The Lighthouse - No Spoiler Zone

If I understand correctly, Rook and companions will have up to 3 abilities slotted for quick use. I'm speculating that you set up the companions with the abilities you think will be useful ahead of time and those are the ones they'll use.
When in combat, you can pause and bring up the ability wheel and direct your companions to use other abilities that are not in their 3 quick slots? Tell them who to target, etc. And of course Rook can also use abilities not in your quick slots. Am I understanding this correctly?
Now, does anybody know if you can update the quick slots for everybody based on the enemy you encounter and can you tell your companions to switch from ranged to melee and vice-versa?
My gripe with DAI was that it made no sense that you couldn't change weapons or abilities mid-combat to better fight the enemy. Planning in advance is fine, but being able to adjust tactics and strategy situationally is better.

Not quite on the wheel. The wheel is just used to tell them to fire off one of their three abilities. You can do the same for your character as well. Further, I've heard said in additional posts that you can queue combos through use of key strokes so one key can store multiple commands to different companions together. I don't think you can access other abilities unless you replace one of the other three. That said, some abilities will be available in certain situations (maybe like your two-hander could smash certain doors in Inquisition) and some items carry their own abilities as well. When/how/how often we can change the three we initially queue is unknown at this time as far as I know. As far as switching between ranged and melee, the companions in the gameplay trailer seemed to be doing so to some degree on their own. You can also see the Player-controlled Rook switches periodically from two melee weapons to a bow when disengaged from their opponent. Sorry we don't have more slid information yet, but it does seem to be coming far more frequently if a little haphazardly. Hope that helps.