Quote:
Originally Posted by Joe Ross
We find it nice to have simple commands that don't need any outside input (so they can be run from SmartDashboard for debugging. Because of this, we make a complicated command (like your DeployArmCommand) and then make a bunch of commands that extend the complicated command and pass the appropriate data.
We've ended up putting Safety logic in the subsystem, so that everyone is guaranteed to use it, but put Business logic in the command.
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I like this strategy also. But couldn't you just send the command to the smart dashboard with the parameters included? We decided to use Network Tables this year instead of the SmartDashboard, so I could be mistaken.
Also, I cannot wait until next year when we can use ENUMs to send in different states to subsystems and commands.