Building Commands at Runtime

[wlogeais]

Originally Posted by dmelcer9

But with a command group, any subsystems that the command group requires are "required" for the whole command group sequence.

Clearly that isn't true. To test this make a new CG() with cg.addSequential(new DriveForward()) then cg.addSequential(new Wait(10)). while it is waiting you'll find that your default-teleOP drive will be working.

Also, let's say you want to add a third step. For all of these approaches, you need to add a sendablechooser and some commands or suppliers of commands.

Very true. This isn't a drive/game strategy forum but I think that the MultiStarter, which is/was your proposal, is poor example of WHY this topic-thread is relevant.

I'd propose that in this year’s game, given a non-symmetrical field, that a RedBlueStarter(redcmd, bluecmd) would be more desirable to some teams. That flexibility is difficult with your 2-choosers/Supplier based options.

Clearly your free to favor either of your Supplier/Optional ideas. But from a CSA perspective I'd be leery about logic that borders on needing a "how to verify 'unwinding the stack'" as a concern. (YOU may do this right, but does your team have any other programmers?).