== Command Based Robots ==

Structure Documentation:

Subsystem
 + Default Commands
    - Continuously executing until Interrupt
 + Relation To Robot
    - Subsystems can be compared to mechanisms that use the same overall resources
    - realize that two actions cannot occur at the same time, that require the same subsystem
 + Dependencies
    - Dependencies are created by the requires(Subsystem subsystem) 
    - These prevent two different commands from utilizing the same resources on the robot

Commands
 + Interrupts 
    - Called to stop a command from running
    - Specifically when robot is disabled or a dependency overlaps
 + Connection With Buttons
    - Commands can be easily mapped to buttons through the OI class

Input Class
 + Input Devices
    - Input devices are mapped through joystick and button objects
 + Button Actions
    - Commands can be mapped to buttons or triggers in the OI class 

Robot Map
 + Ports
    - This class centralizes port numbers and connection numbers for robot-wide use

Command Groups
 + About
    - Command Groups are used for command sequencing and parallelizazation 
    - Basically running things in a specific order or at the same time
    - think about automated actions
 + Sequential
    - TODO(testing)
 + Parallel
    - TODO(testing)