Quote:
Originally Posted by apalrd
This thread reminds me why I dislike Java and the command architecture for embedded systems.
I've always designed the code so we can pass desired setpoints in a single auton function then terminate. That way, we send the Set command in the script, and the subsystem listens and controls to that commanded value indefinitely (or until disable->enable transition).
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We used 3 different methods with the command system.
1)Send a setpoint and exit immediately while holding the setpoint.
2)Send a setpoint, wait for it to get there, then exit and keep holding.
3)Send a setpoint, wait for it to get there, then exit and stop holding
Not sure why you think there's only one way to write things with the command system.