Am I Using Command-Based Correctly?

[PopeRyanI]

Hello all,

After reading a lot about it on this forum, I decided to try out using the Command Based framework for our FRC robot. In years past, my team mostly just wrote code using the SampleRobot base class and put all of the code in one file (well, and the headers). As a result, I was curious about the Command Based model because of its emphasis on dividing up the code which helps with having multiple people be able to program at the same time, something we have not done very much.

I recently tried to port our offseason robot code over to the Command Based model. It is not perfect and does not have an autonomous, but does work for the most part. I posted it here: https://github.com/ryanp73/CommandBa...ree/master/src

I looked at numerous examples from other teams online and eventually came up with this code. One of the things I noticed that initially stopped me using this framework was the presence of the boilerplate code and especially just the inefficiency of having so many files; however, I still like how it prevents repetition in addition to the easier ability to run things for set periods of time and run things concurrently.

So to return to my question: am I doing this correctly? What suggestions would you give to improve this code and/or do things differently?