Refactor default commands to be held by the subsystem (resource) not the scheduler.

wpilibsuite / allwpilib

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Open spacey-sooty opened 2 months ago

spacey-sooty commented 2 months ago

The commands v3 draft does this and its a good change to backport to v2

Starlight220 commented 2 months ago

It was like this in commands v1. The reason it wasn't done in v2 is because interfaces can't have fields.

Also, what's the problem with it being held by the scheduler? Either way, ownership semantics of it should be very clear.