[Pault]

As others have mentioned, one of the keys to command-based programming is dividing your robot up into as many different subsystems as possible, not just a few broad ones. When you put 2 actuators which don't always move at the same time in a subsystem, you are going to run into problems. I found this especially true when I was attempting to improve the code that our old programmer made last year. One of the big features I wanted was the ability for the operator to turn on the shooter wheel before we were ready to shoot, that way we wouldn't have to wait as long once we were lined up. Unfortunately, he had put the shooter motor in the same subsystem as our complex indexing system, and so implement such a simple feature as the ability to toggle a motor on/off required a huge restucturing of our code. So I guess this is one con.

Although I am generally a big advocate for command-based. I feel as though the benefits it offers are worth the extra hassle. And honestly, it works perfectly well and can do whatever you need it to do so long as you code it in the "correct" way (although that is much easier said than done).