== Command Based Robots ==

Structure Documentation:

'''Subsystem'''
 - ''Default Commands''
    * Continuously executing until Interrupt

  {{{setDefaultCommand(new ExampleGroup());}}}

 - ''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 
    * These prevent two different commands from utilizing the same resources on the robot

  {{{requires(Robot.exampleSubsystem);}}}

'''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

  {{{Joystick js0 = new Joystick(0);}}}

  {{{Button btn00 = new JoystickButton(js0, 0);}}}
 - ''Button Actions''
    * Commands can be mapped to buttons or triggers in the OI class 
      
  {{{btn00.whileHeld(new Command());}}}

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

  {{{public static int defaultMotor = 2;}}}

'''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
    * Commands will add in order of methods to add them

 - ''Sequential''
    * TODO(testing)

  {{{addSequential(new Command1());}}}
 - ''Parallel''
    * TODO(testing)
  
  {{{addParallel(new Command1());}}}