Reducing code complexity

[Ginto8]

Originally Posted by Kevin Sevcik

I think the biggest limitation is that you can't easily implement a true general purpose Finite State Machine using Commands and CommandGroups since CommandGroups are just static lists of Commands to run one after the other(ish).

There's nothing saying you can't make your own Command to do it, though. CommandGroups are just Commands implementing a special case of a state machine. Also, an interesting thing to note is that if you use requires(), each Subsystem acts as a state machine with Commands as the states (and it's really easy to add a state for these, as it just involves adding requires() to a Command's constructor).