[templates] Add Command-based skeleton template (#4861)

Co-authored-by: Starlight220 <53231611+Starlight220@users.noreply.github.com>

wpilibcExamples/src/main/cpp/templates/commandbasedskeleton/cpp/Robot.cpp

@@ -0,0 +1,55 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#include "Robot.h"
+
+#include <frc2/command/CommandScheduler.h>
+
+void Robot::RobotInit() {}
+
+void Robot::RobotPeriodic() {
+  frc2::CommandScheduler::GetInstance().Run();
+}
+
+void Robot::DisabledInit() {}
+
+void Robot::DisabledPeriodic() {}
+
+void Robot::DisabledExit() {}
+
+void Robot::AutonomousInit() {
+  m_autonomousCommand = m_container.GetAutonomousCommand();
+
+  if (m_autonomousCommand) {
+    m_autonomousCommand->Schedule();
+  }
+}
+
+void Robot::AutonomousPeriodic() {}
+
+void Robot::AutonomousExit() {}
+
+void Robot::TeleopInit() {
+  if (m_autonomousCommand) {
+    m_autonomousCommand->Cancel();
+  }
+}
+
+void Robot::TeleopPeriodic() {}
+
+void Robot::TeleopExit() {}
+
+void Robot::TestInit() {
+  frc2::CommandScheduler::GetInstance().CancelAll();
+}
+
+void Robot::TestPeriodic() {}
+
+void Robot::TestExit() {}
+
+#ifndef RUNNING_FRC_TESTS
+int main() {
+  return frc::StartRobot<Robot>();
+}
+#endif

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

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+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#include "RobotContainer.h"
+
+#include <frc2/command/Commands.h>
+
+RobotContainer::RobotContainer() {
+  ConfigureBindings();
+}
+
+void RobotContainer::ConfigureBindings() {}
+
+frc2::CommandPtr RobotContainer::GetAutonomousCommand() {
+  return frc2::cmd::Print("No autonomous command configured");
+}

wpilibcExamples/src/main/cpp/templates/commandbasedskeleton/include/Robot.h

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+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#pragma once
+
+#include <optional>
+
+#include <frc/TimedRobot.h>
+#include <frc2/command/CommandPtr.h>
+
+#include "RobotContainer.h"
+
+class Robot : public frc::TimedRobot {
+ public:
+  void RobotInit() override;
+  void RobotPeriodic() override;
+  void DisabledInit() override;
+  void DisabledPeriodic() override;
+  void DisabledExit() override;
+  void AutonomousInit() override;
+  void AutonomousPeriodic() override;
+  void AutonomousExit() override;
+  void TeleopInit() override;
+  void TeleopPeriodic() override;
+  void TeleopExit() override;
+  void TestInit() override;
+  void TestPeriodic() override;
+  void TestExit() override;
+
+ private:
+  std::optional<frc2::CommandPtr> m_autonomousCommand;
+
+  RobotContainer m_container;
+};

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

@@ -0,0 +1,17 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#pragma once
+
+#include <frc2/command/CommandPtr.h>
+
+class RobotContainer {
+ public:
+  RobotContainer();
+
+  frc2::CommandPtr GetAutonomousCommand();
+
+ private:
+  void ConfigureBindings();
+};