Add holonomic follower examples (#2052)

wpilibcExamples/src/main/cpp/examples/MecanumControllerCommand/include/RobotContainer.h

@@ -0,0 +1,54 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 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 <frc/XboxController.h>
+#include <frc/controller/PIDController.h>
+#include <frc/controller/ProfiledPIDController.h>
+#include <frc/smartdashboard/SendableChooser.h>
+#include <frc2/command/Command.h>
+#include <frc2/command/InstantCommand.h>
+#include <frc2/command/PIDCommand.h>
+#include <frc2/command/ParallelRaceGroup.h>
+#include <frc2/command/RunCommand.h>
+
+#include "Constants.h"
+#include "subsystems/DriveSubsystem.h"
+
+/**
+ * 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.
+ */
+class RobotContainer {
+ public:
+  RobotContainer();
+
+  frc2::Command* GetAutonomousCommand();
+
+ private:
+  // The driver's controller
+  frc::XboxController m_driverController{OIConstants::kDriverControllerPort};
+
+  // The robot's subsystems and commands are defined here...
+
+  // The robot's subsystems
+  DriveSubsystem m_drive;
+
+  frc2::InstantCommand m_driveHalfSpeed{[this] { m_drive.SetMaxOutput(.5); },
+                                        {}};
+  frc2::InstantCommand m_driveFullSpeed{[this] { m_drive.SetMaxOutput(1); },
+                                        {}};
+
+  // The chooser for the autonomous routines
+  frc::SendableChooser<frc2::Command*> m_chooser;
+
+  void ConfigureButtonBindings();
+};