[wpilibcExamples] Update examples to CommandPtr

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

@@ -39,8 +39,8 @@ void Robot::DisabledPeriodic() {}
 void Robot::AutonomousInit() {
   m_autonomousCommand = m_container.GetAutonomousCommand();
 
-  if (m_autonomousCommand != nullptr) {
-    m_autonomousCommand->Schedule();
+  if (m_autonomousCommand) {
+    m_autonomousCommand.Schedule();
   }
 }
 
@@ -51,9 +51,8 @@ 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) {
-    m_autonomousCommand->Cancel();
-    m_autonomousCommand = nullptr;
+  if (m_autonomousCommand) {
+    m_autonomousCommand.Cancel();
   }
 }
 

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::CommandPtr(nullptr);
 }

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

@@ -6,6 +6,8 @@
 
 #include <frc/TimedRobot.h>
 #include <frc2/command/Command.h>
+#include <frc2/command/Commands.h>
+
 
 #include "RobotContainer.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;
+  frc2::CommandPtr m_autonomousCommand = frc2::cmd::None();
 
   RobotContainer m_container;
 };

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

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

@@ -37,8 +37,8 @@ void Robot::DisabledPeriodic() {}
 void Robot::AutonomousInit() {
   m_autonomousCommand = m_container.GetAutonomousCommand();
 
-  if (m_autonomousCommand != nullptr) {
-    m_autonomousCommand->Schedule();
+  if (m_autonomousCommand) {
+    m_autonomousCommand.Schedule();
   }
 }
 
@@ -49,9 +49,8 @@ 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) {
-    m_autonomousCommand->Cancel();
-    m_autonomousCommand = nullptr;
+  if (m_autonomousCommand) {
+    m_autonomousCommand.Cancel();
   }
 }
 

wpilibcExamples/src/main/cpp/examples/ArmBotOffboard/cpp/RobotContainer.cpp

@@ -34,6 +34,6 @@ void RobotContainer::ConfigureButtonBindings() {
       .OnFalse(m_drive.SetMaxOutputCommand(1.0));
 }
 
-frc2::Command* RobotContainer::GetAutonomousCommand() {
-  return nullptr;
+frc2::CommandPtr RobotContainer::GetAutonomousCommand() {
+  return frc2::CommandPtr(nullptr);
 }

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

@@ -6,6 +6,7 @@
 
 #include <frc/TimedRobot.h>
 #include <frc2/command/Command.h>
+#include <frc2/command/Commands.h>
 
 #include "RobotContainer.h"
 
@@ -24,7 +25,7 @@ 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;
+  frc2::CommandPtr m_autonomousCommand = frc2::cmd::None();
 
   RobotContainer m_container;
 };

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

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

@@ -37,8 +37,8 @@ void Robot::DisabledPeriodic() {}
 void Robot::AutonomousInit() {
   m_autonomousCommand = m_container.GetAutonomousCommand();
 
-  if (m_autonomousCommand != nullptr) {
-    m_autonomousCommand->Schedule();
+  if (m_autonomousCommand) {
+    m_autonomousCommand.Schedule();
   }
 }
 
@@ -49,9 +49,8 @@ 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) {
-    m_autonomousCommand->Cancel();
-    m_autonomousCommand = nullptr;
+  if (m_autonomousCommand) {
+    m_autonomousCommand.Cancel();
   }
 }
 

wpilibcExamples/src/main/cpp/examples/DriveDistanceOffboard/cpp/RobotContainer.cpp

@@ -60,7 +60,7 @@ void RobotContainer::ConfigureButtonBindings() {
           .WithTimeout(10_s));
 }
 
-frc2::Command* RobotContainer::GetAutonomousCommand() {
+frc2::CommandPtr RobotContainer::GetAutonomousCommand() {
   // Runs the chosen command in autonomous
-  return nullptr;
+  return frc2::CommandPtr(nullptr);
 }

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

@@ -6,6 +6,7 @@
 
 #include <frc/TimedRobot.h>
 #include <frc2/command/Command.h>
+#include <frc2/command/Commands.h>
 
 #include "RobotContainer.h"
 
@@ -24,7 +25,7 @@ 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;
+  frc2::CommandPtr m_autonomousCommand = frc2::cmd::None();
 
   RobotContainer m_container;
 };

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

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

@@ -37,8 +37,8 @@ void Robot::DisabledPeriodic() {}
 void Robot::AutonomousInit() {
   m_autonomousCommand = m_container.GetAutonomousCommand();
 
-  if (m_autonomousCommand != nullptr) {
-    m_autonomousCommand->Schedule();
+  if (m_autonomousCommand) {
+    m_autonomousCommand.Schedule();
   }
 }
 
@@ -49,9 +49,8 @@ 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) {
-    m_autonomousCommand->Cancel();
-    m_autonomousCommand = nullptr;
+  if (m_autonomousCommand) {
+    m_autonomousCommand.Cancel();
   }
 }
 

wpilibcExamples/src/main/cpp/examples/Frisbeebot/cpp/RobotContainer.cpp

@@ -60,7 +60,24 @@ void RobotContainer::ConfigureButtonBindings() {
       .OnFalse(frc2::cmd::RunOnce([this] { m_drive.SetMaxOutput(1); }, {}));
 }
 
-frc2::Command* RobotContainer::GetAutonomousCommand() {
+frc2::CommandPtr RobotContainer::GetAutonomousCommand() {
   // Runs the chosen command in autonomous
-  return m_autonomousCommand.get();
+  return frc2::cmd::Sequence(
+             // Start the command by spinning up the shooter...
+             frc2::cmd::RunOnce([this] { m_shooter.Enable(); }, {&m_shooter}),
+             // Wait until the shooter is at speed before feeding the frisbees
+             frc2::cmd::WaitUntil([this] { return m_shooter.AtSetpoint(); }),
+             // Start running the feeder
+             frc2::cmd::RunOnce([this] { m_shooter.RunFeeder(); },
+                                {&m_shooter}),
+             // Shoot for the specified time
+             frc2::cmd::Wait(ac::kAutoShootTimeSeconds))
+      // Add a timeout (will end the command if, for instance, the shooter
+      // never gets up to speed)
+      .WithTimeout(ac::kAutoTimeoutSeconds)
+      // When the command ends, turn off the shooter and the feeder
+      .AndThen(frc2::cmd::RunOnce([this] {
+        m_shooter.Disable();
+        m_shooter.StopFeeder();
+      }));
 }

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

@@ -6,6 +6,7 @@
 
 #include <frc/TimedRobot.h>
 #include <frc2/command/Command.h>
+#include <frc2/command/Commands.h>
 
 #include "RobotContainer.h"
 
@@ -24,7 +25,7 @@ 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;
+  frc2::CommandPtr m_autonomousCommand = frc2::cmd::None();
 
   RobotContainer m_container;
 };

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

@@ -27,7 +27,7 @@ class RobotContainer {
   RobotContainer();
 
   // The chooser for the autonomous routines
-  frc2::Command* GetAutonomousCommand();
+  frc2::CommandPtr GetAutonomousCommand();
 
  private:
   // The driver's controller
@@ -48,25 +48,5 @@ class RobotContainer {
   frc2::CommandPtr m_stopShooter =
       frc2::cmd::RunOnce([this] { m_shooter.Disable(); }, {&m_shooter});
 
-  // An autonomous routine that shoots the loaded frisbees
-  frc2::CommandPtr m_autonomousCommand =
-      frc2::cmd::Sequence(
-          // Start the command by spinning up the shooter...
-          frc2::cmd::RunOnce([this] { m_shooter.Enable(); }, {&m_shooter}),
-          // Wait until the shooter is at speed before feeding the frisbees
-          frc2::cmd::WaitUntil([this] { return m_shooter.AtSetpoint(); }),
-          // Start running the feeder
-          frc2::cmd::RunOnce([this] { m_shooter.RunFeeder(); }, {&m_shooter}),
-          // Shoot for the specified time
-          frc2::cmd::Wait(ac::kAutoShootTimeSeconds))
-          // Add a timeout (will end the command if, for instance, the shooter
-          // never gets up to speed)
-          .WithTimeout(ac::kAutoTimeoutSeconds)
-          // When the command ends, turn off the shooter and the feeder
-          .AndThen(frc2::cmd::RunOnce([this] {
-            m_shooter.Disable();
-            m_shooter.StopFeeder();
-          }));
-
   void ConfigureButtonBindings();
 };

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

@@ -37,8 +37,8 @@ void Robot::DisabledPeriodic() {}
 void Robot::AutonomousInit() {
   m_autonomousCommand = m_container.GetAutonomousCommand();
 
-  if (m_autonomousCommand != nullptr) {
-    m_autonomousCommand->Schedule();
+  if (m_autonomousCommand) {
+    m_autonomousCommand.Schedule();
   }
 }
 
@@ -49,9 +49,8 @@ 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) {
-    m_autonomousCommand->Cancel();
-    m_autonomousCommand = nullptr;
+  if (m_autonomousCommand) {
+    m_autonomousCommand.Cancel();
   }
 }
 

wpilibcExamples/src/main/cpp/examples/GearsBot/cpp/RobotContainer.cpp

@@ -15,8 +15,7 @@
 #include "commands/SetElevatorSetpoint.h"
 #include "commands/TankDrive.h"
 
-RobotContainer::RobotContainer()
-    : m_autonomousCommand(m_claw, m_wrist, m_elevator, m_drivetrain) {
+RobotContainer::RobotContainer() {
   frc::SmartDashboard::PutData(&m_drivetrain);
   frc::SmartDashboard::PutData(&m_elevator);
   frc::SmartDashboard::PutData(&m_wrist);
@@ -48,7 +47,7 @@ void RobotContainer::ConfigureButtonBindings() {
       .OnTrue(PrepareToPickup(m_claw, m_wrist, m_elevator).ToPtr());
 }
 
-frc2::Command* RobotContainer::GetAutonomousCommand() {
+frc2::CommandPtr RobotContainer::GetAutonomousCommand() {
   // An example command will be run in autonomous
-  return &m_autonomousCommand;
+  return Autonomous(m_claw, m_wrist, m_elevator, m_drivetrain).ToPtr();
 }

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

@@ -6,6 +6,7 @@
 
 #include <frc/TimedRobot.h>
 #include <frc2/command/Command.h>
+#include <frc2/command/Commands.h>
 
 #include "RobotContainer.h"
 
@@ -24,7 +25,7 @@ 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;
+  frc2::CommandPtr m_autonomousCommand = frc2::cmd::None();
 
   RobotContainer m_container;
 };

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

@@ -6,6 +6,7 @@
 
 #include <frc/XboxController.h>
 #include <frc2/command/Command.h>
+#include <frc2/command/CommandPtr.h>
 
 #include "commands/Autonomous.h"
 #include "subsystems/Claw.h"
@@ -24,7 +25,7 @@ class RobotContainer {
  public:
   RobotContainer();
 
-  frc2::Command* GetAutonomousCommand();
+  frc2::CommandPtr GetAutonomousCommand();
 
  private:
   // The robot's subsystems and commands are defined here...
@@ -35,7 +36,5 @@ class RobotContainer {
   Elevator m_elevator;
   Drivetrain m_drivetrain;
 
-  Autonomous m_autonomousCommand;
-
   void ConfigureButtonBindings();
 };