Code Architecture: Command-Based vs. State Machines

In rookie code, everything is in one giant loop() function. if (buttonA) { intake.power(1); } This works for pushbots. It fails for champions.

The Finite State Machine (FSM)

Define “States” for your subsystems using Java Enums.

Example: Intake System

• IDLE: Motor off. Arm up.
• INTAKING: Motor on. Arm down.
• TRANSFER: Motor reverse. Arm up. Indexer open.
• JAMMED: Current spike detected. Pulse motor.

The Logic

Your loop simply checks: if (state == INTAKING) { doIntakeThings(); } Transitions happen based on sensors or timers.

Command-Based (FTCLib)

This is a library structure (borrowed from FRC) where “Commands” are objects.

• new IntakeCommand(intakeSubsystem).schedule(); It handles the scheduling and concurrency for you.

Conclusion

For most FTC teams, State Machines are the sweet spot. They are easy to write, easy to debug, and powerful enough to automate complex actions like “Intake -> Transfer -> Ready to Fire”.