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`CommandPtr` also doesn't have `.addRequirements()` necessary for `AddRequirementsTest`.

I think everything on the checklist is done now.

> (Though I am still iffy about using the factories in tests of the command classes themselves) I feel like it should be fine? The actual code logic is entirely...

> * `CompositionTestBase`: `cmd::WaitUntil([] { return false; })` -> `cmd::Idle()` > > * `ConditionalCommandTest.AllCancelSelf`: `cmd::WaitUntil([] { return false; })` Done those 2.

```java @RobotsManager public class RobotsManager { private final Robot oldRobot; private final Robot newRobot; public RobotsManager() { this.oldRobot = new OldRobot(); this.newRobot = new NewRobot(); } } ``` Wouldn't this...

I think the closest analogy to what current FRC/the design doc's `Robot` class does is current FTC's hardware map, where it's hardware specific and configures the hardware for op modes/commands...

```java public class Superstructure extends SubsystemBase { private Command expose(Command internal) { var proxied = internal.asProxy(); proxied.addRequirements(this); return proxied; } } ``` The above can be simplified to: ```java public...

Merging is definitely a post-season thing due to this change being breaking.

> In general I'm not sure of the value of making this change in-season. It feels pretty risky in terms of breakage for a very small name improvement. As stated...

I think the best solution here is to update the app to support both, but I might need help with implementing that. I got the entire offseason to figure it...