# Command Based Programming

Command Based programming is the design pattern we use to link together actions and subsystems. We use this design pattern because it makes the code easier to write, read, and does it in less lines of code. We call actions commands in Java, which are all the differen things that subsystems can do.

A command encodes an action that a subsystem can preform. Here is an example:

public class IntakeCommand extends CommandBase {

    private Intake intake;
    public IntakeCommand(Intake intake) {
        this.intake = intake;
    }

    @Override
    public void execute() {
        intake.intake();
    }

    @Override
    public void end(boolean interrupted) {
        intake.stopMotors();
    }
}

A command is split into 4 parts: The constructor, The intialize function, the execute function, and the end function. The constructor takes in 1 argument if it is applicable, which is the subsystem that the command acts on. The intialize function is executed one time when the command is scheduled.