Command factories and triggers examples

src/main/java/frc/robot/commands/auto/ExampleAuto.java

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+// 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.
+
+package frc.robot.commands.auto;
+
+import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
+import frc.robot.subsystems.example.ExampleSubsystem;
+
+// NOTE:  Consider using this command inline, rather than writing a subclass.  For more
+// information, see:
+// https://docs.wpilib.org/en/stable/docs/software/commandbased/convenience-features.html
+public class ExampleAuto extends SequentialCommandGroup {
+
+  /** Creates a new ExampleAuto. */
+  public ExampleAuto(ExampleSubsystem exampleSubsystem) {
+    // Add your commands in the addCommands() call, e.g.
+    // addCommands(new FooCommand(), new BarCommand());
+    addCommands(exampleSubsystem.setPivotToScore().alongWith(exampleSubsystem.setPivotToScore()));
+  }
+}

src/main/java/frc/robot/subsystems/example/ExampleConstants.java

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+package frc.robot.subsystems.example;
+
+public class ExampleConstants {
+  public static final double SHOOTER_PIVOT_ANGLE = 0 - 9;
+}

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

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+// 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.
+
+package frc.robot.subsystems.example;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.FunctionalCommand;
+import edu.wpi.first.wpilibj2.command.StartEndCommand;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import edu.wpi.first.wpilibj2.command.button.Trigger;
+import java.util.function.DoubleSupplier;
+
+public class ExampleSubsystem extends SubsystemBase {
+  private DoubleSupplier DOUBLELOL;
+
+  /** Creates a new ExampleSubsystem. */
+  public ExampleSubsystem() {}
+
+  // this is the interface for the subsystem
+  // code for motors and such would go here
+
+  @Override
+  public void periodic() {
+    // This method will be called once per scheduler run
+  }
+
+  private void exampleSubsystemFunction() {}
+
+  private void setExamplePivotAngle(double angle) {
+    // normal subsystem stuff
+  }
+
+  private double getExamplePivotAngle() {
+    return 0.0;
+  }
+
+  private boolean isAngleSet() {
+    return false;
+  }
+
+  private boolean isGamepieceinRobot() {
+    return false;
+  }
+
+  // Public Command Factory
+  // create these for everything you would need to access from a command
+  // so you don't input values or acces the internals of a subsystem in the commands themselves
+  public Command exampleFunctionalCommand() {
+    // the command is written here instead of in it's own seperate file.
+    // this saves space and makes the code more readable
+
+    return new FunctionalCommand(
+        // does on init
+        () -> this.setExamplePivotAngle(0),
+        // does on execute
+        () -> this.setExamplePivotAngle(1),
+        // does when command ends
+        interrupted -> this.setExamplePivotAngle(0),
+        // ends the command when this is true
+        () -> getExamplePivotAngle() >= 0,
+        // requirements for the command
+        this);
+  }
+
+  // Shared internal implementation
+  private Command exampleStartEndCommand() {
+    // the command is written here instead of in it's own seperate file.
+    // this saves space and makes the code more readable
+
+    return new StartEndCommand(
+        // Sets the pivot to 1 while the command is active
+        () -> this.setExamplePivotAngle(1),
+        // Sets the pivot to 0 when the command ends
+        () -> this.setExamplePivotAngle(0),
+        // requirements for the command
+        this);
+  }
+
+  // Shared internal implementation
+  private Command exampleRunOnceCommand(double angle) {
+    return this.runOnce(() -> setExamplePivotAngle(angle));
+  }
+
+  // Public Command Factory
+  public Command setPivotToScore() {
+    return exampleRunOnceCommand(ExampleConstants.SHOOTER_PIVOT_ANGLE);
+  }
+
+  // Public Command Factory
+  public Command setPivotToAngle(DoubleSupplier angle) {
+    // if you need to pass a value in do it this way
+    return exampleRunOnceCommand(angle.getAsDouble());
+  }
+
+  // this is a trigger
+  // if you need to give information from the subsystem do it like this
+  // must be a boolean
+  public final Trigger isAngleInRightSpot = new Trigger(() -> isAngleSet());
+
+  // another trigger example
+  public final Trigger hasGamepiece = new Trigger(() -> isGamepieceinRobot());
+}