Command Based Programming (Threads?)

[notmattlythgoe]

Originally Posted by Ether

OK thanks that's pretty clear. Is there any performance difference between the approach shown above and the code in post#15? Which approach do you prefer, and why (or does it depend on context)?

Honestly, the performance differences would between the two would be so minuscule they probably aren't measurable.

My team and I prefer the method I provided in post #15. It's easier to read, easier to modify, and more modular. Here is an example from our competition code from last season. Notice how easy it is to read exactly what the ShootSeries command does.

public class ShootSeries extends CommandGroup {
    
    public ShootSeries() {
        addParallel(new PickUpDeploy(PickUp.DEPLOY, 0, PickUp.CLOSE));
        addSequential(new WaitCommand(0.25));
        addSequential(new SetShooterPosition(Shooter.FIRE));
        addSequential(new WaitCommand(0.2));
        addSequential(new SetShooterPosition(Shooter.PRIME));
        addSequential(new WaitCommand(0.1));
        addParallel(new ResetArmCommand());    
    }
}

public class PickUpDeploy extends CommandBase {
    
    private boolean deploy;
    private double rollerSpeed;
    private boolean openWings;
    
    public PickUpDeploy(boolean deploy, double rollerSpeed) {
        this(deploy, rollerSpeed, PickUp.CLOSE);
    }
    
    public PickUpDeploy(boolean deploy, double rollerSpeed, boolean openWings) {
        requires(pickUp);
        this.deploy = deploy;
        this.rollerSpeed = rollerSpeed;
        this.openWings = openWings;
    }

    protected void initialize() {
        pickUp.deployArm(deploy);
        pickUp.deployCatch(openWings);
    }

    protected void execute() {
         if(oi.isRollerOn()){
            pickUp.setRollerSpeed(rollerSpeed);
        }else{
            pickUp.setRollerSpeed(0);
        }
    }

    protected boolean isFinished() {
        return false;
    }

    protected void end() { }

    protected void interrupted() { }
}

public class SetShooterPosition extends CommandBase {
    
    public boolean shooterPosition;
    
    public SetShooterPosition(boolean shooterPosition) {
        requires(shooter);
        this.shooterPosition = shooterPosition;
    }

    protected void initialize() { }
    
    protected void execute() {
        shooter.primeShooter(shooterPosition);
    }

    protected boolean isFinished() {
        return true;
    }

    protected void end() { }

    protected void interrupted() { }
}

public class ResetArmCommand extends CommandBase {
    
    public ResetArmCommand() {
        requires(pickUp);
    }
    
    protected void initialize() { }

    protected void execute() { }

    protected boolean isFinished() {
        return true;
    }

    protected void end() { }

    protected void interrupted() { }
}

public class PickUp extends Subsystem {
    
    public static final boolean DEPLOY = true;
    public static final boolean RETRACT = false;
    public static final boolean OPEN = true;
    public static final boolean CLOSE = false;
    
    private Solenoid pickUpSolenoid1 = new Solenoid(PropertyReader.getProperty("PICKUP_SOLENOID_MODULE", 2), PropertyReader.getProperty("PICKUP_SOLENOID_CHANNEL_A", RobotMap.pickUpSolenoid1));
    private Solenoid pickUpSolenoid2 = new Solenoid(PropertyReader.getProperty("PICKUP_SOLENOID_MODULE", 2), PropertyReader.getProperty("PICKUP_SOLENOID_CHANNEL_B", RobotMap.pickUpSolenoid2));
    
    private Solenoid wingSolenoid = new Solenoid(PropertyReader.getProperty("WING_SOLENOID_MODULE", 2), PropertyReader.getProperty("WING_SOLENOID_CHANNEL", RobotMap.wingSolenoidChannel));
    
    private SpeedController upperPickUp = new Talon(PropertyReader.getProperty("PICKUP_TALON_CHANNEL", RobotMap.upperPickUpRoller));
    
    private double powerLevel;
    
    private RollingAverager pickUpAverager = new RollingAverager(10, 0);
    
    public void initDefaultCommand() {
        setDefaultCommand(new PickUpDeploy(RETRACT, 0, CLOSE));
    }
    
    public void setRollerSpeed(double power) {
        powerLevel = power;
        pickUpAverager.addValue(powerLevel);
        upperPickUp.set(pickUpAverager.getAverage());
    }
    
    public void deployArm(boolean deploy) {
       pickUpSolenoid1.set(!deploy);
       pickUpSolenoid2.set(deploy);
    }
    public void deployCatch(boolean deploy) {
        wingSolenoid.set(deploy);
    }
}

public class Shooter extends Subsystem {
    public String currentHot;
    
    public Solenoid blockerPole1 = new Solenoid(PropertyReader.getProperty("BLOCKER_SOLENOID_MODULE", 1), PropertyReader.getProperty("BLOCKER_POLE_CHANNEL_A", RobotMap.blockerPolePort1));
    public Solenoid blockerPole2 = new Solenoid(PropertyReader.getProperty("BLOCKER_SOLENOID_MODULE", 1), PropertyReader.getProperty("BLOCKER_POLE_CHANNEL_B", RobotMap.blockerPolePort2));
    
    public static final boolean FIRE = true;
    public static final boolean PRIME = false;
    
    private Solenoid shooterSolenoid1 = new Solenoid(PropertyReader.getProperty("SHOOTER_SOLENOID_MODULE", 1), PropertyReader.getProperty("SHOOTER_SOLENOID_CHANNEL_A", RobotMap.shooterSolenoid1Port));
    private Solenoid shooterSolenoid2 = new Solenoid(PropertyReader.getProperty("SHOOTER_SOLENOID_MODULE", 1), PropertyReader.getProperty("SHOOTER_SOLENOID_CHANNEL_B", RobotMap.shooterSolenoid2Port));

    public void initDefaultCommand() {
        setDefaultCommand(new SetShooterPosition(Shooter.PRIME));
    }
    
    public void primeShooter(boolean prime) {
        //System.out.println("IN PRIME SHOOTER " + prime);
        shooterSolenoid1.set(prime);
        shooterSolenoid2.set(prime);
    }
}

If interested, here is the entirety of our code from last season, with some offseason additions.

Also, here is our code from this season so far.