[RyanCahoon]

Originally Posted by Ziv

I suggest using the command-subsystem style

Implementing the command-subsystem paradigm using the base classes included in WPIlibJ also allows you to use event-driven programming using the Button classes, which can replace most - if not all - of your if statements with a couple lines at program initialization in the form:

Originally Posted by http://www.wbrobotics.com/attachments/article/11/WPILibCookbook.pdf

JoystickButton trigger = new JoystickButton(stick, Joystick.ButtonType.kTrigger.value);
trigger.whenPressed(new DoCoolStuffCommand());