Lifecycle & Scheduling

The CommandScheduler runs every loop and:

• calls initialize() for new commands
• calls execute() for scheduled commands
• ends commands that finish or get interrupted
• enforces subsystem requirements (prevents conflicts)

Modes

• Default commands run when a subsystem is idle
• Interrupts: scheduling a new command that requires the same subsystem interrupts the old one
• Use .withTimeout() and .until() to bound execution

Health

• Log active commands each loop
• Ensure all long‑running commands either have a finish condition or are default commands