[Kevin Sevcik]

Originally Posted by Ginto8

There's nothing saying you can't make your own Command to do it, though. CommandGroups are just Commands implementing a special case of a state machine. Also, an interesting thing to note is that if you use requires(), each Subsystem acts as a state machine with Commands as the states (and it's really easy to add a state for these, as it just involves adding requires() to a Command's constructor).

Yeeeees... I can see how you could make that work, though I think you'd end up with either one huge command or your state machine logic spread over a half dozen files. I'll have to think on it a little more now that there's not a robot to finish already, dangit.