[gixxy]

The way commands are run in the Command Based Structure are via a queue. The execute method of each scheduled command is executed in sequence (I assume in the order added to the queue). This means that each command's execute method shouldn't contain anything that will sleep the thread (delays) or otherwise tie the thread up for long periods of time (intensive camera calculations). Such actions will lead to decreased robot responsiveness.

There are many other ways to implement non-blocking timers, if you describe what it is you mean I can help point you in the right direction.

I believe by "non-interruptive" Arhowk meant non-blocking. As far as interrupts on a command, they are only used when a new command is added to the queue that uses the SAME subsystem as another queued command. So, if the first is not interruptible, the second command will not run, if it is, the first command will be interrupted and the second will take over. Command Interrupts do not refer to commands using different subsystems in any way.