Adds command examples to built examples (#1062)

wpilibcExamples/build.gradle

@@ -29,8 +29,9 @@ templatesTree.list(new FilenameFilter() {
     templatesMap.put(it, [])
 }
 
+
 ext {
-    sharedCvConfigs = examplesMap + templatesMap
+    sharedCvConfigs = examplesMap + templatesMap + [commands: []]
     staticCvConfigs = [:]
     useJava = false
     useCpp = true
@@ -40,6 +41,34 @@ apply from: "${rootDir}/shared/opencv.gradle"
 
 model {
     components {
+        commands(NativeLibrarySpec) {
+            binaries.all { binary ->
+                if (binary in StaticLibraryBinarySpec) {
+                    binary.buildable = false
+                    return
+                }
+                lib project: ':wpilibc', library: 'wpilibc', linkage: 'shared'
+                lib project: ':ntcore', library: 'ntcore', linkage: 'shared'
+                lib project: ':cscore', library: 'cscore', linkage: 'shared'
+                lib project: ':hal', library: 'hal', linkage: 'shared'
+                lib project: ':cameraserver', library: 'cameraserver', linkage: 'shared'
+                lib project: ':wpiutil', library: 'wpiutil', linkage: 'shared'
+                project(':ni-libraries').addNiLibrariesToLinker(binary)
+            }
+            sources {
+                cpp {
+                    source {
+                        srcDirs = ['src/main/cpp/commands']
+                        include '**/*.cpp'
+                    }
+                    exportedHeaders {
+                        srcDirs 'src/main/cpp/commands'
+                        include '**/*.h'
+                    }
+                }
+            }
+        }
+
         examplesMap.each { key, value ->
             "${key}"(NativeExecutableSpec) {
                 binaries.all { binary ->

wpilibcExamples/publish.gradle

@@ -16,6 +16,7 @@ if (project.hasProperty("publishVersion")) {
 
 def baseExamplesArtifactId = 'examples'
 def baseTemplatesArtifactId = 'templates'
+def baseCommandsArtifactId = 'commands'
 def artifactGroupId = 'edu.wpi.first.wpilibc'
 
 def outputsFolder = file("$project.buildDir/outputs")
@@ -46,8 +47,22 @@ task cppTemplatesZip(type: Zip) {
     }
 }
 
+task cppCommandsZip(type: Zip) {
+    destinationDir = outputsFolder
+    baseName = 'wpilibc-commands'
+
+    from(licenseFile) {
+        into '/'
+    }
+
+    from('src/main/cpp/commands') {
+        into 'commands'
+    }
+}
+
 build.dependsOn cppTemplatesZip
 build.dependsOn cppExamplesZip
+build.dependsOn cppCommandsZip
 
 publishing {
     publications {
@@ -66,5 +81,13 @@ publishing {
             groupId artifactGroupId
             version pubVersion
         }
+
+        commands(MavenPublication) {
+            artifact cppCommandsZip
+
+            artifactId = baseCommandsArtifactId
+            groupId artifactGroupId
+            version pubVersion
+        }
     }
 }

wpilibcExamples/src/main/cpp/commands/command/ReplaceMeCommand.cpp

@@ -0,0 +1,29 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2017-2018 FIRST. All Rights Reserved.                        */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#include "ReplaceMeCommand.h"
+
+ReplaceMeCommand::ReplaceMeCommand() {
+  // Use Requires() here to declare subsystem dependencies
+  // eg. Requires(Robot::chassis.get());
+}
+
+// Called just before this Command runs the first time
+void ReplaceMeCommand::Initialize() {}
+
+// Called repeatedly when this Command is scheduled to run
+void ReplaceMeCommand::Execute() {}
+
+// Make this return true when this Command no longer needs to run execute()
+bool ReplaceMeCommand::IsFinished() { return false; }
+
+// Called once after isFinished returns true
+void ReplaceMeCommand::End() {}
+
+// Called when another command which requires one or more of the same
+// subsystems is scheduled to run
+void ReplaceMeCommand::Interrupted() {}

wpilibcExamples/src/main/cpp/commands/command/ReplaceMeCommand.h

@@ -0,0 +1,20 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2017-2018 FIRST. All Rights Reserved.                        */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <Commands/Command.h>
+
+class ReplaceMeCommand : public frc::Command {
+ public:
+  ReplaceMeCommand();
+  void Initialize() override;
+  void Execute() override;
+  bool IsFinished() override;
+  void End() override;
+  void Interrupted() override;
+};

wpilibcExamples/src/main/cpp/commands/commandgroup/ReplaceMeCommandGroup.cpp

@@ -0,0 +1,27 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2017-2018 FIRST. All Rights Reserved.                        */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#include "ReplaceMeCommandGroup.h"
+
+ReplaceMeCommandGroup::ReplaceMeCommandGroup() {
+  // Add Commands here:
+  // e.g. AddSequential(new Command1());
+  //      AddSequential(new Command2());
+  // these will run in order.
+
+  // To run multiple commands at the same time,
+  // use AddParallel()
+  // e.g. AddParallel(new Command1());
+  //      AddSequential(new Command2());
+  // Command1 and Command2 will run in parallel.
+
+  // A command group will require all of the subsystems that each member
+  // would require.
+  // e.g. if Command1 requires chassis, and Command2 requires arm,
+  // a CommandGroup containing them would require both the chassis and the
+  // arm.
+}

wpilibcExamples/src/main/cpp/commands/commandgroup/ReplaceMeCommandGroup.h

@@ -0,0 +1,15 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2017-2018 FIRST. All Rights Reserved.                        */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <Commands/CommandGroup.h>
+
+class ReplaceMeCommandGroup : public frc::CommandGroup {
+ public:
+  ReplaceMeCommandGroup();
+};

wpilibcExamples/src/main/cpp/commands/commands.json

@@ -0,0 +1,108 @@
+[
+  {
+    "name": "Command",
+    "description": "Create a base command",
+    "tags": [
+      "command"
+    ],
+    "foldername": "command",
+    "headers": [
+      "ReplaceMeCommand.h"
+    ],
+    "source": [
+      "ReplaceMeCommand.cpp"
+    ],
+    "replacename": "ReplaceMeCommand"
+  },
+  {
+    "name": "Command Group",
+    "description": "Create a command group",
+    "tags": [
+      "commandgroup"
+    ],
+    "foldername": "commandgroup",
+    "headers": [
+      "ReplaceMeCommandGroup.h"
+    ],
+    "source": [
+      "ReplaceMeCommandGroup.cpp"
+    ],
+    "replacename": "ReplaceMeCommandGroup"
+  },
+  {
+    "name": "Instant Command",
+    "description": "A command that runs immediately",
+    "tags": [
+      "instantcommand"
+    ],
+    "foldername": "instant",
+    "headers": [
+      "ReplaceMeInstantCommand.h"
+    ],
+    "source": [
+      "ReplaceMeInstantCommand.cpp"
+    ],
+    "replacename": "ReplaceMeInstantCommand"
+  },
+  {
+    "name": "Subsystem",
+    "description": "A subsystem",
+    "tags": [
+      "subsystem"
+    ],
+    "foldername": "subsystem",
+    "headers": [
+      "ReplaceMeSubsystem.h"
+    ],
+    "source": [
+      "ReplaceMeSubsystem.cpp"
+    ],
+    "replacename": "ReplaceMeSubsystem"
+  },
+  {
+    "name": "PID Subsystem",
+    "description": "A subsystem that runs a PID loop",
+    "tags": [
+      "pidsubsystem",
+      "pid"
+    ],
+    "foldername": "pidsubsystem",
+    "headers": [
+      "ReplaceMePIDSubsystem.h"
+    ],
+    "source": [
+      "ReplaceMePIDSubsystem.cpp"
+    ],
+    "replacename": "ReplaceMePIDSubsystem"
+  },
+  {
+    "name": "Timed Command",
+    "description": "A command that runs for a specified time",
+    "tags": [
+      "timedcommand"
+    ],
+    "foldername": "timed",
+    "headers": [
+      "ReplaceMeTimedCommand.h"
+    ],
+    "source": [
+      "ReplaceMeTimedCommand.cpp"
+    ],
+    "replacename": "ReplaceMeTimedCommand"
+  },
+  {
+    "name": "Trigger",
+    "description": "A command that runs off of a trigger",
+    "tags": [
+      "trigger"
+    ],
+    "foldername": "trigger",
+    "headers": [
+      "ReplaceMeTrigger.h"
+    ],
+    "source": [
+      "ReplaceMeTrigger.cpp"
+    ],
+    "replacename": "ReplaceMeTrigger"
+  }
+]

wpilibcExamples/src/main/cpp/commands/instant/ReplaceMeInstantCommand.cpp

@@ -0,0 +1,16 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2017-2018 FIRST. All Rights Reserved.                        */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#include "ReplaceMeInstantCommand.h"
+
+ReplaceMeInstantCommand::ReplaceMeInstantCommand() {
+  // Use Requires() here to declare subsystem dependencies
+  // eg. Requires(Robot::chassis.get());
+}
+
+// Called once when the command executes
+void ReplaceMeInstantCommand::Initialize() {}

wpilibcExamples/src/main/cpp/commands/instant/ReplaceMeInstantCommand.h

@@ -0,0 +1,16 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2017-2018 FIRST. All Rights Reserved.                        */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include "Commands/InstantCommand.h"
+
+class ReplaceMeInstantCommand : public frc::InstantCommand {
+ public:
+  ReplaceMeInstantCommand();
+  void Initialize() override;
+};

wpilibcExamples/src/main/cpp/commands/pidsubsystem/ReplaceMePIDSubsystem.cpp

@@ -0,0 +1,36 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2017-2018 FIRST. All Rights Reserved.                        */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#include "ReplaceMePIDSubsystem.h"
+
+#include <LiveWindow/LiveWindow.h>
+#include <SmartDashboard/SmartDashboard.h>
+
+ReplaceMePIDSubsystem::ReplaceMePIDSubsystem()
+    : PIDSubsystem("ReplaceMePIDSubsystem", 1.0, 0.0, 0.0) {
+  // Use these to get going:
+  // SetSetpoint() -  Sets where the PID controller should move the system
+  //                  to
+  // Enable() - Enables the PID controller.
+}
+
+double ReplaceMePIDSubsystem::ReturnPIDInput() {
+  // Return your input value for the PID loop
+  // e.g. a sensor, like a potentiometer:
+  // yourPot->SetAverageVoltage() / kYourMaxVoltage;
+  return 0;
+}
+
+void ReplaceMePIDSubsystem::UsePIDOutput(double output) {
+  // Use output to drive your system, like a motor
+  // e.g. yourMotor->Set(output);
+}
+
+void ReplaceMePIDSubsystem::InitDefaultCommand() {
+  // Set the default command for a subsystem here.
+  // SetDefaultCommand(new MySpecialCommand());
+}

wpilibcExamples/src/main/cpp/commands/pidsubsystem/ReplaceMePIDSubsystem.h

@@ -0,0 +1,18 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2017-2018 FIRST. All Rights Reserved.                        */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <Commands/PIDSubsystem.h>
+
+class ReplaceMePIDSubsystem : public frc::PIDSubsystem {
+ public:
+  ReplaceMePIDSubsystem();
+  double ReturnPIDInput() override;
+  void UsePIDOutput(double output) override;
+  void InitDefaultCommand() override;
+};

wpilibcExamples/src/main/cpp/commands/subsystem/ReplaceMeSubsystem.cpp

@@ -0,0 +1,18 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2017-2018 FIRST. All Rights Reserved.                        */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#include "ReplaceMeSubsystem.h"
+
+ReplaceMeSubsystem::ReplaceMeSubsystem() : Subsystem("ExampleSubsystem") {}
+
+void ReplaceMeSubsystem::InitDefaultCommand() {
+  // Set the default command for a subsystem here.
+  // SetDefaultCommand(new MySpecialCommand());
+}
+
+// Put methods for controlling this subsystem
+// here. Call these from Commands.

wpilibcExamples/src/main/cpp/commands/subsystem/ReplaceMeSubsystem.h

@@ -0,0 +1,20 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2017-2018 FIRST. All Rights Reserved.                        */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <Commands/Subsystem.h>
+
+class ReplaceMeSubsystem : public frc::Subsystem {
+ private:
+  // It's desirable that everything possible under private except
+  // for methods that implement subsystem capabilities
+
+ public:
+  ReplaceMeSubsystem();
+  void InitDefaultCommand() override;
+};

wpilibcExamples/src/main/cpp/commands/timed/ReplaceMeTimedCommand.cpp

@@ -0,0 +1,27 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2017-2018 FIRST. All Rights Reserved.                        */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#include "ReplaceMeTimedCommand.h"
+
+ReplaceMeTimedCommand::ReplaceMeTimedCommand(double timeout)
+    : TimedCommand(timeout) {
+  // Use Requires() here to declare subsystem dependencies
+  // eg. Requires(Robot::chassis.get());
+}
+
+// Called just before this Command runs the first time
+void ReplaceMeTimedCommand::Initialize() {}
+
+// Called repeatedly when this Command is scheduled to run
+void ReplaceMeTimedCommand::Execute() {}
+
+// Called once after command times out
+void ReplaceMeTimedCommand::End() {}
+
+// Called when another command which requires one or more of the same
+// subsystems is scheduled to run
+void ReplaceMeTimedCommand::Interrupted() {}

wpilibcExamples/src/main/cpp/commands/timed/ReplaceMeTimedCommand.h

@@ -0,0 +1,19 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2017-2018 FIRST. All Rights Reserved.                        */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include "Commands/TimedCommand.h"
+
+class ReplaceMeTimedCommand : public frc::TimedCommand {
+ public:
+  explicit ReplaceMeTimedCommand(double timeout);
+  void Initialize() override;
+  void Execute() override;
+  void End() override;
+  void Interrupted() override;
+};

wpilibcExamples/src/main/cpp/commands/trigger/ReplaceMeTrigger.cpp

@@ -0,0 +1,12 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2017-2018 FIRST. All Rights Reserved.                        */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#include "ReplaceMeTrigger.h"
+
+ReplaceMeTrigger::ReplaceMeTrigger() {}
+
+bool ReplaceMeTrigger::Get() { return false; }

wpilibcExamples/src/main/cpp/commands/trigger/ReplaceMeTrigger.h

@@ -0,0 +1,16 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2017-2018 FIRST. All Rights Reserved.                        */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <Buttons/Trigger.h>
+
+class ReplaceMeTrigger : public frc::Trigger {
+ public:
+  ReplaceMeTrigger();
+  bool Get() override;
+};

wpilibjExamples/publish.gradle

@@ -16,6 +16,7 @@ if (project.hasProperty("publishVersion")) {
 
 def baseExamplesArtifactId = 'examples'
 def baseTemplatesArtifactId = 'templates'
+def baseCommandsArtifactId = 'commands'
 def artifactGroupId = 'edu.wpi.first.wpilibj'
 
 def outputsFolder = file("$project.buildDir/outputs")
@@ -46,8 +47,22 @@ task javaTemplatesZip(type: Zip) {
     }
 }
 
+task javaCommandsZip(type: Zip) {
+    destinationDir = outputsFolder
+    baseName = 'wpilibj-commands'
+
+    from(licenseFile) {
+        into '/'
+    }
+
+    from('src/main/java/edu/wpi/first/wpilibj/commands') {
+        into 'commands'
+    }
+}
+
 build.dependsOn javaTemplatesZip
 build.dependsOn javaExamplesZip
+build.dependsOn javaCommandsZip
 
 publishing {
     publications {
@@ -66,5 +81,13 @@ publishing {
             groupId artifactGroupId
             version pubVersion
         }
+
+        commands(MavenPublication) {
+            artifact javaCommandsZip
+
+            artifactId = baseCommandsArtifactId
+            groupId artifactGroupId
+            version pubVersion
+        }
     }
 }

wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/command/ReplaceMeCommand.java

@@ -0,0 +1,43 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018 FIRST. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj.commands.command;
+
+import edu.wpi.first.wpilibj.command.Command;
+
+public class ReplaceMeCommand extends Command {
+  public ReplaceMeCommand() {
+    // Use requires() here to declare subsystem dependencies
+    // eg. requires(chassis);
+  }
+
+  // Called just before this Command runs the first time
+  @Override
+  protected void initialize() {
+  }
+
+  // Called repeatedly when this Command is scheduled to run
+  @Override
+  protected void execute() {
+  }
+
+  // Make this return true when this Command no longer needs to run execute()
+  @Override
+  protected boolean isFinished() {
+    return false;
+  }
+
+  // Called once after isFinished returns true
+  @Override
+  protected void end() {
+  }
+
+  // Called when another command which requires one or more of the same
+  // subsystems is scheduled to run
+  protected void interrupted() {
+  }
+}

wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/commandgroup/ReplaceMeCommandGroup.java

@@ -0,0 +1,31 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018 FIRST. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj.commands.commandgroup;
+
+import edu.wpi.first.wpilibj.command.CommandGroup;
+
+public class ReplaceMeCommandGroup extends CommandGroup {
+  public ReplaceMeCommandGroup() {
+    // Add Commands here:
+    // e.g. addSequential(new Command1());
+    // addSequential(new Command2());
+    // these will run in order.
+
+    // To run multiple commands at the same time,
+    // use addParallel()
+    // e.g. addParallel(new Command1());
+    // addSequential(new Command2());
+    // Command1 and Command2 will run in parallel.
+
+    // A command group will require all of the subsystems that each member
+    // would require.
+    // e.g. if Command1 requires chassis, and Command2 requires arm,
+    // a CommandGroup containing them would require both the chassis and the
+    // arm.
+  }
+}

wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/commands.json

@@ -0,0 +1,66 @@
+[
+  {
+    "name": "Command",
+    "description": "Create a base command",
+    "tags": [
+      "command"
+    ],
+    "foldername": "command",
+    "replacename": "ReplaceMeCommand"
+  },
+  {
+    "name": "Command Group",
+    "description": "Create a command group",
+    "tags": [
+      "commandgroup"
+    ],
+    "foldername": "commandgroup",
+    "replacename": "ReplaceMeCommandGroup"
+  },
+  {
+    "name": "Instant Command",
+    "description": "A command that runs immediately",
+    "tags": [
+      "instantcommand"
+    ],
+    "foldername": "instant",
+    "replacename": "ReplaceMeInstantCommand"
+  },
+  {
+    "name": "Subsystem",
+    "description": "A subsystem",
+    "tags": [
+      "subsystem"
+    ],
+    "foldername": "subsystem",
+    "replacename": "ReplaceMeSubsystem"
+  },
+  {
+    "name": "PID Subsystem",
+    "description": "A subsystem that runs a PID loop",
+    "tags": [
+      "pidsubsystem",
+      "pid"
+    ],
+    "foldername": "pidsubsystem",
+    "replacename": "ReplaceMePIDSubsystem"
+  },
+  {
+    "name": "Timed Command",
+    "description": "A command that runs for a specified time",
+    "tags": [
+      "timedcommand"
+    ],
+    "foldername": "timed",
+    "replacename": "ReplaceMeTimedCommand"
+  },
+  {
+    "name": "Trigger",
+    "description": "A command that runs off of a trigger",
+    "tags": [
+      "trigger"
+    ],
+    "foldername": "trigger",
+    "replacename": "ReplaceMeTrigger"
+  }
+]

wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/instant/ReplaceMeInstantCommand.java

@@ -0,0 +1,27 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018 FIRST. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj.commands.instant;
+
+import edu.wpi.first.wpilibj.command.InstantCommand;
+
+/**
+ * Add your docs here.
+ */
+public class ReplaceMeInstantCommand extends InstantCommand {
+  public ReplaceMeInstantCommand() {
+    super();
+    // Use requires() here to declare subsystem dependencies
+    // eg. requires(chassis);
+  }
+
+  // Called once when the command executes
+  @Override
+  protected void initialize() {
+  }
+
+}

wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/pidsubsystem/ReplaceMePIDSubsystem.java

@@ -0,0 +1,45 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018 FIRST. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj.commands.pidsubsystem;
+
+import edu.wpi.first.wpilibj.command.PIDSubsystem;
+
+/**
+ * Add your docs here.
+ */
+public class ReplaceMePIDSubsystem extends PIDSubsystem {
+  // Initialize your subsystem here
+  public ReplaceMePIDSubsystem() {
+    // Intert a subsystem name and PID values here
+    super("SubsystemName", 1, 2, 3);
+    // Use these to get going:
+    // setSetpoint() - Sets where the PID controller should move the system
+    // to
+    // enable() - Enables the PID controller.
+  }
+
+  @Override
+  public void initDefaultCommand() {
+    // Set the default command for a subsystem here.
+    // setDefaultCommand(new MySpecialCommand());
+  }
+
+  @Override
+  protected double returnPIDInput() {
+    // Return your input value for the PID loop
+    // e.g. a sensor, like a potentiometer:
+    // yourPot.getAverageVoltage() / kYourMaxVoltage;
+    return 0.0;
+  }
+
+  @Override
+  protected void usePIDOutput(double output) {
+    // Use output to drive your system, like a motor
+    // e.g. yourMotor.set(output);
+  }
+}

wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/subsystem/ReplaceMeSubsystem.java

@@ -0,0 +1,24 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018 FIRST. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj.commands.subsystem;
+
+import edu.wpi.first.wpilibj.command.Subsystem;
+
+/**
+ * Add your docs here.
+ */
+public class ReplaceMeSubsystem extends Subsystem {
+  // Put methods for controlling this subsystem
+  // here. Call these from Commands.
+
+  @Override
+  public void initDefaultCommand() {
+    // Set the default command for a subsystem here.
+    // setDefaultCommand(new MySpecialCommand());
+  }
+}

wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/timed/ReplaceMeTimedCommand.java

@@ -0,0 +1,42 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018 FIRST. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj.commands.timed;
+
+import edu.wpi.first.wpilibj.command.TimedCommand;
+
+/**
+ * Add your docs here.
+ */
+public class ReplaceMeTimedCommand extends TimedCommand {
+  public ReplaceMeTimedCommand(double timeout) {
+    super(timeout);
+    // Use requires() here to declare subsystem dependencies
+    // eg. requires(chassis);
+  }
+
+  // Called just before this Command runs the first time
+  @Override
+  protected void initialize() {
+  }
+
+  // Called repeatedly when this Command is scheduled to run
+  @Override
+  protected void execute() {
+  }
+
+  // Called once after timeout
+  @Override
+  protected void end() {
+  }
+
+  // Called when another command which requires one or more of the same
+  // subsystems is scheduled to run
+  @Override
+  protected void interrupted() {
+  }
+}

wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/trigger/ReplaceMeTrigger.java

@@ -0,0 +1,20 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018 FIRST. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj.commands.trigger;
+
+import edu.wpi.first.wpilibj.buttons.Trigger;
+
+/**
+ * Add your docs here.
+ */
+public class ReplaceMeTrigger extends Trigger {
+  @Override
+  public boolean get() {
+    return false;
+  }
+}