RobotContainer

This class is where the bulk of the robot should be declared. Since Command-based is a "declarative" paradigm, very little robot logic should actually be handled in the Robot periodic methods (other than the scheduler calls). Instead, the structure of the robot (including subsystems, commands, and trigger mappings) should be declared here.

In Kotlin, it is recommended that all your Subsystems are Kotlin objects. As such, there can only ever be a single instance. This eliminates the need to create reference variables to the various subsystems in this container to pass into to commands. The commands can just directly reference the (single instance of the) object.