[JeffB]

My team has started to implement it. It looks more daunting than it really is. If you want to bring it to your team, I'd suggest taking some time to go over the documentation provided by both NI and a beta team to get a general understanding of the architecture. My team started reading it together and asked me questions as they got stuck on points. They were picking it up pretty quickly.

One thing I've pointed out to them is how much it is like OOP. They've been learning Java in school and are more familiar with how objects interact with each other than they were anything else. If we point out objects calling methods in other classes are only sending messages/commands, it becomes easier to see how the commands being sent relate to code they've seen in the past.

Depending on how comfortable you are with your programmers, it might be best to get the robot code in a good condition using what they're used to and then challenging them to branch out into command and control. My group worked on the familiar architecture up until they wanted to work on autonomous. When they started seeing similar actions taking place in a variety of possible autonomous cases, they liked the idea of sending a command to complete the task instead of copy/pasting or creating their own subVIs to duplicate their efforts. At that point, they started digging into Command and Control.