== 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)