Idiomatic Code Architecture Articles

[modelmat]

Just putting this here as a meta-ish/scratchpad issue, since this is something that is really missing from the documentation.

Related issues/PR:

• Add discussion of command organization #1828 (dead ?)
• Add Superstructure article #1841

Things to cover:

• Command Factories (partially done in Add discussion of command organization #1828 )
• Handling subsystem dependencies (either via a Add Superstructure article #1841-style, or otherwise (lambdas or dependency injection?); discussion of differences)
• What goes where? (What encapsulates a single subsystem or command. I have seen some teams making subsystems for navigation/autonomous features (e.g. sticking all the encoders in there) which makes integration with simulation/inbuilt path planning more difficult than it needs to be))
• Probably more things (I can't think of specifics off the top of my head, but I have seen it come up multiple times in help channels).

Reference discord discussion: https://discord.com/channels/176186766946992128/368993897495527424/992645487280783471

[calcmogul]

Relevant robot code idioms (not just architecture) include:

1. How do I move a motor at the speed specified by an Xbox controller axis?
2. How do I move a motor while a button is held? (e.g., intake/outtake)
3. How do I toggle a solenoid with a button? (e.g., intake deploy/stow)
4. How do I move a motor from one position to another?

[Starlight220]

I think a lot of robot code idioms might be better covered by examples rather than articles.
Architecture is more philosophical/theoretical and up for debate/personal preference, so it is fitting for articles.