[shindigo]

We put all our sets of parallel commands in their own CommandGroup. We find this makes is clearer what is running in parallel and what is not.

In the Autonomous CommandGroup we have:
AddSequential(new DoThing1());
AddSequential(new DoThings2and3());
AddSequential(new DoThing4());

Inside the CommandGroup called DoThings2and3 we have:

AddParallel(new DoThing2());
AddParallel(new DoThing3());

Thing4 does not execute until 2 and 3 are finished.