Thank you all for your reaponses. Sorry I did not reply for a bit. I have been busy (aapparently that happens even in quarantine).
emphasized text[quote=“GeeTwo, post:13, topic:384012”]
Command-based (or similar) programming makes it very easy to keep the user interface separate from the functionality - in the sense of being able to connect things differently. It also makes it all-but-trivial to ensure that you aren’t giving the same motor two different speeds at the same time
This is an impotant point, and perhaps the best reason for using a framework. We struggled with race conditions at times when using Labview, but that was more us than the logic flow.
Semi-Autonomous is also another powerful reason to use a framework.
Thank you all for your votes and answers. This does help us as we go forward.
I can see now some of the merits of using more encapsulation, and how Command and Magic bot frameworks are a helpful way to incorporrate that. I also love the way other teams (like 254) do it successfully without using the command framework. It is interesting because some of my hesitation for jumping into command came up and have been dealt with in intereating ways.
I feel like our team is getting a lot out of this extended off-season already. We have CD to thank for a lot of it.