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Command‑Based Programming

The command‑based framework organizes robot code into Subsystems (hardware controllers) and Commands (actions).
It’s perfect for FRC because it scales from simple bots to full multi‑mechanism robots with autonomous routines.

Core Ideas​

  • Subsystem → owns hardware (motors/sensors), exposes safe methods.
  • Command → asks subsystems to do something (set a speed, move to position).
  • Scheduler → runs commands, manages conflicts and lifecycles.
  • Triggers → button/condition that schedules commands.

Golden rule: Subsystems expose intention; commands decide behavior.