[feverittm]

I have been working with our programmers for a while now and have been working with the WPILIBJ since the beginning in 2010.

Our team uses the command based framework. We like the way we can modularize the code: Break apart functionality into Subsystems, Define commands that operate on those subsystems and then connect the overall system together in the Robot.java code segment while abstracting the harward connections away in the RobotMap layer.

you can get a better look at this methodology by reviewing the Gearsbot code and if you look on Youtube there are videos on this system as well that explain it quite well.

I have looked at he RobotBuilder and in some places it can work reasonably. However, it does make it more difficult to understand your code and our programmers are not a fan of placing all the constructors in the RobotMap file. I use it VERY early in the development to help understand the connections and plan the structure of the code. I can also use it to help with quick testing of systems without having to focus on having everything in place; you can define the subsystems with all their sensors and actuators, then use the 'Testing' mode on the dashboard to verify system functionality.

I know that these capabilities can be developed using the other programming systems, like IterativeRobot, but we find this way easier.

Enjoy!

Floyd Moore