You can find the full library docs here, or you can browse the source code's comments.
This library is meant to provide a simple and extensible framework to possibly help simplify iteration based logic.
It is modeled after WPILib's Command Based framework for programming FRC robots. This allows for loop based iteration logic to be written as a series of steps that begin and end based on their conditions.
This library contains a singleton Commands::CommandScheduler class that provides the main functionality. The scheduler, accessed with Commands::CommandScheduler.getInstance(), is used to run commands each iteration of the loop, manage scheduling commands, and prevent conflicting command dependencies.
There are 2 ways of creating commands. Both can be used together in the same project without problems. However, each method has it's own benifits.
Commands can be made by subclassing Commands::Command. Commands have a void run() function that is run every loop of the scheduler. This is where all the main functionality of the command should go. In addition to this, the command has a bool isFinished() function. When this function returns true, the command will be ended and no longer ran.
The functional method for command creation is not yet complete and will be documented in the near future.
Requirements are used to limit problems caused by dependencies shared between commands. A command will only be scheduled when either all of it's requirements are not being used or all the commands using a them can be cancelled. In the second case, the commands will be cancelled and the command will be scheduled.
All requirements are void* referencing the object that is required by the command.