Command-Based Programming Overview

The Command Framework separates what your robot can do (Subsystems) from when and how it does it (Commands).

• Subsystems hold hardware and logic (e.g., Drivetrain, Elevator).
• Commands describe actions (e.g., DriveForward, MoveArmToSetpoint).
• CommandScheduler runs continuously during robot operation and manages command lifecycles.

This pattern promotes reusable, testable, and readable code — a cornerstone of Ironclad’s software philosophy.