[commands] Add TimedCommandRobot class

[srimanachanta]

CommandRobot class extends TimedRobot and is intended to add the CommandScheduler run method into the periodic loop without exposing it to the user.

Depending on when this merges, I can update the templates and examples to use this

@Oblarg's idea via discord

[srimanachanta]

/format

[srimanachanta]

/format

[sciencewhiz]

Note that it's generally preferred to use present imperative tense for commit messages, (e.g. add instead of added). https://reflectoring.io/meaningful-commit-messages/#active-voice

[sciencewhiz]

Depending on when this merges, I can update the templates and examples to use this

I don't think that templates and examples should be merged for 2023, given that none of this would be beta tested.

[srimanachanta]

Depending on when this merges, I can update the templates and examples to use this

I don't think that templates and examples should be merged for 2023, given that none of this would be beta tested.

I agree, further testing is needed to confirm the side effects of bringing the CommandScheduler run outside of the main loop

[virtuald]

Why is there an offset? RobotPy put ours in RobotPeriodic, which is where I think most examples put theirs... it feels like this could potentially lead to a difference in behavior.

[srimanachanta]

@Starlight220 , @rzblue , and I had a conversation over discord about whether an offset should be included or not. The command scheduler call is normally placed in the RobotPeriodic method which is why testing is required to rule out any potential issues.

[Starlight220]

Having the scheduler run at the end of robotPeriodic can result in inconsistent timing if a lot of stuff runs before it. By adding an offset, the scheduler timing should be more consistent.

[virtuald]

But in a command based robot, aren't most things running on the scheduler anyways?

[rzblue]

Yes, but there's a lot of other stuff that runs in the TimedRobot loop, and teams can also choose to run code inside periodic methods as well.

[srimanachanta]

/format

[rzblue]

I don't think there will be any side effects- it is still being run in the same loop, just at a different time.

[Starlight220]

Add some unit tests, maybe?

[srimanachanta]

Add some unit tests, maybe?

What should be added? This class is just TimedRobot with an addPeridic. If that works, this will

[rzblue]

There should be a test to confirm that run is actually called like we want it to

[AngleSideAngle]

Could this be extended to include event triggers for #5151?
My team used this implementation last year.
In addition, we may want to update documentation to encourage use of event triggers in a single Robot.java file.

[Starlight220]

I think it's out of scope, but a subsequent PR would be totally fine.

[Starlight220]

Abandoned by author.