger(m_exampleSubsystem::exampleCondition)
+        .onTrue(new ExampleCommand(m_exampleSubsystem));
+
+    // Schedule `exampleMethodCommand` when the Xbox controller's B button is pressed,
+    // cancelling on release.
+    m_driverController.b().whileTrue(m_exampleSubsystem.exampleMethodCommand());
+  }
 
   /**
    * Use this to pass the autonomous command to the main {@link Robot} class.

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

@@ -25,6 +25,16 @@ public class ExampleSubsystem extends SubsystemBase {
         });
   }
 
+  /**
+   * 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.
+   */
+  public boolean exampleCondition() {
+    // Query some boolean state, such as a digital sensor.
+    return false;
+  }
+
   @Override
   public void periodic() {
     // This method will be called once per scheduler run