Use command factories and triggers

[aridavidson001]

Command factories can be used both in teleop and auto to help simplify/reduce the amount of individual commands written, as they help reduce the amount of duplicate code by letting us create new 'commands' that are either sequential or parallel command groups.

Triggers let us bind these command groups to different inputs(joystick buttons, etc.).

basically using these will make our code much cleaner and reduce the amount of duplicate code we have

https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html

[JacksonElia]

Yeah I see for very simple commands this being helpful.

[Ishan1522]

Here are a couple resources i have on hand @aridavidson001

• https://bovlb.github.io/frc-tips/commands/best-practices.html
• https://www.chiefdelphi.com/t/command-based-best-practices-example/471176/2
• https://www.chiefdelphi.com/t/frc-6328-mechanical-advantage-2023-build-thread/420691/179
• https://www.chiefdelphi.com/t/functional-programming-command-based-and-you/420379/9
• https://www.chiefdelphi.com/t/command-based-best-practices-for-2025-community-feedback/465602
• https://choreo.autos/choreolib/auto-factory/#using-autoroutine