Impressions: Command Based Robot

[Joe Ross]

Originally Posted by notmattlythgoe

We have a DeployArmCommand this year that pretty much covers all of the uses we need. We pass in a boolean if the arm should be deployed or not and a speed at which the rollers should spin. This command can then be used for any situation we need it for.

We find it nice to have simple commands that don't need any outside input (so they can be run from SmartDashboard for debugging. Because of this, we make a complicated command (like your DeployArmCommand) and then make a bunch of commands that extend the complicated command and pass the appropriate data.

We've ended up putting Safety logic in the subsystem, so that everyone is guaranteed to use it, but put Business logic in the command.