[Greg McKaskle]

I have code, but it isn't really up to example standards yet.

My suggestion would be to use the current framework, but start moving subsystems that need control elements almost entirely into the Periodic Tasks. Have it respond to a set point global or collection of globals. Then build up some subVIs that set the globals in order to command the mechanism. If you need a notification mechanism, you can use a global, but may want to look at the Notifier data type.

There are many teams that already write the code this way. I don't know if they consider it command based, but it helps to isolate and scale the code.

Greg McKaskle