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Re: What is the purpose of RobotMap.java in CommandBased?
That can be a valid approach, too, if the limit switch is exclusively part of one subsystem. In the past, we've gotten in situations where there's a tangle of subsystem references, only to get access to sensor state. The SensorSubsystem prevents that.
Having one subsystem referencing another also makes it easier to accidentally command the referenced subsystem. This breaks the "requires" model in the command-based framework, which is present to help you reason about where commanding might be coming from. You can certainly produce a correct program by doing so, but it is harder to think about. We deliberately design our robot program so that it is easy to think about.
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2016-17 events: 10000 Lakes Regional, Northern Lights Regional, FTC Burnsville Qualifying Tournament
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2013 - present · event volunteer at 10000 Lakes Regional, Northern Lights Regional, North Star Regional, Lake Superior Regional, Minnesota State Tournament, PNW District 4 Glacier Peak, MN FTC, CMP
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"Nuclear" is pronounced "nu kli Er." It is NOT pronounced "nu kU ler." When you use this pronunciation, no matter how smart you may actually be, you sound like an illiterate dolt (are you listening, Mr. Bush?). - dlavery [more] 
13-02-2015, 13:39
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