== 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)