[commands] Merge CommandBase into Command and SubsystemBase into Subsystem (#5392)

Moves all CommandBase functionality into Command and deprecates CommandBase for removal. Moves all SubsystemBase functionality into Subsystem and deprecates SubsystemBase for removal. Adds a function to CommandScheduler to remove all registered Subsystems.
2026-06-19 00:41:43 +00:00 · 2023-07-14 01:12:01 -04:00
parent 7ac932996a
commit aaea85ff16
176 changed files with 887 additions and 910 deletions
--- a/wpilibcExamples/src/main/cpp/commands/command2/ReplaceMeCommand2.h
+++ b/wpilibcExamples/src/main/cpp/commands/command2/ReplaceMeCommand2.h
@@ -4,18 +4,18 @@

 #pragma once

-#include <frc2/command/CommandBase.h>
+#include <frc2/command/Command.h>
 #include <frc2/command/CommandHelper.h>

 /**
 * An example command.
 *
- * <p>Note that this extends CommandHelper, rather extending CommandBase
+ * <p>Note that this extends CommandHelper, rather extending Command
 * directly; this is crucially important, or else the decorator functions in
 * Command will *not* work!
 */
 class ReplaceMeCommand2
-    : public frc2::CommandHelper<frc2::CommandBase, ReplaceMeCommand2> {
+    : public frc2::CommandHelper<frc2::Command, ReplaceMeCommand2> {
 public:
  ReplaceMeCommand2();

--- a/wpilibcExamples/src/main/cpp/commands/subsystem2/ReplaceMeSubsystem2.h
+++ b/wpilibcExamples/src/main/cpp/commands/subsystem2/ReplaceMeSubsystem2.h
@@ -4,9 +4,9 @@

 #pragma once

-#include <frc2/command/SubsystemBase.h>
+#include <frc2/command/Subsystem.h>

-class ReplaceMeSubsystem2 : public frc2::SubsystemBase {
+class ReplaceMeSubsystem2 : public frc2::Subsystem {
 public:
  ReplaceMeSubsystem2();

--- a/wpilibcExamples/src/main/cpp/examples/ArmBot/include/subsystems/DriveSubsystem.h
+++ b/wpilibcExamples/src/main/cpp/examples/ArmBot/include/subsystems/DriveSubsystem.h
@@ -8,11 +8,11 @@
 #include <frc/drive/DifferentialDrive.h>
 #include <frc/motorcontrol/MotorControllerGroup.h>
 #include <frc/motorcontrol/PWMSparkMax.h>
-#include <frc2/command/SubsystemBase.h>
+#include <frc2/command/Subsystem.h>

 #include "Constants.h"

-class DriveSubsystem : public frc2::SubsystemBase {
+class DriveSubsystem : public frc2::Subsystem {
 public:
  DriveSubsystem();

--- a/wpilibcExamples/src/main/cpp/examples/ArmBotOffboard/include/subsystems/DriveSubsystem.h
+++ b/wpilibcExamples/src/main/cpp/examples/ArmBotOffboard/include/subsystems/DriveSubsystem.h
@@ -11,11 +11,11 @@
 #include <frc/motorcontrol/MotorControllerGroup.h>
 #include <frc/motorcontrol/PWMSparkMax.h>
 #include <frc2/command/Commands.h>
-#include <frc2/command/SubsystemBase.h>
+#include <frc2/command/Subsystem.h>

 #include "Constants.h"

-class DriveSubsystem : public frc2::SubsystemBase {
+class DriveSubsystem : public frc2::Subsystem {
 public:
  DriveSubsystem();

--- a/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/include/subsystems/DriveSubsystem.h
+++ b/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/include/subsystems/DriveSubsystem.h
@@ -8,13 +8,13 @@
 #include <frc/controller/SimpleMotorFeedforward.h>
 #include <frc/drive/DifferentialDrive.h>
 #include <frc/trajectory/TrapezoidProfile.h>
-#include <frc2/command/SubsystemBase.h>
+#include <frc2/command/Subsystem.h>
 #include <units/length.h>

 #include "Constants.h"
 #include "ExampleSmartMotorController.h"

-class DriveSubsystem : public frc2::SubsystemBase {
+class DriveSubsystem : public frc2::Subsystem {
 public:
  DriveSubsystem();

--- a/wpilibcExamples/src/main/cpp/examples/Frisbeebot/include/subsystems/DriveSubsystem.h
+++ b/wpilibcExamples/src/main/cpp/examples/Frisbeebot/include/subsystems/DriveSubsystem.h
@@ -8,11 +8,11 @@
 #include <frc/drive/DifferentialDrive.h>
 #include <frc/motorcontrol/MotorControllerGroup.h>
 #include <frc/motorcontrol/PWMSparkMax.h>
-#include <frc2/command/SubsystemBase.h>
+#include <frc2/command/Subsystem.h>

 #include "Constants.h"

-class DriveSubsystem : public frc2::SubsystemBase {
+class DriveSubsystem : public frc2::Subsystem {
 public:
  DriveSubsystem();

--- a/wpilibcExamples/src/main/cpp/examples/GearsBot/include/commands/CloseClaw.h
+++ b/wpilibcExamples/src/main/cpp/examples/GearsBot/include/commands/CloseClaw.h
@@ -4,7 +4,7 @@

 #pragma once

-#include <frc2/command/CommandBase.h>
+#include <frc2/command/Command.h>
 #include <frc2/command/CommandHelper.h>

 #include "subsystems/Claw.h"
@@ -12,7 +12,7 @@
 /**
 * Closes the claw until the limit switch is tripped.
 */
-class CloseClaw : public frc2::CommandHelper<frc2::CommandBase, CloseClaw> {
+class CloseClaw : public frc2::CommandHelper<frc2::Command, CloseClaw> {
 public:
  explicit CloseClaw(Claw& claw);
  void Initialize() override;
--- a/wpilibcExamples/src/main/cpp/examples/GearsBot/include/commands/SetElevatorSetpoint.h
+++ b/wpilibcExamples/src/main/cpp/examples/GearsBot/include/commands/SetElevatorSetpoint.h
@@ -4,7 +4,7 @@

 #pragma once

-#include <frc2/command/CommandBase.h>
+#include <frc2/command/Command.h>
 #include <frc2/command/CommandHelper.h>

 #include "subsystems/Elevator.h"
@@ -17,7 +17,7 @@
 * commands using the elevator should make sure they disable PID!
 */
 class SetElevatorSetpoint
-    : public frc2::CommandHelper<frc2::CommandBase, SetElevatorSetpoint> {
+    : public frc2::CommandHelper<frc2::Command, SetElevatorSetpoint> {
 public:
  explicit SetElevatorSetpoint(double setpoint, Elevator& elevator);
  void Initialize() override;
--- a/wpilibcExamples/src/main/cpp/examples/GearsBot/include/commands/SetWristSetpoint.h
+++ b/wpilibcExamples/src/main/cpp/examples/GearsBot/include/commands/SetWristSetpoint.h
@@ -4,7 +4,7 @@

 #pragma once

-#include <frc2/command/CommandBase.h>
+#include <frc2/command/Command.h>
 #include <frc2/command/CommandHelper.h>

 #include "subsystems/Wrist.h"
@@ -15,7 +15,7 @@
 * Other commands using the wrist should make sure they disable PID!
 */
 class SetWristSetpoint
-    : public frc2::CommandHelper<frc2::CommandBase, SetWristSetpoint> {
+    : public frc2::CommandHelper<frc2::Command, SetWristSetpoint> {
 public:
  explicit SetWristSetpoint(double setpoint, Wrist& wrist);
  void Initialize() override;
--- a/wpilibcExamples/src/main/cpp/examples/GearsBot/include/commands/TankDrive.h
+++ b/wpilibcExamples/src/main/cpp/examples/GearsBot/include/commands/TankDrive.h
@@ -4,7 +4,7 @@

 #pragma once

-#include <frc2/command/CommandBase.h>
+#include <frc2/command/Command.h>
 #include <frc2/command/CommandHelper.h>

 #include "subsystems/Drivetrain.h"
@@ -12,7 +12,7 @@
 /**
 * Have the robot drive tank style using the PS3 Joystick until interrupted.
 */
-class TankDrive : public frc2::CommandHelper<frc2::CommandBase, TankDrive> {
+class TankDrive : public frc2::CommandHelper<frc2::Command, TankDrive> {
 public:
  TankDrive(std::function<double()> left, std::function<double()> right,
            Drivetrain& drivetrain);
--- a/wpilibcExamples/src/main/cpp/examples/GearsBot/include/subsystems/Claw.h
+++ b/wpilibcExamples/src/main/cpp/examples/GearsBot/include/subsystems/Claw.h
@@ -6,14 +6,14 @@

 #include <frc/DigitalInput.h>
 #include <frc/motorcontrol/PWMSparkMax.h>
-#include <frc2/command/SubsystemBase.h>
+#include <frc2/command/Subsystem.h>

 /**
 * The claw subsystem is a simple system with a motor for opening and closing.
 * If using stronger motors, you should probably use a sensor so that the
 * motors don't stall.
 */
-class Claw : public frc2::SubsystemBase {
+class Claw : public frc2::Subsystem {
 public:
  Claw();

--- a/wpilibcExamples/src/main/cpp/examples/GearsBot/include/subsystems/Drivetrain.h
+++ b/wpilibcExamples/src/main/cpp/examples/GearsBot/include/subsystems/Drivetrain.h
@@ -10,7 +10,7 @@
 #include <frc/drive/DifferentialDrive.h>
 #include <frc/motorcontrol/MotorControllerGroup.h>
 #include <frc/motorcontrol/PWMSparkMax.h>
-#include <frc2/command/SubsystemBase.h>
+#include <frc2/command/Subsystem.h>

 namespace frc {
 class Joystick;
@@ -21,7 +21,7 @@ class Joystick;
 * the robots chassis. These include four drive motors, a left and right encoder
 * and a gyro.
 */
-class Drivetrain : public frc2::SubsystemBase {
+class Drivetrain : public frc2::Subsystem {
 public:
  Drivetrain();

--- a/wpilibcExamples/src/main/cpp/examples/GyroDriveCommands/include/subsystems/DriveSubsystem.h
+++ b/wpilibcExamples/src/main/cpp/examples/GyroDriveCommands/include/subsystems/DriveSubsystem.h
@@ -9,12 +9,12 @@
 #include <frc/drive/DifferentialDrive.h>
 #include <frc/motorcontrol/MotorControllerGroup.h>
 #include <frc/motorcontrol/PWMSparkMax.h>
-#include <frc2/command/SubsystemBase.h>
+#include <frc2/command/Subsystem.h>
 #include <units/angle.h>

 #include "Constants.h"

-class DriveSubsystem : public frc2::SubsystemBase {
+class DriveSubsystem : public frc2::Subsystem {
 public:
  DriveSubsystem();

--- a/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/cpp/subsystems/DriveSubsystem.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/cpp/subsystems/DriveSubsystem.cpp
@@ -47,7 +47,7 @@ void DriveSubsystem::SetMaxOutput(double maxOutput) {
 }

 void DriveSubsystem::InitSendable(wpi::SendableBuilder& builder) {
-  SubsystemBase::InitSendable(builder);
+  Subsystem::InitSendable(builder);

  // Publish encoder distances to telemetry.
  builder.AddDoubleProperty(
--- a/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/cpp/subsystems/HatchSubsystem.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/cpp/subsystems/HatchSubsystem.cpp
@@ -25,7 +25,7 @@ frc2::CommandPtr HatchSubsystem::ReleaseHatchCommand() {
 }

 void HatchSubsystem::InitSendable(wpi::SendableBuilder& builder) {
-  SubsystemBase::InitSendable(builder);
+  Subsystem::InitSendable(builder);

  // Publish the solenoid state to telemetry.
  builder.AddBooleanProperty(
--- a/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/include/subsystems/DriveSubsystem.h
+++ b/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/include/subsystems/DriveSubsystem.h
@@ -8,11 +8,11 @@
 #include <frc/drive/DifferentialDrive.h>
 #include <frc/motorcontrol/MotorControllerGroup.h>
 #include <frc/motorcontrol/PWMSparkMax.h>
-#include <frc2/command/SubsystemBase.h>
+#include <frc2/command/Subsystem.h>

 #include "Constants.h"

-class DriveSubsystem : public frc2::SubsystemBase {
+class DriveSubsystem : public frc2::Subsystem {
 public:
  DriveSubsystem();

--- a/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/include/subsystems/HatchSubsystem.h
+++ b/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/include/subsystems/HatchSubsystem.h
@@ -7,11 +7,11 @@
 #include <frc/DoubleSolenoid.h>
 #include <frc/PneumaticsControlModule.h>
 #include <frc2/command/CommandPtr.h>
-#include <frc2/command/SubsystemBase.h>
+#include <frc2/command/Subsystem.h>

 #include "Constants.h"

-class HatchSubsystem : public frc2::SubsystemBase {
+class HatchSubsystem : public frc2::Subsystem {
 public:
  HatchSubsystem();

--- a/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/subsystems/DriveSubsystem.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/subsystems/DriveSubsystem.cpp
@@ -47,7 +47,7 @@ void DriveSubsystem::SetMaxOutput(double maxOutput) {
 }

 void DriveSubsystem::InitSendable(wpi::SendableBuilder& builder) {
-  SubsystemBase::InitSendable(builder);
+  Subsystem::InitSendable(builder);

  // Publish encoder distances to telemetry.
  builder.AddDoubleProperty(
--- a/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/subsystems/HatchSubsystem.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/subsystems/HatchSubsystem.cpp
@@ -21,7 +21,7 @@ void HatchSubsystem::ReleaseHatch() {
 }

 void HatchSubsystem::InitSendable(wpi::SendableBuilder& builder) {
-  SubsystemBase::InitSendable(builder);
+  Subsystem::InitSendable(builder);

  // Publish the solenoid state to telemetry.
  builder.AddBooleanProperty(
--- a/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/commands/DefaultDrive.h
+++ b/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/commands/DefaultDrive.h
@@ -4,7 +4,7 @@

 #pragma once

-#include <frc2/command/CommandBase.h>
+#include <frc2/command/Command.h>
 #include <frc2/command/CommandHelper.h>

 #include "subsystems/DriveSubsystem.h"
@@ -16,8 +16,7 @@
 *
 * @see RunCommand
 */
-class DefaultDrive
-    : public frc2::CommandHelper<frc2::CommandBase, DefaultDrive> {
+class DefaultDrive : public frc2::CommandHelper<frc2::Command, DefaultDrive> {
 public:
  /**
   * Creates a new DefaultDrive.
--- a/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/commands/DriveDistance.h
+++ b/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/commands/DriveDistance.h
@@ -4,13 +4,12 @@

 #pragma once

-#include <frc2/command/CommandBase.h>
+#include <frc2/command/Command.h>
 #include <frc2/command/CommandHelper.h>

 #include "subsystems/DriveSubsystem.h"

-class DriveDistance
-    : public frc2::CommandHelper<frc2::CommandBase, DriveDistance> {
+class DriveDistance : public frc2::CommandHelper<frc2::Command, DriveDistance> {
 public:
  /**
   * Creates a new DriveDistance.
--- a/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/commands/GrabHatch.h
+++ b/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/commands/GrabHatch.h
@@ -4,7 +4,7 @@

 #pragma once

-#include <frc2/command/CommandBase.h>
+#include <frc2/command/Command.h>
 #include <frc2/command/CommandHelper.h>

 #include "subsystems/HatchSubsystem.h"
@@ -16,7 +16,7 @@
 *
 * @see InstantCommand
 */
-class GrabHatch : public frc2::CommandHelper<frc2::CommandBase, GrabHatch> {
+class GrabHatch : public frc2::CommandHelper<frc2::Command, GrabHatch> {
 public:
  explicit GrabHatch(HatchSubsystem* subsystem);

--- a/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/commands/HalveDriveSpeed.h
+++ b/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/commands/HalveDriveSpeed.h
@@ -4,13 +4,13 @@

 #pragma once

-#include <frc2/command/CommandBase.h>
+#include <frc2/command/Command.h>
 #include <frc2/command/CommandHelper.h>

 #include "subsystems/DriveSubsystem.h"

 class HalveDriveSpeed
-    : public frc2::CommandHelper<frc2::CommandBase, HalveDriveSpeed> {
+    : public frc2::CommandHelper<frc2::Command, HalveDriveSpeed> {
 public:
  explicit HalveDriveSpeed(DriveSubsystem* subsystem);

--- a/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/commands/ReleaseHatch.h
+++ b/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/commands/ReleaseHatch.h
@@ -4,7 +4,7 @@

 #pragma once

-#include <frc2/command/CommandBase.h>
+#include <frc2/command/Command.h>
 #include <frc2/command/CommandHelper.h>

 #include "subsystems/HatchSubsystem.h"
@@ -16,8 +16,7 @@
 *
 * @see InstantCommand
 */
-class ReleaseHatch
-    : public frc2::CommandHelper<frc2::CommandBase, ReleaseHatch> {
+class ReleaseHatch : public frc2::CommandHelper<frc2::Command, ReleaseHatch> {
 public:
  explicit ReleaseHatch(HatchSubsystem* subsystem);

--- a/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/subsystems/DriveSubsystem.h
+++ b/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/subsystems/DriveSubsystem.h
@@ -8,11 +8,11 @@
 #include <frc/drive/DifferentialDrive.h>
 #include <frc/motorcontrol/MotorControllerGroup.h>
 #include <frc/motorcontrol/PWMSparkMax.h>
-#include <frc2/command/SubsystemBase.h>
+#include <frc2/command/Subsystem.h>

 #include "Constants.h"

-class DriveSubsystem : public frc2::SubsystemBase {
+class DriveSubsystem : public frc2::Subsystem {
 public:
  DriveSubsystem();

--- a/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/subsystems/HatchSubsystem.h
+++ b/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/subsystems/HatchSubsystem.h
@@ -6,11 +6,11 @@

 #include <frc/DoubleSolenoid.h>
 #include <frc/PneumaticsControlModule.h>
-#include <frc2/command/SubsystemBase.h>
+#include <frc2/command/Subsystem.h>

 #include "Constants.h"

-class HatchSubsystem : public frc2::SubsystemBase {
+class HatchSubsystem : public frc2::Subsystem {
 public:
  HatchSubsystem();

--- a/wpilibcExamples/src/main/cpp/examples/MecanumControllerCommand/include/subsystems/DriveSubsystem.h
+++ b/wpilibcExamples/src/main/cpp/examples/MecanumControllerCommand/include/subsystems/DriveSubsystem.h
@@ -13,11 +13,11 @@
 #include <frc/kinematics/MecanumDriveOdometry.h>
 #include <frc/kinematics/MecanumDriveWheelSpeeds.h>
 #include <frc/motorcontrol/PWMSparkMax.h>
-#include <frc2/command/SubsystemBase.h>
+#include <frc2/command/Subsystem.h>

 #include "Constants.h"

-class DriveSubsystem : public frc2::SubsystemBase {
+class DriveSubsystem : public frc2::Subsystem {
 public:
  DriveSubsystem();

--- a/wpilibcExamples/src/main/cpp/examples/RamseteCommand/include/subsystems/DriveSubsystem.h
+++ b/wpilibcExamples/src/main/cpp/examples/RamseteCommand/include/subsystems/DriveSubsystem.h
@@ -11,12 +11,12 @@
 #include <frc/kinematics/DifferentialDriveOdometry.h>
 #include <frc/motorcontrol/MotorControllerGroup.h>
 #include <frc/motorcontrol/PWMSparkMax.h>
-#include <frc2/command/SubsystemBase.h>
+#include <frc2/command/Subsystem.h>
 #include <units/voltage.h>

 #include "Constants.h"

-class DriveSubsystem : public frc2::SubsystemBase {
+class DriveSubsystem : public frc2::Subsystem {
 public:
  DriveSubsystem();

--- a/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/include/subsystems/Drive.h
+++ b/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/include/subsystems/Drive.h
@@ -11,12 +11,12 @@
 #include <frc/motorcontrol/MotorControllerGroup.h>
 #include <frc/motorcontrol/PWMSparkMax.h>
 #include <frc2/command/CommandPtr.h>
-#include <frc2/command/SubsystemBase.h>
+#include <frc2/command/Subsystem.h>
 #include <units/length.h>

 #include "Constants.h"

-class Drive : public frc2::SubsystemBase {
+class Drive : public frc2::Subsystem {
 public:
  Drive();
  /**
--- a/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/include/subsystems/Intake.h
+++ b/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/include/subsystems/Intake.h
@@ -9,11 +9,11 @@
 #include <frc/DoubleSolenoid.h>
 #include <frc/motorcontrol/PWMSparkMax.h>
 #include <frc2/command/CommandPtr.h>
-#include <frc2/command/SubsystemBase.h>
+#include <frc2/command/Subsystem.h>

 #include "Constants.h"

-class Intake : public frc2::SubsystemBase {
+class Intake : public frc2::Subsystem {
 public:
  Intake() = default;

--- a/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/include/subsystems/Pneumatics.h
+++ b/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/include/subsystems/Pneumatics.h
@@ -8,12 +8,12 @@
 #include <frc/Compressor.h>
 #include <frc/PneumaticsControlModule.h>
 #include <frc2/command/CommandPtr.h>
-#include <frc2/command/SubsystemBase.h>
+#include <frc2/command/Subsystem.h>
 #include <units/pressure.h>

 #include "Constants.h"

-class Pneumatics : frc2::SubsystemBase {
+class Pneumatics : frc2::Subsystem {
 public:
  Pneumatics();
  /** Returns a command that disables the compressor indefinitely. */
--- a/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/include/subsystems/Shooter.h
+++ b/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/include/subsystems/Shooter.h
@@ -11,13 +11,13 @@
 #include <frc/controller/SimpleMotorFeedforward.h>
 #include <frc/motorcontrol/PWMSparkMax.h>
 #include <frc2/command/CommandPtr.h>
-#include <frc2/command/SubsystemBase.h>
+#include <frc2/command/Subsystem.h>
 #include <units/angle.h>
 #include <units/angular_velocity.h>

 #include "Constants.h"

-class Shooter : public frc2::SubsystemBase {
+class Shooter : public frc2::Subsystem {
 public:
  Shooter();

--- a/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/include/subsystems/Storage.h
+++ b/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/include/subsystems/Storage.h
@@ -7,11 +7,11 @@
 #include <frc/DigitalInput.h>
 #include <frc/motorcontrol/PWMSparkMax.h>
 #include <frc2/command/CommandPtr.h>
-#include <frc2/command/SubsystemBase.h>
+#include <frc2/command/Subsystem.h>

 #include "Constants.h"

-class Storage : frc2::SubsystemBase {
+class Storage : frc2::Subsystem {
 public:
  Storage();
  /** Returns a command that runs the storage motor indefinitely. */
--- a/wpilibcExamples/src/main/cpp/examples/RomiReference/include/commands/DriveDistance.h
+++ b/wpilibcExamples/src/main/cpp/examples/RomiReference/include/commands/DriveDistance.h
@@ -4,14 +4,13 @@

 #pragma once

-#include <frc2/command/CommandBase.h>
+#include <frc2/command/Command.h>
 #include <frc2/command/CommandHelper.h>
 #include <units/length.h>

 #include "subsystems/Drivetrain.h"

-class DriveDistance
-    : public frc2::CommandHelper<frc2::CommandBase, DriveDistance> {
+class DriveDistance : public frc2::CommandHelper<frc2::Command, DriveDistance> {
 public:
  DriveDistance(double speed, units::meter_t distance, Drivetrain* drive)
      : m_speed(speed), m_distance(distance), m_drive(drive) {
--- a/wpilibcExamples/src/main/cpp/examples/RomiReference/include/commands/DriveTime.h
+++ b/wpilibcExamples/src/main/cpp/examples/RomiReference/include/commands/DriveTime.h
@@ -5,13 +5,13 @@
 #pragma once

 #include <frc/Timer.h>
-#include <frc2/command/CommandBase.h>
+#include <frc2/command/Command.h>
 #include <frc2/command/CommandHelper.h>
 #include <units/time.h>

 #include "subsystems/Drivetrain.h"

-class DriveTime : public frc2::CommandHelper<frc2::CommandBase, DriveTime> {
+class DriveTime : public frc2::CommandHelper<frc2::Command, DriveTime> {
 public:
  DriveTime(double speed, units::second_t time, Drivetrain* drive)
      : m_speed(speed), m_duration(time), m_drive(drive) {
--- a/wpilibcExamples/src/main/cpp/examples/RomiReference/include/commands/TeleopArcadeDrive.h
+++ b/wpilibcExamples/src/main/cpp/examples/RomiReference/include/commands/TeleopArcadeDrive.h
@@ -4,13 +4,13 @@

 #pragma once

-#include <frc2/command/CommandBase.h>
+#include <frc2/command/Command.h>
 #include <frc2/command/CommandHelper.h>

 #include "subsystems/Drivetrain.h"

 class TeleopArcadeDrive
-    : public frc2::CommandHelper<frc2::CommandBase, TeleopArcadeDrive> {
+    : public frc2::CommandHelper<frc2::Command, TeleopArcadeDrive> {
 public:
  TeleopArcadeDrive(Drivetrain* subsystem,
                    std::function<double()> xaxisSpeedSupplier,
--- a/wpilibcExamples/src/main/cpp/examples/RomiReference/include/commands/TurnDegrees.h
+++ b/wpilibcExamples/src/main/cpp/examples/RomiReference/include/commands/TurnDegrees.h
@@ -4,14 +4,14 @@

 #pragma once

-#include <frc2/command/CommandBase.h>
+#include <frc2/command/Command.h>
 #include <frc2/command/CommandHelper.h>
 #include <units/angle.h>
 #include <units/length.h>

 #include "subsystems/Drivetrain.h"

-class TurnDegrees : public frc2::CommandHelper<frc2::CommandBase, TurnDegrees> {
+class TurnDegrees : public frc2::CommandHelper<frc2::Command, TurnDegrees> {
 public:
  TurnDegrees(double speed, units::degree_t angle, Drivetrain* drive)
      : m_speed(speed), m_angle(angle), m_drive(drive) {
--- a/wpilibcExamples/src/main/cpp/examples/RomiReference/include/commands/TurnTime.h
+++ b/wpilibcExamples/src/main/cpp/examples/RomiReference/include/commands/TurnTime.h
@@ -5,13 +5,13 @@
 #pragma once

 #include <frc/Timer.h>
-#include <frc2/command/CommandBase.h>
+#include <frc2/command/Command.h>
 #include <frc2/command/CommandHelper.h>
 #include <units/time.h>

 #include "subsystems/Drivetrain.h"

-class TurnTime : public frc2::CommandHelper<frc2::CommandBase, TurnTime> {
+class TurnTime : public frc2::CommandHelper<frc2::Command, TurnTime> {
 public:
  TurnTime(double speed, units::second_t time, Drivetrain* drive)
      : m_speed(speed), m_duration(time), m_drive(drive) {
--- a/wpilibcExamples/src/main/cpp/examples/RomiReference/include/subsystems/Drivetrain.h
+++ b/wpilibcExamples/src/main/cpp/examples/RomiReference/include/subsystems/Drivetrain.h
@@ -8,12 +8,12 @@
 #include <frc/Encoder.h>
 #include <frc/drive/DifferentialDrive.h>
 #include <frc/motorcontrol/Spark.h>
-#include <frc2/command/SubsystemBase.h>
+#include <frc2/command/Subsystem.h>
 #include <units/length.h>

 #include "sensors/RomiGyro.h"

-class Drivetrain : public frc2::SubsystemBase {
+class Drivetrain : public frc2::Subsystem {
 public:
  static constexpr double kCountsPerRevolution = 1440.0;
  static constexpr units::meter_t kWheelDiameter = 70_mm;
--- a/wpilibcExamples/src/main/cpp/examples/RomiReference/include/subsystems/OnBoardIO.h
+++ b/wpilibcExamples/src/main/cpp/examples/RomiReference/include/subsystems/OnBoardIO.h
@@ -8,7 +8,7 @@

 #include <frc/DigitalInput.h>
 #include <frc/DigitalOutput.h>
-#include <frc2/command/SubsystemBase.h>
+#include <frc2/command/Subsystem.h>

 /**
 * This class represents the onboard IO of the Romi
@@ -20,7 +20,7 @@
 * DIO 2 - Button C (input) or Red LED (output)
 * DIO 3 - Yellow LED (output only)
 */
-class OnBoardIO : public frc2::SubsystemBase {
+class OnBoardIO : public frc2::Subsystem {
 public:
  enum ChannelMode { INPUT, OUTPUT };
  OnBoardIO(OnBoardIO::ChannelMode dio1, OnBoardIO::ChannelMode dio2);
--- a/wpilibcExamples/src/main/cpp/examples/StateSpaceDifferentialDriveSimulation/include/subsystems/DriveSubsystem.h
+++ b/wpilibcExamples/src/main/cpp/examples/StateSpaceDifferentialDriveSimulation/include/subsystems/DriveSubsystem.h
@@ -15,12 +15,12 @@
 #include <frc/simulation/DifferentialDrivetrainSim.h>
 #include <frc/simulation/EncoderSim.h>
 #include <frc/smartdashboard/Field2d.h>
-#include <frc2/command/SubsystemBase.h>
+#include <frc2/command/Subsystem.h>
 #include <units/voltage.h>

 #include "Constants.h"

-class DriveSubsystem : public frc2::SubsystemBase {
+class DriveSubsystem : public frc2::Subsystem {
 public:
  DriveSubsystem();

--- a/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/include/subsystems/DriveSubsystem.h
+++ b/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/include/subsystems/DriveSubsystem.h
@@ -14,12 +14,12 @@
 #include <frc/kinematics/SwerveDriveKinematics.h>
 #include <frc/kinematics/SwerveDriveOdometry.h>
 #include <frc/motorcontrol/PWMSparkMax.h>
-#include <frc2/command/SubsystemBase.h>
+#include <frc2/command/Subsystem.h>

 #include "Constants.h"
 #include "SwerveModule.h"

-class DriveSubsystem : public frc2::SubsystemBase {
+class DriveSubsystem : public frc2::Subsystem {
 public:
  DriveSubsystem();

--- a/wpilibcExamples/src/main/cpp/templates/commandbased/include/commands/ExampleCommand.h
+++ b/wpilibcExamples/src/main/cpp/templates/commandbased/include/commands/ExampleCommand.h
@@ -4,7 +4,7 @@

 #pragma once

-#include <frc2/command/CommandBase.h>
+#include <frc2/command/Command.h>
 #include <frc2/command/CommandHelper.h>

 #include "subsystems/ExampleSubsystem.h"
@@ -12,12 +12,12 @@
 /**
 * An example command that uses an example subsystem.
 *
- * <p>Note that this extends CommandHelper, rather extending CommandBase
+ * <p>Note that this extends CommandHelper, rather extending Command
 * directly; this is crucially important, or else the decorator functions in
 * Command will *not* work!
 */
 class ExampleCommand
-    : public frc2::CommandHelper<frc2::CommandBase, ExampleCommand> {
+    : public frc2::CommandHelper<frc2::Command, ExampleCommand> {
 public:
  /**
   * Creates a new ExampleCommand.
--- a/wpilibcExamples/src/main/cpp/templates/commandbased/include/subsystems/ExampleSubsystem.h
+++ b/wpilibcExamples/src/main/cpp/templates/commandbased/include/subsystems/ExampleSubsystem.h
@@ -5,9 +5,9 @@
 #pragma once

 #include <frc2/command/CommandPtr.h>
-#include <frc2/command/SubsystemBase.h>
+#include <frc2/command/Subsystem.h>

-class ExampleSubsystem : public frc2::SubsystemBase {
+class ExampleSubsystem : public frc2::Subsystem {
 public:
  ExampleSubsystem();