[documentation] Remove RobotContainer from templates

wpilibcExamples/src/main/cpp/templates/commandbased/cpp/Robot.cpp

@@ -6,7 +6,16 @@
 
 #include <frc2/command/CommandScheduler.h>
 
-Robot::Robot() {}
+Robot::Robot() {
+  // Schedule `ExampleCommand` when `exampleCondition` changes to `true`
+  frc2::Trigger([this] {
+    return m_subsystem.ExampleCondition();
+  }).OnTrue(ExampleCommand(&m_subsystem).ToPtr());
+
+  // Schedule `ExampleMethodCommand` when the Xbox controller's B button is
+  // pressed, cancelling on release.
+  m_driverController.B().WhileTrue(m_subsystem.ExampleMethodCommand());
+}
 
 /**
  * This function is called every 20 ms, no matter the mode. Use
@@ -34,7 +43,7 @@ void Robot::DisabledPeriodic() {}
  * RobotContainer} class.
  */
 void Robot::AutonomousInit() {
-  m_autonomousCommand = m_container.GetAutonomousCommand();
+  m_autonomousCommand = return autos::ExampleAuto(&m_subsystem);
 
   if (m_autonomousCommand) {
     m_autonomousCommand->Schedule();

wpilibcExamples/src/main/cpp/templates/commandbased/include/Robot.h

@@ -8,8 +8,10 @@
 
 #include <frc/TimedRobot.h>
 #include <frc2/command/CommandPtr.h>
+#include <frc2/command/button/CommandXboxController.h>
 
-#include "RobotContainer.h"
+#include "Constants.h"
+#include "subsystems/ExampleSubsystem.h"
 
 class Robot : public frc::TimedRobot {
  public:
@@ -30,5 +32,10 @@ class Robot : public frc::TimedRobot {
   // doesn't have undefined behavior and potentially crash.
   std::optional<frc2::CommandPtr> m_autonomousCommand;
 
-  RobotContainer m_container;
+  // Replace with CommandPS4Controller or CommandJoystick if needed
+  frc2::CommandXboxController m_driverController{
+      OperatorConstants::kDriverControllerPort};
+
+  // The robot's subsystems are defined here...
+  ExampleSubsystem m_subsystem;
 };

wpilibcExamples/src/main/cpp/templates/commandbasedskeleton/cpp/Robot.cpp

@@ -19,7 +19,7 @@ void Robot::DisabledPeriodic() {}
 void Robot::DisabledExit() {}
 
 void Robot::AutonomousInit() {
-  m_autonomousCommand = m_container.GetAutonomousCommand();
+  m_autonomousCommand = frc2::cmd::Print("No autonomous command configured");
 
   if (m_autonomousCommand) {
     m_autonomousCommand->Schedule();

wpilibcExamples/src/main/cpp/templates/commandbasedskeleton/include/Robot.h

@@ -9,8 +9,6 @@
 #include <frc/TimedRobot.h>
 #include <frc2/command/CommandPtr.h>
 
-#include "RobotContainer.h"
-
 class Robot : public frc::TimedRobot {
  public:
   Robot();
@@ -30,6 +28,4 @@ class Robot : public frc::TimedRobot {
 
  private:
   std::optional<frc2::CommandPtr> m_autonomousCommand;
-
-  RobotContainer m_container;
 };

wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/Robot.java

@@ -5,8 +5,15 @@
 package edu.wpi.first.wpilibj.templates.commandbased;
 
 import edu.wpi.first.wpilibj.TimedRobot;
+import edu.wpi.first.wpilibj.templates.commandbased.subsystems.ExampleSubsystem;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.CommandScheduler;
+import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
+import edu.wpi.first.wpilibj2.command.button.Trigger;
+
+import edu.wpi.first.wpilibj.templates.commandbased.Constants.OperatorConstants;
+import edu.wpi.first.wpilibj.templates.commandbased.subsystems.ExampleSubsystem;
+import edu.wpi.first.wpilibj.templates.commandbased.commands.ExampleCommand;
 
 /**
  * The methods in this class are called automatically corresponding to each mode, as described in
@@ -16,16 +23,25 @@
 public class Robot extends TimedRobot {
   private Command m_autonomousCommand;
 
-  private final RobotContainer m_robotContainer;
+  // The robot's subsystems and commands are defined here...
+  private final ExampleSubsystem m_exampleSubsystem = new ExampleSubsystem();
+
+  // Replace with CommandPS4Controller or CommandJoystick if needed
+  private final CommandXboxController m_driverController =
+      new CommandXboxController(OperatorConstants.kDriverControllerPort);
 
   /**
    * This function is run when the robot is first started up and should be used for any
    * initialization code.
    */
   public Robot() {
-    // Instantiate our RobotContainer.  This will perform all our button bindings, and put our
-    // autonomous chooser on the dashboard.
-    m_robotContainer = new RobotContainer();
+    // Schedule `ExampleCommand` when `exampleCondition` changes to `true`
+    new Trigger(m_exampleSubsystem::exampleCondition)
+        .onTrue(new ExampleCommand(m_exampleSubsystem));
+
+    // Schedule `exampleMethodCommand` when the Xbox controller's B button is pressed,
+    // cancelling on release.
+    m_driverController.b().whileTrue(m_exampleSubsystem.exampleMethodCommand());
   }
 
   /**
@@ -54,7 +70,7 @@ public void disabledPeriodic() {}
   /** This autonomous runs the autonomous command selected by your {@link RobotContainer} class. */
   @Override
   public void autonomousInit() {
-    m_autonomousCommand = m_robotContainer.getAutonomousCommand();
+    m_autonomousCommand = Autos.exampleAuto(m_exampleSubsystem);
 
     // schedule the autonomous command (example)
     if (m_autonomousCommand != null) {

wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbasedskeleton/Robot.java

@@ -11,8 +11,6 @@
 public class Robot extends TimedRobot {
   private Command m_autonomousCommand;
 
-  private final RobotContainer m_robotContainer;
-
   public Robot() {
     m_robotContainer = new RobotContainer();
   }
@@ -33,7 +31,7 @@ public void disabledExit() {}
 
   @Override
   public void autonomousInit() {
-    m_autonomousCommand = m_robotContainer.getAutonomousCommand();
+    m_autonomousCommand = Commands.print("No autonomous command configured");
 
     if (m_autonomousCommand != null) {
       m_autonomousCommand.schedule();