Asa Paparo
See #5067 for motivation. This deprecates `PIDCommand`, `ProfiledPIDCommand`, `PIDSubsystem`, `ProfiledPIDSubsystem`, and `TrapezoidProfileSubsystem`. `TrapezoidProfileCommand` is kept because it manages a lot of variables (timer, profile, io), although it might be useful...
#5902 added static triggers for game/robot state changes. This pr, initially #5898, seeks to refactor all command-based templates and examples to declaratively use those triggers along with command factories. Additionally,...
This pr adds constructors with feedforward gains to the LinearSystemSim derivative classes (DCMotorSim, FlywheelSim, SingleJointedArmSim, ElevatorSim). This should make it easier for teams to use more accurate simulation without the...
resolves #5604, resolves #5294 Based on further discussion in the discord, mutable command requirements shouldn't be supported. That leaves several possible implementations for optionally not requiring the union of member...
Currently, CommandGroups exhibit undesirable behavior when used in conjunction with critical default commands. For example, if an arm subsystem requires a default command to stay raised and is used in...