Command Based vs Simple Robot

[jfitz0807]

I'm new to using java for the robot this year. When people talk about a "command based" robot are they referring to the IterativeRobot or is there another extension?

[BigJ]

Originally Posted by jfitz0807

I'm new to using java for the robot this year. When people talk about a "command based" robot are they referring to the IterativeRobot or is there another extension?

"Command-based" is a seperate architectural template from Simple and Iterative.

Check it out here. (Java uses the same stuff basically)

[heya101]

Do you think with four subsystems (DriveTrain, Intake, Elevator, and Shooter) Command would be redundant? Also is it possible to integrate, say 1 subsystem and command, into a simpleRobot template?

[gixxy]

I was against the Command Based Template at the beginning for the same reason. However looking back on it, the time saved and time using the CommandBased Structure was great. It is a great structure well built and simple to use once you know some basic Java.

The programming team is always the one on crunch time at the end when the physical design is done. Unless you are able to really get a format/structure together on your own (Probably would have had to been done offseason) then go ahead with it, otherwise I would highly stress the Command Based Structure.

[jwiederspan]

We moved to Command-based this season, and it is a little more difficult for the new programmers to get used to but MUCH better for a team to work on and much more flexible than our old code.
1) Having subsystems (and commands) in separate files made it much easier to separate out the work. We agreed on the public interfaces and then each person could tweak and improve behind the scenes as needed;
2) The subsystems become somewhat modular, so you will probably find yourself each year picking and choosing from those used in previous years and they will be easier to incorporate;
3) It is much more flexible because your commands compete individually for resources instead of having the entire code base need to know what state things are currently in; and
4) It is better programming - since our goal is to get the kids excited about programming, telling them that they are using programming concepts that don't get introduced until the second year of computer science classes at most colleges usually gets them very excited.