We (on 254) usually just end up writing a bunch of boiler plate code to do this, but I think #3 is a solid way of solving this. Personally I don't make an abstraction until I have at least 3 things that need it (you know the whole bit about premature optimization...). If I had to, I'd make Subsystems implement Interfaces like "Extendable" or "Controllable" then make commands that handle that.
125 did this last year a little differently by subclassing subsystem, then building Commands that could control those types of subsystems.
https://github.com/kreeve/Nutrons201...Subsystem.java
You enjoy your pepperoni pizza, I'll enjoy my cheese and peppers, and we can both agree that people that like pineapple on their pizza, while strange... are completely entitled to their opinions. - Andrew Schreiber [more] 
03-01-2014, 13:50
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