Add TrapezoidProfile external PID examples (#2131)

wpilibcExamples/src/main/cpp/examples/ArmBotOffboard/cpp/Robot.cpp

@@ -0,0 +1,71 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2017-2019 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.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#include "Robot.h"
+
+#include <frc/smartdashboard/SmartDashboard.h>
+#include <frc2/command/CommandScheduler.h>
+
+void Robot::RobotInit() {}
+
+/**
+ * This function is called every robot packet, no matter the mode. Use
+ * this for items like diagnostics that you want to run during disabled,
+ * autonomous, teleoperated and test.
+ *
+ * <p> This runs after the mode specific periodic functions, but before
+ * LiveWindow and SmartDashboard integrated updating.
+ */
+void Robot::RobotPeriodic() { frc2::CommandScheduler::GetInstance().Run(); }
+
+/**
+ * This function is called once each time the robot enters Disabled mode. You
+ * can use it to reset any subsystem information you want to clear when the
+ * robot is disabled.
+ */
+void Robot::DisabledInit() {}
+
+void Robot::DisabledPeriodic() {}
+
+/**
+ * This autonomous runs the autonomous command selected by your {@link
+ * RobotContainer} class.
+ */
+void Robot::AutonomousInit() {
+  m_autonomousCommand = m_container.GetAutonomousCommand();
+
+  if (m_autonomousCommand != nullptr) {
+    m_autonomousCommand->Schedule();
+  }
+}
+
+void Robot::AutonomousPeriodic() {}
+
+void Robot::TeleopInit() {
+  // This makes sure that the autonomous stops running when
+  // teleop starts running. If you want the autonomous to
+  // continue until interrupted by another command, remove
+  // this line or comment it out.
+  if (m_autonomousCommand != nullptr) {
+    m_autonomousCommand->Cancel();
+    m_autonomousCommand = nullptr;
+  }
+}
+
+/**
+ * This function is called periodically during operator control.
+ */
+void Robot::TeleopPeriodic() {}
+
+/**
+ * This function is called periodically during test mode.
+ */
+void Robot::TestPeriodic() {}
+
+#ifndef RUNNING_FRC_TESTS
+int main() { return frc::StartRobot<Robot>(); }
+#endif

wpilibcExamples/src/main/cpp/examples/ArmBotOffboard/cpp/RobotContainer.cpp

@@ -0,0 +1,51 @@
+/*----------------------------------------------------------------------------*/
+/* 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.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#include "RobotContainer.h"
+
+#include <frc/shuffleboard/Shuffleboard.h>
+#include <frc2/command/button/JoystickButton.h>
+#include <units/units.h>
+
+RobotContainer::RobotContainer() {
+  // Initialize all of your commands and subsystems here
+
+  // Configure the button bindings
+  ConfigureButtonBindings();
+
+  // Set up default drive command
+  m_drive.SetDefaultCommand(frc2::RunCommand(
+      [this] {
+        m_drive.ArcadeDrive(
+            m_driverController.GetY(frc::GenericHID::kLeftHand),
+            m_driverController.GetX(frc::GenericHID::kRightHand));
+      },
+      {&m_drive}));
+}
+
+void RobotContainer::ConfigureButtonBindings() {
+  // Configure your button bindings here
+
+  // Move the arm to 2 radians above horizontal when the 'A' button is pressed.
+  frc2::JoystickButton(&m_driverController, 1)
+      .WhenPressed([this] { m_arm.SetGoal(2_rad); }, {&m_arm});
+
+  // Move the arm to neutral position when the 'B' button is pressed.
+  frc2::JoystickButton(&m_driverController, 1)
+      .WhenPressed([this] { m_arm.SetGoal(ArmConstants::kArmOffset); },
+                   {&m_arm});
+
+  // While holding the shoulder button, drive at half speed
+  frc2::JoystickButton(&m_driverController, 6)
+      .WhenPressed([this] { m_drive.SetMaxOutput(.5); })
+      .WhenReleased([this] { m_drive.SetMaxOutput(1); });
+}
+
+frc2::Command* RobotContainer::GetAutonomousCommand() {
+  // Runs the chosen command in autonomous
+  return new frc2::InstantCommand([] {});
+}

wpilibcExamples/src/main/cpp/examples/ArmBotOffboard/cpp/subsystems/ArmSubsystem.cpp

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+/*----------------------------------------------------------------------------*/
+/* 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.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#include "subsystems/ArmSubsystem.h"
+
+#include "Constants.h"
+
+using namespace ArmConstants;
+using State = frc::TrapezoidProfile<units::radians>::State;
+
+ArmSubsystem::ArmSubsystem()
+    : frc2::TrapezoidProfileSubsystem<units::radians>(
+          {kMaxVelocity, kMaxAcceleration}, kArmOffset),
+      m_motor(kMotorPort),
+      m_feedforward(kS, kCos, kV, kA) {
+  m_motor.SetPID(kP, 0, 0);
+}
+
+void ArmSubsystem::UseState(State setpoint) {
+  // Calculate the feedforward from the sepoint
+  units::volt_t feedforward =
+      m_feedforward.Calculate(setpoint.position, setpoint.velocity);
+  // Add the feedforward to the PID output to get the motor output
+  m_motor.SetSetpoint(ExampleSmartMotorController::PIDMode::kPosition,
+                      setpoint.position.to<double>(), feedforward / 12_V);
+}

wpilibcExamples/src/main/cpp/examples/ArmBotOffboard/cpp/subsystems/DriveSubsystem.cpp

@@ -0,0 +1,47 @@
+/*----------------------------------------------------------------------------*/
+/* 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.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#include "subsystems/DriveSubsystem.h"
+
+using namespace DriveConstants;
+
+DriveSubsystem::DriveSubsystem()
+    : m_left1{kLeftMotor1Port},
+      m_left2{kLeftMotor2Port},
+      m_right1{kRightMotor1Port},
+      m_right2{kRightMotor2Port},
+      m_leftEncoder{kLeftEncoderPorts[0], kLeftEncoderPorts[1]},
+      m_rightEncoder{kRightEncoderPorts[0], kRightEncoderPorts[1]} {
+  // Set the distance per pulse for the encoders
+  m_leftEncoder.SetDistancePerPulse(kEncoderDistancePerPulse);
+  m_rightEncoder.SetDistancePerPulse(kEncoderDistancePerPulse);
+}
+
+void DriveSubsystem::Periodic() {
+  // Implementation of subsystem periodic method goes here.
+}
+
+void DriveSubsystem::ArcadeDrive(double fwd, double rot) {
+  m_drive.ArcadeDrive(fwd, rot);
+}
+
+void DriveSubsystem::ResetEncoders() {
+  m_leftEncoder.Reset();
+  m_rightEncoder.Reset();
+}
+
+double DriveSubsystem::GetAverageEncoderDistance() {
+  return (m_leftEncoder.GetDistance() + m_rightEncoder.GetDistance()) / 2.0;
+}
+
+frc::Encoder& DriveSubsystem::GetLeftEncoder() { return m_leftEncoder; }
+
+frc::Encoder& DriveSubsystem::GetRightEncoder() { return m_rightEncoder; }
+
+void DriveSubsystem::SetMaxOutput(double maxOutput) {
+  m_drive.SetMaxOutput(maxOutput);
+}

wpilibcExamples/src/main/cpp/examples/ArmBotOffboard/include/Constants.h

@@ -0,0 +1,71 @@
+/*----------------------------------------------------------------------------*/
+/* 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 <units/units.h>
+#include <wpi/math>
+
+/**
+ * The Constants header provides a convenient place for teams to hold robot-wide
+ * numerical or bool constants.  This should not be used for any other purpose.
+ *
+ * It is generally a good idea to place constants into subsystem- or
+ * command-specific namespaces within this header, which can then be used where
+ * they are needed.
+ */
+
+namespace DriveConstants {
+constexpr int kLeftMotor1Port = 0;
+constexpr int kLeftMotor2Port = 1;
+constexpr int kRightMotor1Port = 2;
+constexpr int kRightMotor2Port = 3;
+
+constexpr int kLeftEncoderPorts[]{0, 1};
+constexpr int kRightEncoderPorts[]{2, 3};
+constexpr bool kLeftEncoderReversed = false;
+constexpr bool kRightEncoderReversed = true;
+
+constexpr int kEncoderCPR = 1024;
+constexpr double kWheelDiameterInches = 6;
+constexpr double kEncoderDistancePerPulse =
+    // Assumes the encoders are directly mounted on the wheel shafts
+    (kWheelDiameterInches * wpi::math::pi) / static_cast<double>(kEncoderCPR);
+}  // namespace DriveConstants
+
+namespace ArmConstants {
+constexpr int kMotorPort = 4;
+
+constexpr double kP = 1;
+
+// These are fake gains; in actuality these must be determined individually for
+// each robot
+constexpr auto kS = 1_V;
+constexpr auto kCos = 1_V;
+constexpr auto kV = 0.5_V * 1_s / 1_rad;
+constexpr auto kA = 0.1_V * 1_s * 1_s / 1_rad;
+
+constexpr auto kMaxVelocity = 3_rad_per_s;
+constexpr auto kMaxAcceleration = 10_rad / (1_s * 1_s);
+
+constexpr int kEncoderPorts[]{4, 5};
+constexpr int kEncoderPPR = 256;
+constexpr auto kEncoderDistancePerPulse = 2.0_rad * wpi::math::pi / kEncoderPPR;
+
+// The offset of the arm from the horizontal in its neutral position,
+// measured from the horizontal
+constexpr auto kArmOffset = 0.5_rad;
+}  // namespace ArmConstants
+
+namespace AutoConstants {
+constexpr auto kAutoTimeoutSeconds = 12_s;
+constexpr auto kAutoShootTimeSeconds = 7_s;
+}  // namespace AutoConstants
+
+namespace OIConstants {
+constexpr int kDriverControllerPort = 1;
+}  // namespace OIConstants

wpilibcExamples/src/main/cpp/examples/ArmBotOffboard/include/ExampleSmartMotorController.h

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+/*----------------------------------------------------------------------------*/
+/* 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/SpeedController.h>
+
+/**
+ * A simplified stub class that simulates the API of a common "smart" motor
+ * controller.
+ *
+ * <p>Has no actual functionality.
+ */
+class ExampleSmartMotorController : public frc::SpeedController {
+ public:
+  enum PIDMode { kPosition, kVelocity, kMovementWitchcraft };
+
+  /**
+   * Creates a new ExampleSmartMotorController.
+   *
+   * @param port The port for the controller.
+   */
+  explicit ExampleSmartMotorController(int port) {}
+
+  /**
+   * Example method for setting the PID gains of the smart controller.
+   *
+   * @param kp The proportional gain.
+   * @param ki The integral gain.
+   * @param kd The derivative gain.
+   */
+  void SetPID(double kp, double ki, double kd) {}
+
+  /**
+   * Example method for setting the setpoint of the smart controller in PID
+   * mode.
+   *
+   * @param mode The mode of the PID controller.
+   * @param setpoint The controller setpoint.
+   * @param arbFeedforward An arbitrary feedforward output (from -1 to 1).
+   */
+  void SetSetpoint(PIDMode mode, double setpoint, double arbFeedforward) {}
+
+  /**
+   * Places this motor controller in follower mode.
+   *
+   * @param master The master to follow.
+   */
+  void Follow(ExampleSmartMotorController master) {}
+
+  /**
+   * Returns the encoder distance.
+   *
+   * @return The current encoder distance.
+   */
+  double GetEncoderDistance() { return 0; }
+
+  /**
+   * Returns the encoder rate.
+   *
+   * @return The current encoder rate.
+   */
+  double GetEncoderRate() { return 0; }
+
+  /**
+   * Resets the encoder to zero distance.
+   */
+  void ResetEncoder() {}
+
+  void Set(double speed) override {}
+
+  double Get() const override { return 0; }
+
+  void SetInverted(bool isInverted) override {}
+
+  bool GetInverted() const override { return false; }
+
+  void Disable() override {}
+
+  void StopMotor() override {}
+
+  void PIDWrite(double output) override {}
+};

wpilibcExamples/src/main/cpp/examples/ArmBotOffboard/include/Robot.h

@@ -0,0 +1,33 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2017-2019 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/TimedRobot.h>
+#include <frc2/command/Command.h>
+
+#include "RobotContainer.h"
+
+class Robot : public frc::TimedRobot {
+ public:
+  void RobotInit() override;
+  void RobotPeriodic() override;
+  void DisabledInit() override;
+  void DisabledPeriodic() override;
+  void AutonomousInit() override;
+  void AutonomousPeriodic() override;
+  void TeleopInit() override;
+  void TeleopPeriodic() override;
+  void TestPeriodic() override;
+
+ private:
+  // Have it null by default so that if testing teleop it
+  // doesn't have undefined behavior and potentially crash.
+  frc2::Command* m_autonomousCommand = nullptr;
+
+  RobotContainer m_container;
+};

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

@@ -0,0 +1,53 @@
+/*----------------------------------------------------------------------------*/
+/* 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/smartdashboard/SendableChooser.h>
+#include <frc2/command/Command.h>
+#include <frc2/command/ConditionalCommand.h>
+#include <frc2/command/InstantCommand.h>
+#include <frc2/command/ParallelRaceGroup.h>
+#include <frc2/command/RunCommand.h>
+#include <frc2/command/SequentialCommandGroup.h>
+#include <frc2/command/WaitCommand.h>
+#include <frc2/command/WaitUntilCommand.h>
+
+#include "Constants.h"
+#include "subsystems/ArmSubsystem.h"
+#include "subsystems/DriveSubsystem.h"
+
+namespace ac = AutoConstants;
+
+/**
+ * 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;
+  ArmSubsystem m_arm;
+
+  // The chooser for the autonomous routines
+
+  void ConfigureButtonBindings();
+};

wpilibcExamples/src/main/cpp/examples/ArmBotOffboard/include/subsystems/ArmSubsystem.h

@@ -0,0 +1,30 @@
+/*----------------------------------------------------------------------------*/
+/* 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/controller/ArmFeedforward.h>
+#include <frc2/command/TrapezoidProfileSubsystem.h>
+#include <units/units.h>
+
+#include "ExampleSmartMotorController.h"
+
+/**
+ * A robot arm subsystem that moves with a motion profile.
+ */
+class ArmSubsystem : public frc2::TrapezoidProfileSubsystem<units::radians> {
+  using State = frc::TrapezoidProfile<units::radians>::State;
+
+ public:
+  ArmSubsystem();
+
+  void UseState(State setpoint) override;
+
+ private:
+  ExampleSmartMotorController m_motor;
+  frc::ArmFeedforward m_feedforward;
+};

wpilibcExamples/src/main/cpp/examples/ArmBotOffboard/include/subsystems/DriveSubsystem.h

@@ -0,0 +1,95 @@
+/*----------------------------------------------------------------------------*/
+/* 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/Encoder.h>
+#include <frc/PWMVictorSPX.h>
+#include <frc/SpeedControllerGroup.h>
+#include <frc/drive/DifferentialDrive.h>
+#include <frc2/command/SubsystemBase.h>
+
+#include "Constants.h"
+
+class DriveSubsystem : public frc2::SubsystemBase {
+ public:
+  DriveSubsystem();
+
+  /**
+   * Will be called periodically whenever the CommandScheduler runs.
+   */
+  void Periodic() override;
+
+  // Subsystem methods go here.
+
+  /**
+   * Drives the robot using arcade controls.
+   *
+   * @param fwd the commanded forward movement
+   * @param rot the commanded rotation
+   */
+  void ArcadeDrive(double fwd, double rot);
+
+  /**
+   * Resets the drive encoders to currently read a position of 0.
+   */
+  void ResetEncoders();
+
+  /**
+   * Gets the average distance of the TWO encoders.
+   *
+   * @return the average of the TWO encoder readings
+   */
+  double GetAverageEncoderDistance();
+
+  /**
+   * Gets the left drive encoder.
+   *
+   * @return the left drive encoder
+   */
+  frc::Encoder& GetLeftEncoder();
+
+  /**
+   * Gets the right drive encoder.
+   *
+   * @return the right drive encoder
+   */
+  frc::Encoder& GetRightEncoder();
+
+  /**
+   * Sets the max output of the drive.  Useful for scaling the drive to drive
+   * more slowly.
+   *
+   * @param maxOutput the maximum output to which the drive will be constrained
+   */
+  void SetMaxOutput(double maxOutput);
+
+ private:
+  // Components (e.g. motor controllers and sensors) should generally be
+  // declared private and exposed only through public methods.
+
+  // The motor controllers
+  frc::PWMVictorSPX m_left1;
+  frc::PWMVictorSPX m_left2;
+  frc::PWMVictorSPX m_right1;
+  frc::PWMVictorSPX m_right2;
+
+  // The motors on the left side of the drive
+  frc::SpeedControllerGroup m_leftMotors{m_left1, m_left2};
+
+  // The motors on the right side of the drive
+  frc::SpeedControllerGroup m_rightMotors{m_right1, m_right2};
+
+  // The robot's drive
+  frc::DifferentialDrive m_drive{m_leftMotors, m_rightMotors};
+
+  // The left-side drive encoder
+  frc::Encoder m_leftEncoder;
+
+  // The right-side drive encoder
+  frc::Encoder m_rightEncoder;
+};

wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/cpp/Robot.cpp

@@ -0,0 +1,71 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2017-2019 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.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#include "Robot.h"
+
+#include <frc/smartdashboard/SmartDashboard.h>
+#include <frc2/command/CommandScheduler.h>
+
+void Robot::RobotInit() {}
+
+/**
+ * This function is called every robot packet, no matter the mode. Use
+ * this for items like diagnostics that you want to run during disabled,
+ * autonomous, teleoperated and test.
+ *
+ * <p> This runs after the mode specific periodic functions, but before
+ * LiveWindow and SmartDashboard integrated updating.
+ */
+void Robot::RobotPeriodic() { frc2::CommandScheduler::GetInstance().Run(); }
+
+/**
+ * This function is called once each time the robot enters Disabled mode. You
+ * can use it to reset any subsystem information you want to clear when the
+ * robot is disabled.
+ */
+void Robot::DisabledInit() {}
+
+void Robot::DisabledPeriodic() {}
+
+/**
+ * This autonomous runs the autonomous command selected by your {@link
+ * RobotContainer} class.
+ */
+void Robot::AutonomousInit() {
+  m_autonomousCommand = m_container.GetAutonomousCommand();
+
+  if (m_autonomousCommand != nullptr) {
+    m_autonomousCommand->Schedule();
+  }
+}
+
+void Robot::AutonomousPeriodic() {}
+
+void Robot::TeleopInit() {
+  // This makes sure that the autonomous stops running when
+  // teleop starts running. If you want the autonomous to
+  // continue until interrupted by another command, remove
+  // this line or comment it out.
+  if (m_autonomousCommand != nullptr) {
+    m_autonomousCommand->Cancel();
+    m_autonomousCommand = nullptr;
+  }
+}
+
+/**
+ * This function is called periodically during operator control.
+ */
+void Robot::TeleopPeriodic() {}
+
+/**
+ * This function is called periodically during test mode.
+ */
+void Robot::TestPeriodic() {}
+
+#ifndef RUNNING_FRC_TESTS
+int main() { return frc::StartRobot<Robot>(); }
+#endif

wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/cpp/RobotContainer.cpp

@@ -0,0 +1,67 @@
+/*----------------------------------------------------------------------------*/
+/* 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.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#include "RobotContainer.h"
+
+#include <frc/shuffleboard/Shuffleboard.h>
+#include <frc2/command/button/JoystickButton.h>
+
+#include "commands/DriveDistanceProfiled.h"
+
+RobotContainer::RobotContainer() {
+  // Initialize all of your commands and subsystems here
+
+  // Configure the button bindings
+  ConfigureButtonBindings();
+
+  // Set up default drive command
+  m_drive.SetDefaultCommand(frc2::RunCommand(
+      [this] {
+        m_drive.ArcadeDrive(
+            m_driverController.GetY(frc::GenericHID::kLeftHand),
+            m_driverController.GetX(frc::GenericHID::kRightHand));
+      },
+      {&m_drive}));
+}
+
+void RobotContainer::ConfigureButtonBindings() {
+  // Configure your button bindings here
+
+  // While holding the shoulder button, drive at half speed
+  frc2::JoystickButton(&m_driverController, 6)
+      .WhenPressed(&m_driveHalfSpeed)
+      .WhenReleased(&m_driveFullSpeed);
+
+  // Drive forward by 3 meters when the 'A' button is pressed, with a timeout of
+  // 10 seconds
+  frc2::JoystickButton(&m_driverController, 1)
+      .WhenPressed(DriveDistanceProfiled(3_m, &m_drive).WithTimeout(10_s));
+
+  // Do the same thing as above when the 'B' button is pressed, but defined
+  // inline
+  frc2::JoystickButton(&m_driverController, 2)
+      .WhenPressed(
+          frc2::TrapezoidProfileCommand<units::meters>(
+              frc::TrapezoidProfile<units::meters>(
+                  // Limit the max acceleration and velocity
+                  {DriveConstants::kMaxSpeed, DriveConstants::kMaxAcceleration},
+                  // End at desired position in meters; implicitly starts at 0
+                  {3_m, 0_mps}),
+              // Pipe the profile state to the drive
+              [this](auto setpointState) {
+                m_drive.SetDriveStates(setpointState, setpointState);
+              },
+              // Require the drive
+              {&m_drive})
+              .BeforeStarting([this]() { m_drive.ResetEncoders(); })
+              .WithTimeout(10_s));
+}
+
+frc2::Command* RobotContainer::GetAutonomousCommand() {
+  // Runs the chosen command in autonomous
+  return new frc2::InstantCommand([] {});
+}

wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/cpp/commands/DriveDistanceProfiled.cpp

@@ -0,0 +1,30 @@
+/*----------------------------------------------------------------------------*/
+/* 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.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#include "commands/DriveDistanceProfiled.h"
+
+#include "Constants.h"
+
+using namespace DriveConstants;
+
+DriveDistanceProfiled::DriveDistanceProfiled(units::meter_t distance,
+                                             DriveSubsystem* drive)
+    : CommandHelper(
+          frc::TrapezoidProfile<units::meters>(
+              // Limit the max acceleration and velocity
+              {kMaxSpeed, kMaxAcceleration},
+              // End at desired position in meters; implicitly starts at 0
+              {distance, 0_mps}),
+          // Pipe the profile state to the drive
+          [drive](auto setpointState) {
+            drive->SetDriveStates(setpointState, setpointState);
+          },
+          // Require the drive
+          {drive}) {
+  // Reset drive encoders since we're starting at 0
+  drive->ResetEncoders();
+}

wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/cpp/subsystems/DriveSubsystem.cpp

@@ -0,0 +1,59 @@
+/*----------------------------------------------------------------------------*/
+/* 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.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#include "subsystems/DriveSubsystem.h"
+
+using namespace DriveConstants;
+
+DriveSubsystem::DriveSubsystem()
+    : m_leftMaster{kLeftMotor1Port},
+      m_leftSlave{kLeftMotor2Port},
+      m_rightMaster{kRightMotor1Port},
+      m_rightSlave{kRightMotor2Port},
+      m_feedforward{ks, kv, ka} {
+  m_leftSlave.Follow(m_leftMaster);
+  m_rightSlave.Follow(m_rightMaster);
+
+  m_leftMaster.SetPID(kp, 0, 0);
+  m_rightMaster.SetPID(kp, 0, 0);
+}
+
+void DriveSubsystem::Periodic() {
+  // Implementation of subsystem periodic method goes here.
+}
+
+void DriveSubsystem::SetDriveStates(
+    frc::TrapezoidProfile<units::meters>::State left,
+    frc::TrapezoidProfile<units::meters>::State right) {
+  m_leftMaster.SetSetpoint(ExampleSmartMotorController::PIDMode::kPosition,
+                           left.position.to<double>(),
+                           m_feedforward.Calculate(left.velocity) / 12_V);
+  m_rightMaster.SetSetpoint(ExampleSmartMotorController::PIDMode::kPosition,
+                            right.position.to<double>(),
+                            m_feedforward.Calculate(right.velocity) / 12_V);
+}
+
+void DriveSubsystem::ArcadeDrive(double fwd, double rot) {
+  m_drive.ArcadeDrive(fwd, rot);
+}
+
+void DriveSubsystem::ResetEncoders() {
+  m_leftMaster.ResetEncoder();
+  m_rightMaster.ResetEncoder();
+}
+
+units::meter_t DriveSubsystem::GetLeftEncoderDistance() {
+  return units::meter_t(m_leftMaster.GetEncoderDistance());
+}
+
+units::meter_t DriveSubsystem::GetRightEncoderDistance() {
+  return units::meter_t(m_rightMaster.GetEncoderDistance());
+}
+
+void DriveSubsystem::SetMaxOutput(double maxOutput) {
+  m_drive.SetMaxOutput(maxOutput);
+}

wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/include/Constants.h

@@ -0,0 +1,46 @@
+/*----------------------------------------------------------------------------*/
+/* 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 <units/units.h>
+#include <wpi/math>
+
+/**
+ * The Constants header provides a convenient place for teams to hold robot-wide
+ * numerical or bool constants.  This should not be used for any other purpose.
+ *
+ * It is generally a good idea to place constants into subsystem- or
+ * command-specific namespaces within this header, which can then be used where
+ * they are needed.
+ */
+
+namespace DriveConstants {
+constexpr int kLeftMotor1Port = 0;
+constexpr int kLeftMotor2Port = 1;
+constexpr int kRightMotor1Port = 2;
+constexpr int kRightMotor2Port = 3;
+
+// These are example values only - DO NOT USE THESE FOR YOUR OWN ROBOT!
+// These characterization values MUST be determined either experimentally or
+// theoretically for *your* robot's drive. The RobotPy Characterization
+// Toolsuite provides a convenient tool for obtaining these values for your
+// robot.
+constexpr auto ks = 1_V;
+constexpr auto kv = 0.8_V * 1_s / 1_m;
+constexpr auto ka = 0.15_V * 1_s * 1_s / 1_m;
+
+constexpr double kp = 1;
+
+constexpr auto kMaxSpeed = 3_mps;
+constexpr auto kMaxAcceleration = 3_mps_sq;
+
+}  // namespace DriveConstants
+
+namespace OIConstants {
+constexpr int kDriverControllerPort = 1;
+}  // namespace OIConstants

wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/include/ExampleSmartMotorController.h

@@ -0,0 +1,87 @@
+/*----------------------------------------------------------------------------*/
+/* 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/SpeedController.h>
+
+/**
+ * A simplified stub class that simulates the API of a common "smart" motor
+ * controller.
+ *
+ * <p>Has no actual functionality.
+ */
+class ExampleSmartMotorController : public frc::SpeedController {
+ public:
+  enum PIDMode { kPosition, kVelocity, kMovementWitchcraft };
+
+  /**
+   * Creates a new ExampleSmartMotorController.
+   *
+   * @param port The port for the controller.
+   */
+  explicit ExampleSmartMotorController(int port) {}
+
+  /**
+   * Example method for setting the PID gains of the smart controller.
+   *
+   * @param kp The proportional gain.
+   * @param ki The integral gain.
+   * @param kd The derivative gain.
+   */
+  void SetPID(double kp, double ki, double kd) {}
+
+  /**
+   * Example method for setting the setpoint of the smart controller in PID
+   * mode.
+   *
+   * @param mode The mode of the PID controller.
+   * @param setpoint The controller setpoint.
+   * @param arbFeedforward An arbitrary feedforward output (from -1 to 1).
+   */
+  void SetSetpoint(PIDMode mode, double setpoint, double arbFeedforward) {}
+
+  /**
+   * Places this motor controller in follower mode.
+   *
+   * @param master The master to follow.
+   */
+  void Follow(ExampleSmartMotorController master) {}
+
+  /**
+   * Returns the encoder distance.
+   *
+   * @return The current encoder distance.
+   */
+  double GetEncoderDistance() { return 0; }
+
+  /**
+   * Returns the encoder rate.
+   *
+   * @return The current encoder rate.
+   */
+  double GetEncoderRate() { return 0; }
+
+  /**
+   * Resets the encoder to zero distance.
+   */
+  void ResetEncoder() {}
+
+  void Set(double speed) override {}
+
+  double Get() const override { return 0; }
+
+  void SetInverted(bool isInverted) override {}
+
+  bool GetInverted() const override { return false; }
+
+  void Disable() override {}
+
+  void StopMotor() override {}
+
+  void PIDWrite(double output) override {}
+};

wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/include/Robot.h

@@ -0,0 +1,33 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2017-2019 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/TimedRobot.h>
+#include <frc2/command/Command.h>
+
+#include "RobotContainer.h"
+
+class Robot : public frc::TimedRobot {
+ public:
+  void RobotInit() override;
+  void RobotPeriodic() override;
+  void DisabledInit() override;
+  void DisabledPeriodic() override;
+  void AutonomousInit() override;
+  void AutonomousPeriodic() override;
+  void TeleopInit() override;
+  void TeleopPeriodic() override;
+  void TestPeriodic() override;
+
+ private:
+  // Have it null by default so that if testing teleop it
+  // doesn't have undefined behavior and potentially crash.
+  frc2::Command* m_autonomousCommand = nullptr;
+
+  RobotContainer m_container;
+};

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

@@ -0,0 +1,50 @@
+/*----------------------------------------------------------------------------*/
+/* 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/smartdashboard/SendableChooser.h>
+#include <frc2/command/Command.h>
+#include <frc2/command/InstantCommand.h>
+#include <frc2/command/ParallelRaceGroup.h>
+#include <frc2/command/RunCommand.h>
+#include <frc2/command/SequentialCommandGroup.h>
+#include <frc2/command/StartEndCommand.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(0.5); },
+                                        {}};
+  frc2::InstantCommand m_driveFullSpeed{[this] { m_drive.SetMaxOutput(1); },
+                                        {}};
+
+  void ConfigureButtonBindings();
+};

wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/include/commands/DriveDistanceProfiled.h

@@ -0,0 +1,20 @@
+/*----------------------------------------------------------------------------*/
+/* 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 <frc2/command/CommandHelper.h>
+#include <frc2/command/TrapezoidProfileCommand.h>
+
+#include "subsystems/DriveSubsystem.h"
+
+class DriveDistanceProfiled
+    : public frc2::CommandHelper<frc2::TrapezoidProfileCommand<units::meters>,
+                                 DriveDistanceProfiled> {
+ public:
+  DriveDistanceProfiled(units::meter_t distance, DriveSubsystem* drive);
+};

wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/include/subsystems/DriveSubsystem.h

@@ -0,0 +1,90 @@
+/*----------------------------------------------------------------------------*/
+/* 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/Encoder.h>
+#include <frc/controller/SimpleMotorFeedforward.h>
+#include <frc/drive/DifferentialDrive.h>
+#include <frc/trajectory/TrapezoidProfile.h>
+#include <frc2/command/SubsystemBase.h>
+#include <units/units.h>
+
+#include "Constants.h"
+#include "ExampleSmartMotorController.h"
+
+class DriveSubsystem : public frc2::SubsystemBase {
+ public:
+  DriveSubsystem();
+
+  /**
+   * Will be called periodically whenever the CommandScheduler runs.
+   */
+  void Periodic() override;
+
+  // Subsystem methods go here.
+
+  /**
+   * Attempts to follow the given drive states using offboard PID.
+   *
+   * @param left The left wheel state.
+   * @param right The right wheel state.
+   */
+  void SetDriveStates(frc::TrapezoidProfile<units::meters>::State left,
+                      frc::TrapezoidProfile<units::meters>::State right);
+
+  /**
+   * Drives the robot using arcade controls.
+   *
+   * @param fwd the commanded forward movement
+   * @param rot the commanded rotation
+   */
+  void ArcadeDrive(double fwd, double rot);
+
+  /**
+   * Resets the drive encoders to currently read a position of 0.
+   */
+  void ResetEncoders();
+
+  /**
+   * Gets the distance of the left encoder.
+   *
+   * @return the average of the TWO encoder readings
+   */
+  units::meter_t GetLeftEncoderDistance();
+
+  /**
+   * Gets the distance of the right encoder.
+   *
+   * @return the average of the TWO encoder readings
+   */
+  units::meter_t GetRightEncoderDistance();
+
+  /**
+   * Sets the max output of the drive.  Useful for scaling the drive to drive
+   * more slowly.
+   *
+   * @param maxOutput the maximum output to which the drive will be constrained
+   */
+  void SetMaxOutput(double maxOutput);
+
+ private:
+  // Components (e.g. motor controllers and sensors) should generally be
+  // declared private and exposed only through public methods.
+
+  // The motor controllers
+  ExampleSmartMotorController m_leftMaster;
+  ExampleSmartMotorController m_leftSlave;
+  ExampleSmartMotorController m_rightMaster;
+  ExampleSmartMotorController m_rightSlave;
+
+  // A feedforward component for the drive
+  frc::SimpleMotorFeedforward<units::meters> m_feedforward;
+
+  // The robot's drive
+  frc::DifferentialDrive m_drive{m_leftMaster, m_rightMaster};
+};

wpilibcExamples/src/main/cpp/examples/ElevatorTrapezoidProfile/cpp/Robot.cpp

@@ -5,20 +5,22 @@
 /* the project.                                                               */
 /*----------------------------------------------------------------------------*/
 
-#include <frc/Encoder.h>
 #include <frc/Joystick.h>
-#include <frc/PWMVictorSPX.h>
 #include <frc/TimedRobot.h>
-#include <frc/controller/PIDController.h>
+#include <frc/controller/SimpleMotorFeedforward.h>
 #include <frc/trajectory/TrapezoidProfile.h>
+#include <units/units.h>
 #include <wpi/math>
 
+#include "ExampleSmartMotorController.h"
+
 class Robot : public frc::TimedRobot {
  public:
   static constexpr units::second_t kDt = 20_ms;
 
   Robot() {
-    m_encoder.SetDistancePerPulse(1.0 / 360.0 * 2.0 * wpi::math::pi * 1.5);
+    // Note: These gains are fake, and will have to be tuned for your robot.
+    m_motor.SetPID(1.3, 0.0, 0.7);
   }
 
   void TeleopPeriodic() override {
@@ -38,17 +40,18 @@ class Robot : public frc::TimedRobot {
     // toward the goal while obeying the constraints.
     m_setpoint = profile.Calculate(kDt);
 
-    // Run controller with profiled setpoint and update motor output
-    double output = m_controller.Calculate(m_encoder.GetDistance(),
-                                           m_setpoint.position.to<double>());
-    m_motor.Set(output);
+    // Send setpoint to offboard controller PID
+    m_motor.SetSetpoint(ExampleSmartMotorController::PIDMode::kPosition,
+                        m_setpoint.position.to<double>(),
+                        m_feedforward.Calculate(m_setpoint.velocity) / 12_V);
   }
 
  private:
   frc::Joystick m_joystick{1};
-  frc::Encoder m_encoder{1, 2};
-  frc::PWMVictorSPX m_motor{1};
-  frc2::PIDController m_controller{1.3, 0.0, 0.7, kDt};
+  ExampleSmartMotorController m_motor{1};
+  frc::SimpleMotorFeedforward<units::meters> m_feedforward{
+      // Note: These gains are fake, and will have to be tuned for your robot.
+      1_V, 1.5_V * 1_s / 1_m};
 
   frc::TrapezoidProfile<units::meters>::Constraints m_constraints{1.75_mps,
                                                                   0.75_mps_sq};

wpilibcExamples/src/main/cpp/examples/ElevatorTrapezoidProfile/include/ExampleSmartMotorController.h

@@ -0,0 +1,87 @@
+/*----------------------------------------------------------------------------*/
+/* 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/SpeedController.h>
+
+/**
+ * A simplified stub class that simulates the API of a common "smart" motor
+ * controller.
+ *
+ * <p>Has no actual functionality.
+ */
+class ExampleSmartMotorController : public frc::SpeedController {
+ public:
+  enum PIDMode { kPosition, kVelocity, kMovementWitchcraft };
+
+  /**
+   * Creates a new ExampleSmartMotorController.
+   *
+   * @param port The port for the controller.
+   */
+  explicit ExampleSmartMotorController(int port) {}
+
+  /**
+   * Example method for setting the PID gains of the smart controller.
+   *
+   * @param kp The proportional gain.
+   * @param ki The integral gain.
+   * @param kd The derivative gain.
+   */
+  void SetPID(double kp, double ki, double kd) {}
+
+  /**
+   * Example method for setting the setpoint of the smart controller in PID
+   * mode.
+   *
+   * @param mode The mode of the PID controller.
+   * @param setpoint The controller setpoint.
+   * @param arbFeedforward An arbitrary feedforward output (from -1 to 1).
+   */
+  void SetSetpoint(PIDMode mode, double setpoint, double arbFeedforward) {}
+
+  /**
+   * Places this motor controller in follower mode.
+   *
+   * @param master The master to follow.
+   */
+  void Follow(ExampleSmartMotorController master) {}
+
+  /**
+   * Returns the encoder distance.
+   *
+   * @return The current encoder distance.
+   */
+  double GetEncoderDistance() { return 0; }
+
+  /**
+   * Returns the encoder rate.
+   *
+   * @return The current encoder rate.
+   */
+  double GetEncoderRate() { return 0; }
+
+  /**
+   * Resets the encoder to zero distance.
+   */
+  void ResetEncoder() {}
+
+  void Set(double speed) override {}
+
+  double Get() const override { return 0; }
+
+  void SetInverted(bool isInverted) override {}
+
+  bool GetInverted() const override { return false; }
+
+  void Disable() override {}
+
+  void StopMotor() override {}
+
+  void PIDWrite(double output) override {}
+};

wpilibcExamples/src/main/cpp/examples/GyroDriveCommands/cpp/RobotContainer.cpp

@@ -8,6 +8,9 @@
 #include "RobotContainer.h"
 
 #include <frc/shuffleboard/Shuffleboard.h>
+#include <frc2/command/PIDCommand.h>
+#include <frc2/command/ParallelRaceGroup.h>
+#include <frc2/command/RunCommand.h>
 #include <frc2/command/button/JoystickButton.h>
 
 RobotContainer::RobotContainer() {
@@ -29,16 +32,39 @@ RobotContainer::RobotContainer() {
 void RobotContainer::ConfigureButtonBindings() {
   // Configure your button bindings here
 
+  // Assorted commands to be bound to buttons
+
   // Stabilize robot to drive straight with gyro when left bumper is held
-  frc2::JoystickButton(&m_driverController, 5).WhenHeld(&m_stabilizeDriving);
+  frc2::JoystickButton(&m_driverController, 5)
+      .WhenHeld(frc2::PIDCommand{
+          frc2::PIDController{dc::kStabilizationP, dc::kStabilizationI,
+                              dc::kStabilizationD},
+          // Close the loop on the turn rate
+          [this] { return m_drive.GetTurnRate(); },
+          // Setpoint is 0
+          0,
+          // Pipe the output to the turning controls
+          [this](double output) {
+            m_drive.ArcadeDrive(m_driverController.GetY(
+                                    frc::GenericHID::JoystickHand::kLeftHand),
+                                output);
+          },
+          // Require the robot drive
+          {&m_drive}});
 
   // Turn to 90 degrees when the 'X' button is pressed
-  frc2::JoystickButton(&m_driverController, 3).WhenPressed(&m_turnTo90);
+  frc2::JoystickButton(&m_driverController, 3)
+      .WhenPressed(TurnToAngle{90_deg, &m_drive}.WithTimeout(5_s));
+
+  // Turn to -90 degrees with a profile when the 'A' button is pressed, with a 5
+  // second timeout
+  frc2::JoystickButton(&m_driverController, 1)
+      .WhenPressed(TurnToAngle{90_deg, &m_drive}.WithTimeout(5_s));
 
   // While holding the shoulder button, drive at half speed
   frc2::JoystickButton(&m_driverController, 6)
-      .WhenPressed(&m_driveHalfSpeed)
-      .WhenReleased(&m_driveFullSpeed);
+      .WhenPressed(frc2::InstantCommand{[this] { m_drive.SetMaxOutput(0.5); }})
+      .WhenReleased(frc2::InstantCommand{[this] { m_drive.SetMaxOutput(1); }});
 }
 
 frc2::Command* RobotContainer::GetAutonomousCommand() {

wpilibcExamples/src/main/cpp/examples/GyroDriveCommands/cpp/commands/TurnToAngle.cpp

@@ -11,12 +11,12 @@
 
 using namespace DriveConstants;
 
-TurnToAngle::TurnToAngle(double targetAngleDegrees, DriveSubsystem* drive)
+TurnToAngle::TurnToAngle(units::degree_t target, DriveSubsystem* drive)
     : CommandHelper(frc2::PIDController(kTurnP, kTurnI, kTurnD),
                     // Close loop on heading
-                    [drive] { return drive->GetHeading(); },
+                    [drive] { return drive->GetHeading().to<double>(); },
                     // Set reference to target
-                    targetAngleDegrees,
+                    target.to<double>(),
                     // Pipe output to turn robot
                     [drive](double output) { drive->ArcadeDrive(0, output); },
                     // Require the drive
@@ -26,9 +26,10 @@ TurnToAngle::TurnToAngle(double targetAngleDegrees, DriveSubsystem* drive)
   // Set the controller tolerance - the delta tolerance ensures the robot is
   // stationary at the setpoint before it is considered as having reached the
   // reference
-  m_controller.SetTolerance(kTurnToleranceDeg, kTurnRateToleranceDegPerS);
+  m_controller.SetTolerance(kTurnTolerance.to<double>(),
+                            kTurnRateTolerance.to<double>());
 
   AddRequirements({drive});
 }
 
-bool TurnToAngle::IsFinished() { return m_controller.AtSetpoint(); }
+bool TurnToAngle::IsFinished() { return GetController().AtSetpoint(); }

wpilibcExamples/src/main/cpp/examples/GyroDriveCommands/cpp/commands/TurnToAngleProfiled.cpp

@@ -0,0 +1,39 @@
+/*----------------------------------------------------------------------------*/
+/* 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.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#include "commands/TurnToAngleProfiled.h"
+
+#include <frc/controller/ProfiledPIDController.h>
+
+using namespace DriveConstants;
+
+TurnToAngleProfiled::TurnToAngleProfiled(units::degree_t target,
+                                         DriveSubsystem* drive)
+    : CommandHelper(
+          frc::ProfiledPIDController<units::radians>(
+              kTurnP, kTurnI, kTurnD, {kMaxTurnRate, kMaxTurnAcceleration}),
+          // Close loop on heading
+          [drive] { return drive->GetHeading(); },
+          // Set reference to target
+          target,
+          // Pipe output to turn robot
+          [drive](double output, auto setpointState) {
+            drive->ArcadeDrive(0, output);
+          },
+          // Require the drive
+          {drive}) {
+  // Set the controller to be continuous (because it is an angle controller)
+  GetController().EnableContinuousInput(-180_deg, 180_deg);
+  // Set the controller tolerance - the delta tolerance ensures the robot is
+  // stationary at the setpoint before it is considered as having reached the
+  // reference
+  GetController().SetTolerance(kTurnTolerance, kTurnRateTolerance);
+
+  AddRequirements({drive});
+}
+
+bool TurnToAngleProfiled::IsFinished() { return GetController().AtGoal(); }

wpilibcExamples/src/main/cpp/examples/GyroDriveCommands/cpp/subsystems/DriveSubsystem.cpp

@@ -46,8 +46,9 @@ void DriveSubsystem::SetMaxOutput(double maxOutput) {
   m_drive.SetMaxOutput(maxOutput);
 }
 
-double DriveSubsystem::GetHeading() {
-  return std::remainder(m_gyro.GetAngle(), 360) * (kGyroReversed ? -1.0 : 1.0);
+units::degree_t DriveSubsystem::GetHeading() {
+  return units::degree_t(std::remainder(m_gyro.GetAngle(), 360) *
+                         (kGyroReversed ? -1.0 : 1.0));
 }
 
 double DriveSubsystem::GetTurnRate() {

wpilibcExamples/src/main/cpp/examples/GyroDriveCommands/include/Constants.h

@@ -7,6 +7,7 @@
 
 #pragma once
 
+#include <units/units.h>
 #include <wpi/math>
 
 /**
@@ -45,8 +46,11 @@ constexpr double kTurnP = 1;
 constexpr double kTurnI = 0;
 constexpr double kTurnD = 0;
 
-constexpr double kTurnToleranceDeg = 5;
-constexpr double kTurnRateToleranceDegPerS = 10;  // degrees per second
+constexpr auto kTurnTolerance = 5_deg;
+constexpr auto kTurnRateTolerance = 10_deg_per_s;
+
+constexpr auto kMaxTurnRate = 100_deg_per_s;
+constexpr auto kMaxTurnAcceleration = 300_deg_per_s / 1_s;
 }  // namespace DriveConstants
 
 namespace AutoConstants {

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

@@ -12,9 +12,6 @@
 #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 "commands/TurnToAngle.h"
@@ -45,34 +42,6 @@ class RobotContainer {
   // The robot's subsystems
   DriveSubsystem m_drive;
 
-  // Assorted commands to be bound to buttons
-
-  // Turn to 90 degrees, with a 5 second timeout
-  frc2::ParallelRaceGroup m_turnTo90 =
-      TurnToAngle{90, &m_drive}.WithTimeout(5_s);
-
-  // Stabilize the robot while driving
-  frc2::PIDCommand m_stabilizeDriving{
-      frc2::PIDController{dc::kStabilizationP, dc::kStabilizationI,
-                          dc::kStabilizationD},
-      // Close the loop on the turn rate
-      [this] { return m_drive.GetTurnRate(); },
-      // Setpoint is 0
-      0,
-      // Pipe the output to the turning controls
-      [this](double output) {
-        m_drive.ArcadeDrive(
-            m_driverController.GetY(frc::GenericHID::JoystickHand::kLeftHand),
-            output);
-      },
-      // Require the robot drive
-      {&m_drive}};
-
-  frc2::InstantCommand m_driveHalfSpeed{[this] { m_drive.SetMaxOutput(0.5); },
-                                        {}};
-  frc2::InstantCommand m_driveFullSpeed{[this] { m_drive.SetMaxOutput(1); },
-                                        {}};
-
   // The chooser for the autonomous routines
   frc::SendableChooser<frc2::Command*> m_chooser;
 

wpilibcExamples/src/main/cpp/examples/GyroDriveCommands/include/commands/TurnToAngle.h

@@ -23,7 +23,7 @@ class TurnToAngle : public frc2::CommandHelper<frc2::PIDCommand, TurnToAngle> {
    * @param targetAngleDegrees The angle to turn to
    * @param drive              The drive subsystem to use
    */
-  TurnToAngle(double targetAngleDegrees, DriveSubsystem* drive);
+  TurnToAngle(units::degree_t target, DriveSubsystem* drive);
 
   bool IsFinished() override;
 };

wpilibcExamples/src/main/cpp/examples/GyroDriveCommands/include/commands/TurnToAngleProfiled.h

@@ -0,0 +1,33 @@
+/*----------------------------------------------------------------------------*/
+/* 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 <frc2/command/CommandHelper.h>
+#include <frc2/command/ProfiledPIDCommand.h>
+
+#include "subsystems/DriveSubsystem.h"
+
+/**
+ * A command that will turn the robot to the specified angle using a motion
+ * profile.
+ */
+class TurnToAngleProfiled
+    : public frc2::CommandHelper<frc2::ProfiledPIDCommand<units::radians>,
+                                 TurnToAngleProfiled> {
+ public:
+  /**
+   * Turns to robot to the specified angle using a motion profile.
+   *
+   * @param targetAngleDegrees The angle to turn to
+   * @param drive              The drive subsystem to use
+   */
+  TurnToAngleProfiled(units::degree_t targetAngleDegrees,
+                      DriveSubsystem* drive);
+
+  bool IsFinished() override;
+};

wpilibcExamples/src/main/cpp/examples/GyroDriveCommands/include/subsystems/DriveSubsystem.h

@@ -13,6 +13,7 @@
 #include <frc/SpeedControllerGroup.h>
 #include <frc/drive/DifferentialDrive.h>
 #include <frc2/command/SubsystemBase.h>
+#include <units/units.h>
 
 #include "Constants.h"
 
@@ -74,7 +75,7 @@ class DriveSubsystem : public frc2::SubsystemBase {
    *
    * @return the robot's heading in degrees, from 180 to 180
    */
-  double GetHeading();
+  units::degree_t GetHeading();
 
   /**
    * Returns the turn rate of the robot.

wpilibcExamples/src/main/cpp/examples/examples.json

@@ -508,5 +508,29 @@
     "foldername": "ArmBot",
     "gradlebase": "cpp",
     "commandversion": 2
+  },
+  {
+    "name": "ArmBotOffboard",
+    "description": "An example command-based robot demonstrating the use of a TrapezoidProfileSubsystem to control an arm with an offboard PID.",
+    "tags": [
+      "ArmBotOffboard",
+      "PID",
+      "Motion Profile"
+    ],
+    "foldername": "ArmBotOffboard",
+    "gradlebase": "cpp",
+    "commandversion": 2
+  },
+  {
+    "name": "DriveDistanceOffboard",
+    "description": "An example command-based robot demonstrating the use of a TrapezoidProfileCommand to drive a robot a set distance with offboard PID on the drive.",
+    "tags": [
+      "DriveDistance",
+      "PID",
+      "Motion Profile"
+    ],
+    "foldername": "DriveDistanceOffboard",
+    "gradlebase": "cpp",
+    "commandversion": 2
   }
 ]