refactor: reorganize command documentation and update links

Author: zachwaffle4

.vitepress/sidebar/guide.mts

@@ -25,12 +25,6 @@ export default [
             {text: "TeleOp", link: "/guide/opmodes/teleop"},
         ]
     },
-    {
-        text: "Commands",
-        items: [
-            {text: "Overview", link: "/guide/commands/custom-commands"},
-        ]
-    },
     {
         text: "Further Reading",
         link: "/guide/further-reading"

.vitepress/sidebar/nextftc.mts

@@ -27,6 +27,10 @@ export default [
             {
                 text: "Units",
                 link: "/nextftc/concepts/units"
+            },
+            {
+                text: "Subsystem Groups",
+                link: "/nextftc/concepts/subsystem-groups"
             }
         ]
     },
@@ -36,19 +40,23 @@ export default [
         items: [
             {
                 text: "Command Groups",
-                link: "/nextftc/helpful-commands/groups"
+                link: "/nextftc/commands/groups"
             },
             {
                 text: "Utilities",
-                link: "/nextftc/helpful-commands/utilities"
+                link: "/nextftc/commands/utilities"
             },
             {
                 text: "Conditionals",
-                link: "/nextftc/helpful-commands/conditionals"
+                link: "/nextftc/commands/conditionals"
             },
             {
                 text: "Delays",
-                link: "/nextftc/helpful-commands/delays"
+                link: "/nextftc/commands/delays"
+            },
+            {
+                text: "Custom Commands",
+                link: "/nextftc/commands/custom-commands"
             }
         ]
     },

src/guide/subsystems/groups-and-robot.md

@@ -0,0 +1,85 @@
+# Subsystem Groups 
+
+NextFTC offers a [`SubsystemGroup`](https://javadoc.io/doc/dev.nextftc/core/latest/-next-f-t-c%20-core/dev.nextftc.core.subsystems/-subsystem-group/index.html) class, 
+which allows you to group multiple subsystems together for easier management and control. 
+This is particularly useful for complex robots with many subsystems, 
+as it enables you to treat them as a single unit.
+
+This can be used in multiple ways.
+Some examples include a double-jointed arm mechanism,
+or a swerve drive train with multiple modules that can be controlled independently.
+This example also illustrates using a `SubsystemGroup` to represent your robot as a whole, 
+allowing for more streamlined control and coordination between subsystems.
+
+Just like regular subsystems, 
+subsystem groups have an `initialize` and `periodic` function;
+in addition, the `initialize` function of each subsystem in the group 
+will be called when the group is initialized, 
+and the `periodic` function of each subsystem will be called every loop.
+
+## Creating a Subsystem Group
+
+To create a `SubsystemGroup`, 
+you must create a subclass of `SubsystemGroup`,
+and provide the necessary subsystem instances to its constructor.
+
+:::tabs key:code
+
+== Kotlin
+
+```kotlin 
+object MySubsystemGroup() : SubsystemGroup(
+    MyFirstSubsystem,
+    MySecondSubsystem
+)
+```
+
+== Java
+
+Just like regular subsystems, 
+we must provide some boilerplate code to create a `SubsystemGroup` in Java.
+
+```java
+public class MySubsystemGroup extends SubsystemGroup {
+    public static final MySubsystemGroup INSTANCE = new MySubsystemGroup();
+
+    private MySubsystemGroup() {
+        super(
+            MyFirstSubsystem.INSTANCE,
+            MySecondSubsystem.INSTANCE
+        );
+    }
+}
+```
+
+:::
+
+## Using a Subsystem Group
+
+To register a subsystem group, you can simply pass its instance
+to the `SubsystemComponent` constructor in a NextFtcOpMode
+the way you would with a regular subsystem:
+
+:::tabs key:code
+
+== Kotlin
+
+```kotlin
+init {
+    addComponents(
+        SubsystemComponent(MySubsystemGroup)
+    )
+}
+```
+
+== Java 
+
+```java
+public MyOpMode() {
+    addComponents(
+        SubsystemComponent(MySubsystemGroup.INSTANCE)
+    );
+}
+```
+
+:::

…nextftc/helpful-commands/conditionals.md src/nextftc/commands/conditionals.mdsrc/nextftc/helpful-commands/conditionals.md renamed to src/nextftc/commands/conditionals.md src/nextftc/helpful-commands/conditionals.md renamed to src/nextftc/commands/conditionals.md

@@ -115,4 +115,4 @@ It can also be used to simplify the process of adding multiple
 subsystems to a `SubsystemComponent`.
 
 For examples of SubsystemGroups,
-see the [corresponding guide page](../../guide/subsystems/groups-and-robot).
+see the [corresponding guide page](subsystem-groups.md).