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Design Patterns

1) Intent Methods in Subsystems​

Expose setPosition, home, percent — not raw motor calls.

2) Macro Commands​

Compose sequences for common tasks (score, intake, climb).

3) Triggers as State Machines​

Use triggers from sensors (beam breaks, positions) to gate actions.

4) Safety​

  • Soft limits + neutral modes in subsystems
  • Deadman: .whileTrue() for manual power
  • Add .finallyDo() to stop motors

5) Logging​

Annotate command start/finish and key setpoints for AdvantageScope.