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Originally Posted by dmelcer9
But with a command group, any subsystems that the command group requires are "required" for the whole command group sequence.
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Clearly that isn't true. To test this make a new CG() with cg.addSequential(new DriveForward()) then cg.addSequential(new Wait(10)). while it is waiting you'll find that your default-teleOP drive will be working.
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Also, let's say you want to add a third step. For all of these approaches, you need to add a sendablechooser and some commands or suppliers of commands.
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Very true. This isn't a drive/game strategy forum but I think that the MultiStarter, which is/was your proposal, is poor example of WHY this topic-thread is relevant.
I'd propose that in this year’s game, given a non-symmetrical field, that a RedBlueStarter(redcmd, bluecmd) would be more desirable to some teams. That flexibility is difficult with your 2-choosers/Supplier based options.
Clearly your free to favor either of your Supplier/Optional ideas. But from a CSA perspective I'd be leery about logic that borders on needing a "how to verify 'unwinding the stack'" as a concern. (YOU may do this right, but does your team have any other programmers?).