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

wpilibcExamples/src/main/cpp/examples/XRPReference/include/commands/TurnTime.h

@@ -0,0 +1,31 @@
+// 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/Timer.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::Command, TurnTime> {
+ public:
+  TurnTime(double speed, units::second_t time, Drivetrain* drive)
+      : m_speed(speed), m_duration(time), m_drive(drive) {
+    AddRequirements(m_drive);
+  }
+
+  void Initialize() override;
+  void Execute() override;
+  void End(bool interrupted) override;
+  bool IsFinished() override;
+
+ private:
+  double m_speed;
+  units::second_t m_duration;
+  Drivetrain* m_drive;
+  frc::Timer m_timer;
+};