[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.
    */