[Greg McKaskle]

One of the goals of the framework was to make it compatible with the previous way of doing things. This means that you can choose just one subsystem and implement it using command and control and see what you think.

Something with a control loop or a state machine would make a good candidate.

You add the subsystem using the wizard and it gives initial code for the controller and some basic commands to drop off new set points. This is really pretty similar to using a periodic task except that the commands can more easily cancel an operation and start a new thing. It also keeps the implementation details within the controller, so changes to a pot, encoder, motor, or wheel are way less likely to impact other code. It gives you a trace to know what mechanisms were doing what at any point in time. It gives you an easy way to synchronize with the completion for autonomous steps.

Greg McKaskle