addRequirements vs. observation #19
Description
The 'addRequirements' aspect of commands and subsystems can result in messy designs. It would probably be better to try to factor things into "observing"vs. "controlling". For example, for a lift & claw intake style system, factoring the system into a lift & claw separately can result in cleaner, easier to understand code. The trouble arises when you're attempting to do something like automatically close the claw if an object is detected. In order to properly do this, the claw needs to observe the position of the lift. There's generally a design problem with this, where you need the claw to be able to observe the lift.
A more elegant solution to this might be to have a subsystem have a 'observing' interface and a 'controlling' interface. Commands have to go through the 'controlling' interface, but anything can use the 'observing' interface from the robot.