[Ether]

Thank you everyone for the responses. I've been carefully reviewing them all and I think I now have a reasonably coherent idea of how command-based works.

There are however a few seeming inconsistencies (or perhaps ambiguities) that I'd like to resolve. Here are two:

Firstly, it is necessary but not sufficient that each individual command in the scheduler's queue complete within 20ms. Rather, the sum total of the individual execution times must be less than 20ms. Correct?

Secondly, the scheduler maintains not only a queue of all the commands to be run, but also the state of each command... and only the method corresponding to each command's state is executed. Correct? (Compare post 15 to post 17 for example of apparent inconsistency).