Parallel commands that depend on the same subsystem?
 

How would the two commands be ran in this situation? Either by running them in parallel in a command group, or if both commands were default commands of different subsystems.

I know that if one command is run that depends on a subsystem that another running command depends on, either of the commands are terminated depending on the circumstances. Is there a way to get two commands to literally run in parallel, accessing the same subsystem? So if commands A and B depend on subsystem C, the scheduler will execute A, then B, A, B, and so on.

Is there a way to get that working?

EDIT:

If there is not, I'll explain my design further. In this case command A would only read information from subsystem C. It would only use accessor methods and no mutator methods. So would it be safe to just omit the "requires" call?

Re: Parallel commands that depend on the same subsystem?
 

Command A does not require exclusive access to Subsystem, so you should not use the requires call.

Re: Parallel commands that depend on the same subsystem?
 

So there isn't a way to do the former. Otherwise answers my question, thanks!

Re: Parallel commands that depend on the same subsystem?
 

If A and B both "require" C in your case, either you are trying to control the same physical parts of the robot (motor controllers, solenoids, etc) with 2 commands (bad and can have unexpected results), or your subsystem has 2 different (sets of) physical parts that the commands are controlling (in which case you should refactor said subsystem into 2 subsystems).