Shared Commands

Abstract command bases and command factory bases that every subsystem mechanism reuses. Concrete commands in each subsystems/<mechanism>/commands/ folder extend these classes rather than raw WPILib Command.

Hierarchy

AbstractSubsystemCommand<TSubsystem>
├── AbstractSetAndSeekCommand<TSubsystem>
├── AbstractVelocityCommand<TSubsystem>
├── AbstractIdleVelocityCommand<TSubsystem>
└── SetAndSeekSettleCommand<TSubsystem>

AbstractSubsystemCommandFactory<TSubsystem>
├── AbstractSetAndSeekCommandFactory<TSubsystem>
└── AbstractVelocityCommandFactory<TSubsystem>

Commands

AbstractSubsystemCommand — lightweight base that ties a command to a single subsystem, auto-registers it as a requirement, and logs "Starting ..." on initialize. Subclasses override onInitialize() plus standard WPILib lifecycle methods.
AbstractSetAndSeekCommand — drives a set-and-seek subsystem toward a supplied target using a trapezoidal motion profile. Evaluates the target supplier on initialize, calls seekTarget() each cycle, and finishes when the profile is settled. On interruption it schedules a SetAndSeekSettleCommand so the mechanism decelerates smoothly.
AbstractVelocityCommand — drives a velocity subsystem toward a target RPM. Evaluates the RPM supplier on initialize, calls seekVelocity() each cycle, and finishes when the subsystem reaches target velocity.
AbstractIdleVelocityCommand — default command that continuously maintains the configured idle RPM for a velocity subsystem. Runs until interrupted and stops the motor on non-interrupted end.
SetAndSeekSettleCommand — recovery command scheduled after a set-and-seek command is interrupted. Retargets the mechanism to its current position and runs the profiled controller until settled, then stops the motor.

Factories

AbstractSubsystemCommandFactory — base factory that holds a reference to its subsystem. Concrete factories extend this to add mechanism-specific builder methods.
AbstractSetAndSeekCommandFactory — adds SysId characterization commands (createSysIdQuasistaticCommand, createSysIdDynamicCommand) and an encoder-reset command (createResetEncoderCommand).
AbstractVelocityCommandFactory — adds SysId characterization commands and an idle-command builder for velocity mechanisms.

Code structure

File	Role
`AbstractSubsystemCommand.java`	Base command with subsystem logging
`AbstractSetAndSeekCommand.java`	Profiled set-and-seek command
`AbstractVelocityCommand.java`	Velocity-targeting command
`AbstractIdleVelocityCommand.java`	Default idle-RPM command
`SetAndSeekSettleCommand.java`	Post-interruption settle command
`AbstractSubsystemCommandFactory.java`	Base command factory
`AbstractSetAndSeekCommandFactory.java`	Set-and-seek factory with SysId
`AbstractVelocityCommandFactory.java`	Velocity factory with SysId