[NotInControl]

Originally Posted by ahwhitley

Thank you very much for the detailed reply! It helped a lot to understand how the command/subsystem framework works. I should have realized that the commands were suppose to be recursion based (that's what it looks like is happening) based on some sample code I was using.
Either way thanks for the reply again. This should definitely be enough info to finish the code up.

Andrew

Commands shouldn't be recursion based if you are using the strict computer science definition of recursion (a function/method which calls itself).

Commands should be seen as instructions to control the hardware tied to a subsystem. A command can do one thing and finish such as set a solenoid in a subsystem and complete, or a command can run forever, and only close when interrupted, such as driving with Joysticks, which will run forever, and if you hit a button to run another command on that subsystem it will stop.

Take a look at the screensteps live wpi site for an overview of commandbase if its still unclear or post questions here.

If you are getting an outOfMemory message, you have a memory leak somewhere. I haven't looked at your code, but look for anywhere you use the new operator in a loop. That is probably not something you want to do.

Hope this helps,
Kevin