Am I Using Command-Based Correctly?

[Jalerre]

As far as I can tell, you are using the command based template exactly as it is intended. The only suggestion I have is to set constants labeled PWM1, PWM2, DIO1, DIO2, ect in your Robot Map and then set your motor controller and sensor variables to these constants. It makes things a lot easier if wiring changes in the future and increases readablity.