[examples] Add XRP C++ Examples and Templates (#5743)

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

@@ -0,0 +1,63 @@
+// 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 <frc/Joystick.h>
+#include <frc/smartdashboard/SendableChooser.h>
+#include <frc/xrp/XRPOnBoardIO.h>
+#include <frc2/command/Command.h>
+#include <frc2/command/CommandPtr.h>
+#include <frc2/command/button/Trigger.h>
+
+#include "Constants.h"
+#include "commands/AutonomousDistance.h"
+#include "commands/AutonomousTime.h"
+#include "subsystems/Arm.h"
+#include "subsystems/Drivetrain.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 {
+  // NOTE: The I/O pin functionality of the 5 exposed I/O pins depends on the
+  // hardware "overlay"
+  // that is specified when launching the wpilib-ws server on the Romi raspberry
+  // pi. By default, the following are available (listed in order from inside of
+  // the board to outside):
+  // - DIO 8 (mapped to Arduino pin 11, closest to the inside of the board)
+  // - Analog In 0 (mapped to Analog Channel 6 / Arduino Pin 4)
+  // - Analog In 1 (mapped to Analog Channel 2 / Arduino Pin 20)
+  // - PWM 2 (mapped to Arduino Pin 21)
+  // - PWM 3 (mapped to Arduino Pin 22)
+  //
+  // Your subsystem configuration should take the overlays into account
+ public:
+  RobotContainer();
+  frc2::Command* GetAutonomousCommand();
+
+ private:
+  // Assumes a gamepad plugged into channel 0
+  frc::Joystick m_controller{0};
+  frc::SendableChooser<frc2::Command*> m_chooser;
+
+  // The robot's subsystems
+  Drivetrain m_drive;
+  Arm m_arm;
+  frc::XRPOnBoardIO m_onboardIO;
+
+  // Example button
+  frc2::Trigger m_userButton{
+      [this] { return m_onboardIO.GetUserButtonPressed(); }};
+
+  // Autonomous commands.
+  AutonomousDistance m_autoDistance{&m_drive};
+  AutonomousTime m_autoTime{&m_drive};
+
+  void ConfigureButtonBindings();
+};