Building Commands at Runtime

[dmelcer9]

Originally Posted by wlogeais

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.

But when you add a command to a commandgroup, the commandgroup calls requires for all the subsystems that the added commands require. (Source) Maybe DriveForward and the JoystickDriveCommand don't have their requires set up correctly?

Originally Posted by wlogeais

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.

You can supply a RedBlueDumpFuel command (or similar) via a supplier. It wouldn't be too hard to drop a ConditionalCommand into the sendablechooser instead of a regular command.

Originally Posted by wlogeais

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?).

I'm not sure what you mean by needing to verify unwinding the stack. Using a supplier is more defensive programming- even if another programmer hijacks one of the suppliers from the sendablechooser, the commands that are generated are different instances.