Oh my goodness! Opportunity!
If you are interested in learning command-based, I'd look into our base code that we have written. It follows the basic uses that the WPI stuff has, but gives you a way more in-depth look at how it works, lets you change it, and has a ton more features.
I'm currently working on video tutorials that are found
here.
All information is available there. I'd love if you'd check it out! It's fine if you don't choose to use it, but I'd love some feedback anyways.
Thanks,
Joel