This has become a point of contention in our since two of our kids have special needs. My oldest has an auditory processing disorder, and my middle child is being tested for ADHD, though we have been told it is very likely he has it. My youngest, my daughter, tries to act like her older brother, who is just every where at once, but while we are firm with him, we have to handle his behavior differently know its not all his fault. She doesn't understand why she gets in trouble, because she is doing it blatantly in disobedience, and not out of urge or lack of control. Oddly enough, its very easy to tell the difference between the two, intent is very obvious in the one while the other is oblivious to anything but himself.
Aha good topic, do you know a lot of times adhd people know more than you think. Many of the times I understand about something but I still do the wrong, ex diving on the shallow end even with many many warnings, or running towards the pole without jumping, even going in places with yellow tape for example once on blackcomb I was told not to get off the lift until we reaches an area but I got off first.
I don't do it, I ... feel it. It's an adhd instinct you don't understand.