Add example code

networktables.json

@@ -0,0 +1 @@
+[]

src/main/java/frc/robot/Controls.java

@@ -0,0 +1,27 @@
+package frc.robot;
+
+import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
+import frc.robot.commands.example.ExampleSetSpeedCommand;
+
+public class Controls {
+    public static final boolean EXAMPLE_ENABLED = false;
+    public static final int DRIVE_CONTROLLER_PORT = 0;
+
+    private final CommandXboxController driverController;
+
+    // Normally, more descriptive names are better, but in this case, we care
+    // about making the subsystem access easy
+    private final Subsystems s;
+
+    public Controls(Subsystems s) {
+        driverController = new CommandXboxController(DRIVE_CONTROLLER_PORT);
+        this.s = s;
+        if (EXAMPLE_ENABLED) {
+            bindExampleControls();
+        }
+    }
+
+    private void bindExampleControls() {
+        driverController.a().onTrue(new ExampleSetSpeedCommand(s.exampleSubsystem, 0.1));
+    }
+}

src/main/java/frc/robot/Robot.java

@@ -5,17 +5,16 @@
 package frc.robot;
 
 import edu.wpi.first.wpilibj.TimedRobot;
-import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.CommandScheduler;
 
 public class Robot extends TimedRobot {
-  private Command m_autonomousCommand;
+  public final Subsystems subsystems;
+  @SuppressWarnings("unused")
+  private final Controls controls;
 
-  private RobotContainer m_robotContainer;
-
-  @Override
-  public void robotInit() {
-    m_robotContainer = new RobotContainer();
+  public Robot() {
+    this.subsystems = new Subsystems();
+    this.controls = new Controls(subsystems);
   }
 
   @Override
@@ -33,13 +32,7 @@ public void disabledPeriodic() {}
   public void disabledExit() {}
 
   @Override
-  public void autonomousInit() {
-    m_autonomousCommand = m_robotContainer.getAutonomousCommand();
-
-    if (m_autonomousCommand != null) {
-      m_autonomousCommand.schedule();
-    }
-  }
+  public void autonomousInit() {}
 
   @Override
   public void autonomousPeriodic() {}
@@ -48,11 +41,7 @@ public void autonomousPeriodic() {}
   public void autonomousExit() {}
 
   @Override
-  public void teleopInit() {
-    if (m_autonomousCommand != null) {
-      m_autonomousCommand.cancel();
-    }
-  }
+  public void teleopInit() {}
 
   @Override
   public void teleopPeriodic() {}

src/main/java/frc/robot/Subsystems.java

@@ -0,0 +1,17 @@
+package frc.robot;
+
+import frc.robot.subsystems.ExampleSubsystem;
+
+public class Subsystems {
+    public static final boolean EXAMPLE_ENABLED = false;
+
+    public final ExampleSubsystem exampleSubsystem;
+
+    public Subsystems() {
+        if (EXAMPLE_ENABLED) {
+            this.exampleSubsystem = new ExampleSubsystem();
+        } else {
+            this.exampleSubsystem = null;
+        }
+    }
+}

src/main/java/frc/robot/commands/example/ExampleSetSpeedCommand.java

@@ -0,0 +1,25 @@
+package frc.robot.commands.example;
+
+import edu.wpi.first.math.MathUtil;
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.ExampleSubsystem;
+
+public class ExampleSetSpeedCommand extends Command {
+    private final ExampleSubsystem exampleSubsystem;
+    private final double speed;
+
+    public ExampleSetSpeedCommand(ExampleSubsystem exampleSubsystem, double speed) {
+        this.exampleSubsystem = exampleSubsystem;
+        this.speed = speed;
+    }
+
+    @Override
+    public void initialize() {
+        exampleSubsystem.setSpeed(speed);
+    }
+
+    @Override
+    public boolean isFinished() {
+        return MathUtil.isNear(speed, exampleSubsystem.getSpeed(), 0.5);
+    }
+}

src/main/java/frc/robot/dummy/Motor.java

@@ -0,0 +1,15 @@
+package frc.robot.dummy;
+
+public class Motor {
+    private double speed = 0;
+
+    public Motor(int id) {}
+
+    public void set(double value) {
+        this.speed = 0;
+    }
+
+    public double get() {
+        return this.speed;
+    }
+}

src/main/java/frc/robot/subsystems/ExampleSubsystem.java

@@ -0,0 +1,41 @@
+package frc.robot.subsystems;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import frc.robot.dummy.Motor;
+
+public class ExampleSubsystem extends SubsystemBase {
+    // Constants
+    public static final double MAX_SPEED = 7;
+    public static final double GEAR_RATIO = 10;
+
+    // Member variables
+    private final Motor motor;
+
+    // Constructor
+    public ExampleSubsystem() {
+        this.motor = new Motor(1);
+    }
+
+    // Methods
+    public void setSpeed(double speed) {
+        motor.set(speed / GEAR_RATIO);
+    }
+
+    public void fullSpeed() {
+        motor.set(MAX_SPEED);
+    }
+
+    public void fullReverse() {
+        motor.set(-MAX_SPEED);
+    }
+
+    public double getSpeed() {
+        return motor.get() * GEAR_RATIO;
+    }
+
+    // Factories
+    public Command setSpeedCmd(double speed) {
+        return runOnce(() -> setSpeed(speed));
+    }
+}