Command Based Java Topics

[notmattlythgoe]

This past fall our team presented a Basic Command Based Java course at the VA FRC Workshops that VirginiaFIRST organizes every year. This summer I'd like to put together an intermediate to advanced presentation and would like some input on what are some things people would be interested in learning about if they were to attend a course on something like this.

The basic course covered:
The basic srtucture
Subsystems
Commands
Writing a basic drivetrain and autonomous.

Some more advanced topics I was thinking about are:
Creating reusable commands
CommandGroups
PIDSubsystems and PIDCommands
Case based CommandGroups

What other topics do you think would be useful? I'd also like to use this as a research opportunity for our team for things that we have not figured out the best practice for yet, and we can post our results here as we find them, even if it doesn't make it into the final presentation.