== 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'''
 - ''Initialization''
    * Initialization occurs when a command is run for the first time
    * This means that if a command is stopped and then run again the init() method will run twice
 
 - ''Execution''
    * The execute method inside of a command is must be concise and must not bog down the system or          the entire robot may stop
    * This means that large loops and wait methods should not be inside of an execute command
 
 - ''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

 - ''Manually Starting Commands''
    * In order to manually start commands, create a new command object and run the start() method on the new command object
    * This may be very important when programming the autonomous robot
  
  {{{ExampleCommand cmd = new ExampleCommand()}}}

  {{{cmd.start();}}}
'''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 parallelization 
    * 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

 - ''Parallel''
    * Runs one command in the command group after the other without the need for an end command.

 - ''Sequential''
    * Runs one command in the command group after the other with the need for an end() command before moving to the next command.

  {{{addSequential(new Command1());}}}

  
  {{{addParallel(new Command1());}}}