CommandScheduler

Contrary to popular belief, the robot doesn't run on a combination of the dark arts and human sacrifices. It uses CommandScheduler! CommandScheduler is a singleton that runs commands that are scheduled. It's essentially the only thing (software wise) that makes the robot do stuff.

CommandScheduler works by updating every RobotPeriodic() loop back in theThe Robot Class class. Every time it updates, it checks all the commands and subsystems stored in the robot.

Schedule()

If you ever need to manually schedule a command you can simply call this on the command:

command.schedule()

Doing this automatically schedules the command without needing a trigger (Go to Commands for some context). However, it will have a different priority than trigger-bound commands, as shown below.

Order of Scheduling

CommandSchedule has a pretty orderly way of running stuff. The order is:

1) Periodic() from subsystems 2) Commands scheduled from Triggers 3) Commands added via schedule() 4) Subsystems' default commands

Every time CommandScheduler updates (about once every 20 milliseconds).

Normally whatever level a command is on doesn't really matter.