Reflection on Choreo

[Tyler_S]

@Programming4907

The root cause of the problem seems to be that a single composite autonomous command requires all subsystems, due to the way requirements work with composite commands, and the autonomous commands don’t appear to be interruptible, so your triggers don’t work (if they require anything the auto also requires).

One way to get around this is to avoid using requirements and just have commands that execute instantly and change the “mode” of a subsystem. Then put your logic in the subsystem periodic method.

We ran into this issue during build season and found that with PathPlanner autos, the entire auto gets cancelled when any other command is scheduled via a Trigger.

@Tyler_S

Once we got the beam brake, we ran into an issue where scheduling a command outside the auto causes the pathplanner auto command to be canceled:
https://www.youtube.com/watch?v=-vyTfoSEPPQ

Our solution was different from yours in that we moved the beam brake logic out of the command scheduler and into the periodic function for the intake.