Making more reusable commands

[Kevin Sevcik]

Originally Posted by notmattlythgoe

This is the way it should be done. The parts (solenoids, motor controllers, encoders, etc.) should be contained to each of the different subsystems and how you control those different parts should be strictly limited to the methods you make available to the commands. Commands should never have direct access to any of the devices set up in a subsystem.

Agreed, but there's still value in parameterized Commands for things like 4ndr3wl is talking about. We did the same last year so we could have a Shoot command that we passed an enum to pick which set of speeds+angle we were firing at. As opposed to having a ShootFar, ShootNear, etc. command. Which means if we needed a new set of speeds+angle, we could just add another element to the array and another constant to the enum. Instead of adding yet another command.