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Unread 27-01-2017, 12:11
dmelcer9 dmelcer9 is offline
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Re: Building Commands at Runtime

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Originally Posted by wlogeais View Post
So what exactly is the problem with this required-whole-time status, and how does supplier/optional change that at all? (since you are still added same subsystem-commands into a group)
Oh, I'm saying that doing the supplier/optional/commandgroup setup allows the required whole time, while instead doing a custom implementation of commandgroup doesn't allow that. The required whole time feature is good because any subsystems that need to be in a certain state for the command group to function optimally will be in that state the whole time the command group is running.

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Originally Posted by wlogeais View Post
I just prefer the simplicity of a single chooser, eg. FuelThenGear as an option and the ability to not add GearThenFuel if it isn't going to be tested and used.
That's just driver preference I guess- our drivers liked the "building" the autonomous sequence before each match. Sometimes the alliance partners have weird robots or strategies, so it's good to have a modular system for any scenario.
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Unread 27-01-2017, 13:30
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Re: Building Commands at Runtime

FYI: A few years ago, there was an FMS problem where a 2nd Autonomous Init command was sent to some robots about 10 seconds into Autonomous.

You may want to figure out how to deal with the problem during Competition, vs intentionally during practice.

Maybe Autonomous has to complete before you restart it. In that case, you flush the command que at the end of Autonomous.
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