diff --git a/wpilibcExamples/src/main/cpp/examples/ArmBot/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/ArmBot/cpp/Robot.cpp
index d3a106b3935..13eb9f9ac46 100644
--- a/wpilibcExamples/src/main/cpp/examples/ArmBot/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/ArmBot/cpp/Robot.cpp
@@ -39,7 +39,7 @@ void Robot::DisabledPeriodic() {}
 void Robot::AutonomousInit() {
   m_autonomousCommand = m_container.GetAutonomousCommand();
 
-  if (m_autonomousCommand != nullptr) {
+  if (m_autonomousCommand) {
     m_autonomousCommand->Schedule();
   }
 }
@@ -51,9 +51,9 @@ void Robot::TeleopInit() {
   // 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) {
+  if (m_autonomousCommand) {
     m_autonomousCommand->Cancel();
-    m_autonomousCommand = nullptr;
+    m_autonomousCommand.reset();
   }
 }
 
diff --git a/wpilibcExamples/src/main/cpp/examples/ArmBot/cpp/RobotContainer.cpp b/wpilibcExamples/src/main/cpp/examples/ArmBot/cpp/RobotContainer.cpp
index 90aa789ab4c..1bf4dcf6df8 100644
--- a/wpilibcExamples/src/main/cpp/examples/ArmBot/cpp/RobotContainer.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/ArmBot/cpp/RobotContainer.cpp
@@ -60,6 +60,6 @@ void RobotContainer::DisablePIDSubsystems() {
   m_arm.Disable();
 }
 
-frc2::Command* RobotContainer::GetAutonomousCommand() {
-  return nullptr;
+frc2::CommandPtr RobotContainer::GetAutonomousCommand() {
+  return frc2::cmd::None();
 }
diff --git a/wpilibcExamples/src/main/cpp/examples/ArmBot/include/Robot.h b/wpilibcExamples/src/main/cpp/examples/ArmBot/include/Robot.h
index a82f2ac63b0..de9c814e752 100644
--- a/wpilibcExamples/src/main/cpp/examples/ArmBot/include/Robot.h
+++ b/wpilibcExamples/src/main/cpp/examples/ArmBot/include/Robot.h
@@ -4,6 +4,8 @@
 
 #pragma once
 
+#include <optional>
+
 #include <frc/TimedRobot.h>
 #include <frc2/command/Command.h>
 
@@ -24,7 +26,7 @@ class Robot : public frc::TimedRobot {
  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;
+  std::optional<frc2::CommandPtr> m_autonomousCommand;
 
   RobotContainer m_container;
 };
diff --git a/wpilibcExamples/src/main/cpp/examples/ArmBot/include/RobotContainer.h b/wpilibcExamples/src/main/cpp/examples/ArmBot/include/RobotContainer.h
index 67d194c6941..ab77985e541 100644
--- a/wpilibcExamples/src/main/cpp/examples/ArmBot/include/RobotContainer.h
+++ b/wpilibcExamples/src/main/cpp/examples/ArmBot/include/RobotContainer.h
@@ -5,6 +5,7 @@
 #pragma once
 
 #include <frc2/command/Command.h>
+#include <frc2/command/CommandPtr.h>
 #include <frc2/command/button/CommandXboxController.h>
 
 #include "Constants.h"
@@ -28,7 +29,7 @@ class RobotContainer {
    */
   void DisablePIDSubsystems();
 
-  frc2::Command* GetAutonomousCommand();
+  frc2::CommandPtr GetAutonomousCommand();
 
  private:
   // The driver's controller
diff --git a/wpilibcExamples/src/main/cpp/examples/ArmBotOffboard/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/ArmBotOffboard/cpp/Robot.cpp
index c7eab485a5d..c4c1661d699 100644
--- a/wpilibcExamples/src/main/cpp/examples/ArmBotOffboard/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/ArmBotOffboard/cpp/Robot.cpp
@@ -37,7 +37,7 @@ void Robot::DisabledPeriodic() {}
 void Robot::AutonomousInit() {
   m_autonomousCommand = m_container.GetAutonomousCommand();
 
-  if (m_autonomousCommand != nullptr) {
+  if (m_autonomousCommand) {
     m_autonomousCommand->Schedule();
   }
 }
@@ -49,9 +49,9 @@ void Robot::TeleopInit() {
   // 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) {
+  if (m_autonomousCommand) {
     m_autonomousCommand->Cancel();
-    m_autonomousCommand = nullptr;
+    m_autonomousCommand.reset();
   }
 }
 
diff --git a/wpilibcExamples/src/main/cpp/examples/ArmBotOffboard/cpp/RobotContainer.cpp b/wpilibcExamples/src/main/cpp/examples/ArmBotOffboard/cpp/RobotContainer.cpp
index dce4b95c18f..a8704165a5b 100644
--- a/wpilibcExamples/src/main/cpp/examples/ArmBotOffboard/cpp/RobotContainer.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/ArmBotOffboard/cpp/RobotContainer.cpp
@@ -4,6 +4,7 @@
 
 #include "RobotContainer.h"
 
+#include <frc2/command/Commands.h>
 #include <units/angle.h>
 
 RobotContainer::RobotContainer() {
@@ -34,6 +35,6 @@ void RobotContainer::ConfigureButtonBindings() {
       .OnFalse(m_drive.SetMaxOutputCommand(1.0));
 }
 
-frc2::Command* RobotContainer::GetAutonomousCommand() {
-  return nullptr;
+frc2::CommandPtr RobotContainer::GetAutonomousCommand() {
+  return frc2::cmd::None();
 }
diff --git a/wpilibcExamples/src/main/cpp/examples/ArmBotOffboard/include/Robot.h b/wpilibcExamples/src/main/cpp/examples/ArmBotOffboard/include/Robot.h
index a82f2ac63b0..de9c814e752 100644
--- a/wpilibcExamples/src/main/cpp/examples/ArmBotOffboard/include/Robot.h
+++ b/wpilibcExamples/src/main/cpp/examples/ArmBotOffboard/include/Robot.h
@@ -4,6 +4,8 @@
 
 #pragma once
 
+#include <optional>
+
 #include <frc/TimedRobot.h>
 #include <frc2/command/Command.h>
 
@@ -24,7 +26,7 @@ class Robot : public frc::TimedRobot {
  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;
+  std::optional<frc2::CommandPtr> m_autonomousCommand;
 
   RobotContainer m_container;
 };
diff --git a/wpilibcExamples/src/main/cpp/examples/ArmBotOffboard/include/RobotContainer.h b/wpilibcExamples/src/main/cpp/examples/ArmBotOffboard/include/RobotContainer.h
index 08a4dbea307..7668c03e9a9 100644
--- a/wpilibcExamples/src/main/cpp/examples/ArmBotOffboard/include/RobotContainer.h
+++ b/wpilibcExamples/src/main/cpp/examples/ArmBotOffboard/include/RobotContainer.h
@@ -5,6 +5,7 @@
 #pragma once
 
 #include <frc2/command/Command.h>
+#include <frc2/command/CommandPtr.h>
 #include <frc2/command/button/CommandXboxController.h>
 
 #include "Constants.h"
@@ -24,7 +25,7 @@ class RobotContainer {
  public:
   RobotContainer();
 
-  frc2::Command* GetAutonomousCommand();
+  frc2::CommandPtr GetAutonomousCommand();
 
  private:
   // The driver's controller
diff --git a/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/cpp/Robot.cpp
index c7eab485a5d..c4c1661d699 100644
--- a/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/cpp/Robot.cpp
@@ -37,7 +37,7 @@ void Robot::DisabledPeriodic() {}
 void Robot::AutonomousInit() {
   m_autonomousCommand = m_container.GetAutonomousCommand();
 
-  if (m_autonomousCommand != nullptr) {
+  if (m_autonomousCommand) {
     m_autonomousCommand->Schedule();
   }
 }
@@ -49,9 +49,9 @@ void Robot::TeleopInit() {
   // 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) {
+  if (m_autonomousCommand) {
     m_autonomousCommand->Cancel();
-    m_autonomousCommand = nullptr;
+    m_autonomousCommand.reset();
   }
 }
 
diff --git a/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/cpp/RobotContainer.cpp b/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/cpp/RobotContainer.cpp
index bcb7e7367b6..37ae1aac11a 100644
--- a/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/cpp/RobotContainer.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/cpp/RobotContainer.cpp
@@ -4,6 +4,8 @@
 
 #include "RobotContainer.h"
 
+#include <frc2/command/Commands.h>
+
 #include "commands/DriveDistanceProfiled.h"
 
 RobotContainer::RobotContainer() {
@@ -60,7 +62,7 @@ void RobotContainer::ConfigureButtonBindings() {
           .WithTimeout(10_s));
 }
 
-frc2::Command* RobotContainer::GetAutonomousCommand() {
+frc2::CommandPtr RobotContainer::GetAutonomousCommand() {
   // Runs the chosen command in autonomous
-  return nullptr;
+  return frc2::cmd::None();
 }
diff --git a/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/include/Robot.h b/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/include/Robot.h
index a82f2ac63b0..de9c814e752 100644
--- a/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/include/Robot.h
+++ b/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/include/Robot.h
@@ -4,6 +4,8 @@
 
 #pragma once
 
+#include <optional>
+
 #include <frc/TimedRobot.h>
 #include <frc2/command/Command.h>
 
@@ -24,7 +26,7 @@ class Robot : public frc::TimedRobot {
  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;
+  std::optional<frc2::CommandPtr> m_autonomousCommand;
 
   RobotContainer m_container;
 };
diff --git a/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/include/RobotContainer.h b/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/include/RobotContainer.h
index 4700a70564c..6bfda5828b4 100644
--- a/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/include/RobotContainer.h
+++ b/wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/include/RobotContainer.h
@@ -23,7 +23,7 @@ class RobotContainer {
  public:
   RobotContainer();
 
-  frc2::Command* GetAutonomousCommand();
+  frc2::CommandPtr GetAutonomousCommand();
 
  private:
   // The driver's controller
diff --git a/wpilibcExamples/src/main/cpp/examples/GyroDriveCommands/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/GyroDriveCommands/cpp/Robot.cpp
index c7eab485a5d..c4c1661d699 100644
--- a/wpilibcExamples/src/main/cpp/examples/GyroDriveCommands/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/GyroDriveCommands/cpp/Robot.cpp
@@ -37,7 +37,7 @@ void Robot::DisabledPeriodic() {}
 void Robot::AutonomousInit() {
   m_autonomousCommand = m_container.GetAutonomousCommand();
 
-  if (m_autonomousCommand != nullptr) {
+  if (m_autonomousCommand) {
     m_autonomousCommand->Schedule();
   }
 }
@@ -49,9 +49,9 @@ void Robot::TeleopInit() {
   // 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) {
+  if (m_autonomousCommand) {
     m_autonomousCommand->Cancel();
-    m_autonomousCommand = nullptr;
+    m_autonomousCommand.reset();
   }
 }
 
diff --git a/wpilibcExamples/src/main/cpp/examples/GyroDriveCommands/cpp/RobotContainer.cpp b/wpilibcExamples/src/main/cpp/examples/GyroDriveCommands/cpp/RobotContainer.cpp
index 50b9900c225..7b076840b9b 100644
--- a/wpilibcExamples/src/main/cpp/examples/GyroDriveCommands/cpp/RobotContainer.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/GyroDriveCommands/cpp/RobotContainer.cpp
@@ -64,7 +64,7 @@ void RobotContainer::ConfigureButtonBindings() {
       .OnFalse(frc2::cmd::RunOnce([this] { m_drive.SetMaxOutput(1); }, {}));
 }
 
-frc2::Command* RobotContainer::GetAutonomousCommand() {
+frc2::CommandPtr RobotContainer::GetAutonomousCommand() {
   // no auto
-  return nullptr;
+  return frc2::cmd::None();
 }
diff --git a/wpilibcExamples/src/main/cpp/examples/GyroDriveCommands/include/Robot.h b/wpilibcExamples/src/main/cpp/examples/GyroDriveCommands/include/Robot.h
index a82f2ac63b0..de9c814e752 100644
--- a/wpilibcExamples/src/main/cpp/examples/GyroDriveCommands/include/Robot.h
+++ b/wpilibcExamples/src/main/cpp/examples/GyroDriveCommands/include/Robot.h
@@ -4,6 +4,8 @@
 
 #pragma once
 
+#include <optional>
+
 #include <frc/TimedRobot.h>
 #include <frc2/command/Command.h>
 
@@ -24,7 +26,7 @@ class Robot : public frc::TimedRobot {
  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;
+  std::optional<frc2::CommandPtr> m_autonomousCommand;
 
   RobotContainer m_container;
 };
diff --git a/wpilibcExamples/src/main/cpp/examples/GyroDriveCommands/include/RobotContainer.h b/wpilibcExamples/src/main/cpp/examples/GyroDriveCommands/include/RobotContainer.h
index 041812e8e45..0ecb7286d9f 100644
--- a/wpilibcExamples/src/main/cpp/examples/GyroDriveCommands/include/RobotContainer.h
+++ b/wpilibcExamples/src/main/cpp/examples/GyroDriveCommands/include/RobotContainer.h
@@ -8,6 +8,7 @@
 #include <frc/controller/PIDController.h>
 #include <frc/smartdashboard/SendableChooser.h>
 #include <frc2/command/Command.h>
+#include <frc2/command/CommandPtr.h>
 #include <frc2/command/InstantCommand.h>
 
 #include "Constants.h"
@@ -28,7 +29,7 @@ class RobotContainer {
  public:
   RobotContainer();
 
-  frc2::Command* GetAutonomousCommand();
+  frc2::CommandPtr GetAutonomousCommand();
 
  private:
   // The driver's controller
@@ -39,8 +40,5 @@ class RobotContainer {
   // The robot's subsystems
   DriveSubsystem m_drive;
 
-  // The chooser for the autonomous routines
-  frc::SendableChooser<frc2::Command*> m_chooser;
-
   void ConfigureButtonBindings();
 };
diff --git a/wpilibcExamples/src/main/cpp/examples/MecanumControllerCommand/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/MecanumControllerCommand/cpp/Robot.cpp
index c7eab485a5d..c4c1661d699 100644
--- a/wpilibcExamples/src/main/cpp/examples/MecanumControllerCommand/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/MecanumControllerCommand/cpp/Robot.cpp
@@ -37,7 +37,7 @@ void Robot::DisabledPeriodic() {}
 void Robot::AutonomousInit() {
   m_autonomousCommand = m_container.GetAutonomousCommand();
 
-  if (m_autonomousCommand != nullptr) {
+  if (m_autonomousCommand) {
     m_autonomousCommand->Schedule();
   }
 }
@@ -49,9 +49,9 @@ void Robot::TeleopInit() {
   // 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) {
+  if (m_autonomousCommand) {
     m_autonomousCommand->Cancel();
-    m_autonomousCommand = nullptr;
+    m_autonomousCommand.reset();
   }
 }
 
diff --git a/wpilibcExamples/src/main/cpp/examples/MecanumControllerCommand/cpp/RobotContainer.cpp b/wpilibcExamples/src/main/cpp/examples/MecanumControllerCommand/cpp/RobotContainer.cpp
index 0f691e00389..3e423892d0c 100644
--- a/wpilibcExamples/src/main/cpp/examples/MecanumControllerCommand/cpp/RobotContainer.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/MecanumControllerCommand/cpp/RobotContainer.cpp
@@ -12,6 +12,7 @@
 #include <frc/trajectory/Trajectory.h>
 #include <frc/trajectory/TrajectoryGenerator.h>
 #include <frc/trajectory/constraint/MecanumDriveKinematicsConstraint.h>
+#include <frc2/command/Commands.h>
 #include <frc2/command/InstantCommand.h>
 #include <frc2/command/MecanumControllerCommand.h>
 #include <frc2/command/SequentialCommandGroup.h>
@@ -47,7 +48,7 @@ void RobotContainer::ConfigureButtonBindings() {
       .OnFalse(&m_driveFullSpeed);
 }
 
-frc2::Command* RobotContainer::GetAutonomousCommand() {
+frc2::CommandPtr RobotContainer::GetAutonomousCommand() {
   // Set up config for trajectory
   frc::TrajectoryConfig config(AutoConstants::kMaxSpeed,
                                AutoConstants::kMaxAcceleration);
@@ -65,48 +66,52 @@ frc2::Command* RobotContainer::GetAutonomousCommand() {
       // Pass the config
       config);
 
-  frc2::MecanumControllerCommand mecanumControllerCommand(
-      exampleTrajectory, [this]() { return m_drive.GetPose(); },
-
-      frc::SimpleMotorFeedforward<units::meters>(ks, kv, ka),
-      DriveConstants::kDriveKinematics,
-
-      frc::PIDController{AutoConstants::kPXController, 0, 0},
-      frc::PIDController{AutoConstants::kPYController, 0, 0},
-      frc::ProfiledPIDController<units::radians>(
-          AutoConstants::kPThetaController, 0, 0,
-          AutoConstants::kThetaControllerConstraints),
-
-      AutoConstants::kMaxSpeed,
-
-      [this]() {
-        return frc::MecanumDriveWheelSpeeds{
-            units::meters_per_second_t{m_drive.GetFrontLeftEncoder().GetRate()},
-            units::meters_per_second_t{
-                m_drive.GetFrontRightEncoder().GetRate()},
-            units::meters_per_second_t{m_drive.GetRearLeftEncoder().GetRate()},
-            units::meters_per_second_t{
-                m_drive.GetRearRightEncoder().GetRate()}};
-      },
-
-      frc::PIDController{DriveConstants::kPFrontLeftVel, 0, 0},
-      frc::PIDController{DriveConstants::kPRearLeftVel, 0, 0},
-      frc::PIDController{DriveConstants::kPFrontRightVel, 0, 0},
-      frc::PIDController{DriveConstants::kPRearRightVel, 0, 0},
-
-      [this](units::volt_t frontLeft, units::volt_t rearLeft,
-             units::volt_t frontRight, units::volt_t rearRight) {
-        m_drive.SetMotorControllersVolts(frontLeft, rearLeft, frontRight,
-                                         rearRight);
-      },
-
-      {&m_drive});
-
   // Reset odometry to the starting pose of the trajectory.
   m_drive.ResetOdometry(exampleTrajectory.InitialPose());
 
-  // no auto
-  return new frc2::SequentialCommandGroup(
-      std::move(mecanumControllerCommand),
-      frc2::InstantCommand([this]() { m_drive.Drive(0, 0, 0, false); }, {}));
+  frc2::CommandPtr mecanumDriveCommand =
+      frc2::MecanumControllerCommand(
+          exampleTrajectory, [this]() { return m_drive.GetPose(); },
+
+          frc::SimpleMotorFeedforward<units::meters>(ks, kv, ka),
+          DriveConstants::kDriveKinematics,
+
+          frc::PIDController{AutoConstants::kPXController, 0, 0},
+          frc::PIDController{AutoConstants::kPYController, 0, 0},
+          frc::ProfiledPIDController<units::radians>(
+              AutoConstants::kPThetaController, 0, 0,
+              AutoConstants::kThetaControllerConstraints),
+
+          AutoConstants::kMaxSpeed,
+
+          [this]() {
+            return frc::MecanumDriveWheelSpeeds{
+                units::meters_per_second_t{
+                    m_drive.GetFrontLeftEncoder().GetRate()},
+                units::meters_per_second_t{
+                    m_drive.GetFrontRightEncoder().GetRate()},
+                units::meters_per_second_t{
+                    m_drive.GetRearLeftEncoder().GetRate()},
+                units::meters_per_second_t{
+                    m_drive.GetRearRightEncoder().GetRate()}};
+          },
+
+          frc::PIDController{DriveConstants::kPFrontLeftVel, 0, 0},
+          frc::PIDController{DriveConstants::kPRearLeftVel, 0, 0},
+          frc::PIDController{DriveConstants::kPFrontRightVel, 0, 0},
+          frc::PIDController{DriveConstants::kPRearRightVel, 0, 0},
+
+          [this](units::volt_t frontLeft, units::volt_t rearLeft,
+                 units::volt_t frontRight, units::volt_t rearRight) {
+            m_drive.SetMotorControllersVolts(frontLeft, rearLeft, frontRight,
+                                             rearRight);
+          },
+
+          {&m_drive})
+          .ToPtr();
+
+  return frc2::cmd::Sequence(
+      std::move(mecanumDriveCommand),
+      frc2::InstantCommand([this] { m_drive.Drive(0, 0, 0, false); }, {})
+          .ToPtr());
 }
diff --git a/wpilibcExamples/src/main/cpp/examples/MecanumControllerCommand/include/Robot.h b/wpilibcExamples/src/main/cpp/examples/MecanumControllerCommand/include/Robot.h
index a82f2ac63b0..de9c814e752 100644
--- a/wpilibcExamples/src/main/cpp/examples/MecanumControllerCommand/include/Robot.h
+++ b/wpilibcExamples/src/main/cpp/examples/MecanumControllerCommand/include/Robot.h
@@ -4,6 +4,8 @@
 
 #pragma once
 
+#include <optional>
+
 #include <frc/TimedRobot.h>
 #include <frc2/command/Command.h>
 
@@ -24,7 +26,7 @@ class Robot : public frc::TimedRobot {
  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;
+  std::optional<frc2::CommandPtr> m_autonomousCommand;
 
   RobotContainer m_container;
 };
diff --git a/wpilibcExamples/src/main/cpp/examples/MecanumControllerCommand/include/RobotContainer.h b/wpilibcExamples/src/main/cpp/examples/MecanumControllerCommand/include/RobotContainer.h
index 93485e3bb0f..c6f8afc703c 100644
--- a/wpilibcExamples/src/main/cpp/examples/MecanumControllerCommand/include/RobotContainer.h
+++ b/wpilibcExamples/src/main/cpp/examples/MecanumControllerCommand/include/RobotContainer.h
@@ -9,6 +9,7 @@
 #include <frc/controller/ProfiledPIDController.h>
 #include <frc/smartdashboard/SendableChooser.h>
 #include <frc2/command/Command.h>
+#include <frc2/command/CommandPtr.h>
 #include <frc2/command/InstantCommand.h>
 #include <frc2/command/PIDCommand.h>
 #include <frc2/command/ParallelRaceGroup.h>
@@ -28,7 +29,7 @@ class RobotContainer {
  public:
   RobotContainer();
 
-  frc2::Command* GetAutonomousCommand();
+  frc2::CommandPtr GetAutonomousCommand();
 
  private:
   // The driver's controller
@@ -44,8 +45,5 @@ class RobotContainer {
   frc2::InstantCommand m_driveFullSpeed{[this] { m_drive.SetMaxOutput(1); },
                                         {}};
 
-  // The chooser for the autonomous routines
-  frc::SendableChooser<frc2::Command*> m_chooser;
-
   void ConfigureButtonBindings();
 };
diff --git a/wpilibcExamples/src/main/cpp/examples/SelectCommand/cpp/RobotContainer.cpp b/wpilibcExamples/src/main/cpp/examples/SelectCommand/cpp/RobotContainer.cpp
index 69895cb1cae..df5ba8ce95e 100644
--- a/wpilibcExamples/src/main/cpp/examples/SelectCommand/cpp/RobotContainer.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/SelectCommand/cpp/RobotContainer.cpp
@@ -4,9 +4,17 @@
 
 #include "RobotContainer.h"
 
+#include <frc/smartdashboard/SmartDashboard.h>
+
 RobotContainer::RobotContainer() {
   // Initialize all of your commands and subsystems here
 
+  m_chooser.SetDefaultOption("ONE", CommandSelector::ONE);
+  m_chooser.AddOption("TWO", CommandSelector::TWO);
+  m_chooser.AddOption("THREE", CommandSelector::THREE);
+
+  frc::SmartDashboard::PutData("Auto Chooser", &m_chooser);
+
   // Configure the button bindings
   ConfigureButtonBindings();
 }
diff --git a/wpilibcExamples/src/main/cpp/examples/SelectCommand/include/RobotContainer.h b/wpilibcExamples/src/main/cpp/examples/SelectCommand/include/RobotContainer.h
index a1a2c86fac7..ce5e26d679e 100644
--- a/wpilibcExamples/src/main/cpp/examples/SelectCommand/include/RobotContainer.h
+++ b/wpilibcExamples/src/main/cpp/examples/SelectCommand/include/RobotContainer.h
@@ -4,7 +4,9 @@
 
 #pragma once
 
+#include <frc/smartdashboard/SendableChooser.h>
 #include <frc2/command/Command.h>
+#include <frc2/command/CommandPtr.h>
 #include <frc2/command/Commands.h>
 
 /**
@@ -24,10 +26,8 @@ class RobotContainer {
   // The enum used as keys for selecting the command to run.
   enum CommandSelector { ONE, TWO, THREE };
 
-  // An example selector method for the selectcommand.  Returns the selector
-  // that will select which command to run.  Can base this choice on logical
-  // conditions evaluated at runtime.
-  CommandSelector Select() { return ONE; }
+  // An example of how command selector may be used with SendableChooser
+  frc::SendableChooser<CommandSelector> m_chooser;
 
   // The robot's subsystems and commands are defined here...
 
@@ -36,7 +36,7 @@ class RobotContainer {
   // takes a generic type, so the selector does not have to be an enum; it could
   // be any desired type (string, integer, boolean, double...)
   frc2::CommandPtr m_exampleSelectCommand = frc2::cmd::Select<CommandSelector>(
-      [this] { return Select(); },
+      [this] { return m_chooser.GetSelected(); },
       // Maps selector values to commands
       std::pair{ONE, frc2::cmd::Print("Command one was selected!")},
       std::pair{TWO, frc2::cmd::Print("Command two was selected!")},
diff --git a/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/cpp/Robot.cpp
index c7eab485a5d..c4c1661d699 100644
--- a/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/cpp/Robot.cpp
@@ -37,7 +37,7 @@ void Robot::DisabledPeriodic() {}
 void Robot::AutonomousInit() {
   m_autonomousCommand = m_container.GetAutonomousCommand();
 
-  if (m_autonomousCommand != nullptr) {
+  if (m_autonomousCommand) {
     m_autonomousCommand->Schedule();
   }
 }
@@ -49,9 +49,9 @@ void Robot::TeleopInit() {
   // 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) {
+  if (m_autonomousCommand) {
     m_autonomousCommand->Cancel();
-    m_autonomousCommand = nullptr;
+    m_autonomousCommand.reset();
   }
 }
 
diff --git a/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/cpp/RobotContainer.cpp b/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/cpp/RobotContainer.cpp
index 4bbbe0c4c94..9865e00eb50 100644
--- a/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/cpp/RobotContainer.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/cpp/RobotContainer.cpp
@@ -11,6 +11,7 @@
 #include <frc/shuffleboard/Shuffleboard.h>
 #include <frc/trajectory/Trajectory.h>
 #include <frc/trajectory/TrajectoryGenerator.h>
+#include <frc2/command/Commands.h>
 #include <frc2/command/InstantCommand.h>
 #include <frc2/command/SequentialCommandGroup.h>
 #include <frc2/command/SwerveControllerCommand.h>
@@ -48,7 +49,7 @@ RobotContainer::RobotContainer() {
 
 void RobotContainer::ConfigureButtonBindings() {}
 
-frc2::Command* RobotContainer::GetAutonomousCommand() {
+frc2::CommandPtr RobotContainer::GetAutonomousCommand() {
   // Set up config for trajectory
   frc::TrajectoryConfig config(AutoConstants::kMaxSpeed,
                                AutoConstants::kMaxAcceleration);
@@ -73,24 +74,27 @@ frc2::Command* RobotContainer::GetAutonomousCommand() {
   thetaController.EnableContinuousInput(units::radian_t{-std::numbers::pi},
                                         units::radian_t{std::numbers::pi});
 
-  frc2::SwerveControllerCommand<4> swerveControllerCommand(
-      exampleTrajectory, [this]() { return m_drive.GetPose(); },
+  // Reset odometry to the starting pose of the trajectory.
+  m_drive.ResetOdometry(exampleTrajectory.InitialPose());
 
-      m_drive.kDriveKinematics,
+  frc2::CommandPtr swerveDriveCommand =
+      frc2::SwerveControllerCommand<4>(
+          exampleTrajectory, [this]() { return m_drive.GetPose(); },
 
-      frc::PIDController{AutoConstants::kPXController, 0, 0},
-      frc::PIDController{AutoConstants::kPYController, 0, 0}, thetaController,
+          m_drive.kDriveKinematics,
 
-      [this](auto moduleStates) { m_drive.SetModuleStates(moduleStates); },
+          frc::PIDController{AutoConstants::kPXController, 0, 0},
+          frc::PIDController{AutoConstants::kPYController, 0, 0},
+          thetaController,
 
-      {&m_drive});
+          [this](auto moduleStates) { m_drive.SetModuleStates(moduleStates); },
 
-  // Reset odometry to the starting pose of the trajectory.
-  m_drive.ResetOdometry(exampleTrajectory.InitialPose());
+          {&m_drive})
+          .ToPtr();
 
-  // no auto
-  return new frc2::SequentialCommandGroup(
-      std::move(swerveControllerCommand),
+  return frc2::cmd::Sequence(
+      std::move(swerveDriveCommand),
       frc2::InstantCommand(
-          [this]() { m_drive.Drive(0_mps, 0_mps, 0_rad_per_s, false); }, {}));
+          [this] { m_drive.Drive(0_mps, 0_mps, 0_rad_per_s, false); }, {})
+          .ToPtr());
 }
diff --git a/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/include/Robot.h b/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/include/Robot.h
index a82f2ac63b0..de9c814e752 100644
--- a/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/include/Robot.h
+++ b/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/include/Robot.h
@@ -4,6 +4,8 @@
 
 #pragma once
 
+#include <optional>
+
 #include <frc/TimedRobot.h>
 #include <frc2/command/Command.h>
 
@@ -24,7 +26,7 @@ class Robot : public frc::TimedRobot {
  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;
+  std::optional<frc2::CommandPtr> m_autonomousCommand;
 
   RobotContainer m_container;
 };
diff --git a/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/include/RobotContainer.h b/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/include/RobotContainer.h
index 3466121ab6a..4c7916456ab 100644
--- a/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/include/RobotContainer.h
+++ b/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/include/RobotContainer.h
@@ -9,6 +9,7 @@
 #include <frc/controller/ProfiledPIDController.h>
 #include <frc/smartdashboard/SendableChooser.h>
 #include <frc2/command/Command.h>
+#include <frc2/command/CommandPtr.h>
 #include <frc2/command/InstantCommand.h>
 #include <frc2/command/PIDCommand.h>
 #include <frc2/command/ParallelRaceGroup.h>
@@ -28,7 +29,7 @@ class RobotContainer {
  public:
   RobotContainer();
 
-  frc2::Command* GetAutonomousCommand();
+  frc2::CommandPtr GetAutonomousCommand();
 
  private:
   // The driver's controller
@@ -39,8 +40,5 @@ class RobotContainer {
   // The robot's subsystems
   DriveSubsystem m_drive;
 
-  // The chooser for the autonomous routines
-  frc::SendableChooser<frc2::Command*> m_chooser;
-
   void ConfigureButtonBindings();
 };