[commands, documentation] Update RapidReactCommandBot example

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

@@ -4,53 +4,51 @@
 
 #include "Robot.h"
 
-Robot::Robot() {
-  // Configure default commands and condition bindings on robot startup
-  m_robot.ConfigureBindings();
-}
-
-void Robot::RobotPeriodic() {
-  // Runs the Scheduler.  This is responsible for polling buttons, adding
-  // newly-scheduled commands, running already-scheduled commands, removing
-  // finished or interrupted commands, and running subsystem Periodic() methods.
-  // This must be called from the robot's periodic block in order for anything
-  // in the Command-based framework to work.
-  frc2::CommandScheduler::GetInstance().Run();
-}
-
-void Robot::DisabledInit() {}
-
-void Robot::DisabledPeriodic() {}
-
-void Robot::AutonomousInit() {
-  m_autonomousCommand = m_robot.GetAutonomousCommand();
+#include <frc2/command/Command.h>
+#include <frc2/command/Commands.h>
+#include <frc2/command/button/Trigger.h>
 
-  if (m_autonomousCommand) {
-    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) {
-    m_autonomousCommand->Cancel();
-  }
-}
+#include "Constants.h"
 
-void Robot::TeleopPeriodic() {}
-
-void Robot::TestInit() {
-  // Cancels all running commands at the start of test mode.
-  frc2::CommandScheduler::GetInstance().CancelAll();
+Robot::Robot() {
+  // Automatically run the storage motor whenever the ball storage is not full,
+  // and turn it off whenever it fills. Uses subsystem-hosted trigger to
+  // improve readability and make inter-subsystem communication easier.
+  m_storage.HasCargo.WhileFalse(m_storage.RunCommand());
+
+  // Automatically disable and retract the intake whenever the ball storage is
+  // full.
+  m_storage.HasCargo.OnTrue(m_intake.RetractCommand());
+
+  // Control the drive with split-stick arcade controls
+  m_drive.SetDefaultCommand(m_drive.ArcadeDriveCommand(
+      [this] { return -m_driverController.GetLeftY(); },
+      [this] { return -m_driverController.GetRightX(); }));
+
+  // Deploy the intake with the X button
+  m_driverController.X().OnTrue(m_intake.IntakeCommand());
+  // Retract the intake with the Y button
+  m_driverController.Y().OnTrue(m_intake.RetractCommand());
+
+  // Fire the shooter with the A button
+  m_driverController.A().OnTrue(
+      frc2::cmd::Parallel(
+          m_shooter.ShootCommand(ShooterConstants::kShooterTarget),
+          m_storage.RunCommand())
+          // Since we composed this inline we should give it a name
+          .WithName("Shoot"));
+
+  // Toggle compressor with the Start button
+  m_driverController.Start().ToggleOnTrue(
+      m_pneumatics.DisableCompressorCommand());
+
+  m_exampleAuto = m_drive
+                      .DriveDistanceCommand(AutoConstants::kDriveDistance,
+                                            AutoConstants::kDriveSpeed)
+                      .WithTimeout(AutoConstants::kTimeout);
+  m_autoChooser.SetDefaultOption("Example Auto", m_exampleAuto.get());
 }
 
-void Robot::TestPeriodic() {}
-
 #ifndef RUNNING_FRC_TESTS
 int main() {
   return frc::StartRobot<Robot>();

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

@@ -4,27 +4,32 @@
 
 #pragma once
 
-#include <optional>
-
-#include <frc/TimedRobot.h>
 #include <frc2/command/CommandPtr.h>
+#include <frc2/command/CommandRobot.h>
+#include <frc2/command/button/CommandXboxController.h>
 
-#include "RapidReactCommandBot.h"
+#include "Constants.h"
+#include "subsystems/Drive.h"
+#include "subsystems/Intake.h"
+#include "subsystems/Pneumatics.h"
+#include "subsystems/Shooter.h"
+#include "subsystems/Storage.h"
 
-class Robot : public frc::TimedRobot {
+class Robot : public frc2::CommandRobot {
  public:
   Robot();
-  void RobotPeriodic() override;
-  void DisabledInit() override;
-  void DisabledPeriodic() override;
-  void AutonomousInit() override;
-  void AutonomousPeriodic() override;
-  void TeleopInit() override;
-  void TeleopPeriodic() override;
-  void TestInit() override;
-  void TestPeriodic() override;
 
  private:
-  RapidReactCommandBot m_robot;
-  std::optional<frc2::CommandPtr> m_autonomousCommand;
+  // The robot's subsystems
+  Drive m_drive;
+  Intake m_intake;
+  Shooter m_shooter;
+  Storage m_storage;
+  Pneumatics m_pneumatics;
+
+  // The driver's controller
+  frc2::CommandXboxController m_driverController{
+      OIConstants::kDriverControllerPort};
+
+  frc2::CommandPtr m_exampleAuto;
 };