[robomc]

Yeah surely a better approach is... rather than inheriting from an all powerful class, just compose controllers out of modules. Some used in almost every controller. Some pretty specific to one or two edge cases.

Like the problem was having an all-or-nothing inheritance model for shared functionality, which also ended up very long and intimidating.

I also don't really understand why emerging edge cases caused him to complicate his 90%-perfect parent class instead of just... overriding specific functions in the children. (The specifics of these overrides will probably make you want to refactor your parent class so that the overrides have clean joints but you shouldn't just dump the new child-specific logic into your parent)