• FRC Game Manual
  • FRC Game Q&A
  • 2014 CS Archive
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Zero to Robot

  • Introduction
  • Step 1: Building your Robot
  • Step 2: Installing Software
  • Step 3: Preparing Your Robot
  • Step 4: Programming your Robot

Control System Overviews

  • Hardware Component Overview
  • Software Component Overview

Programming Basics

  • What is WPILib?
  • 2021 Overview
  • VS Code Overview
  • FRC LabVIEW Programming
  • Actuators
  • Sensors
  • CAN Devices
  • Basic Programming
  • Support Resources

API Docs

  • WPILib Java API Docs
  • WPILib C++ API Docs

Software Tools

  • Driver Station
  • Shuffleboard
  • SmartDashboard
  • Glass
  • LabVIEW Dashboard
  • PathWeaver
  • RobotBuilder
  • Robot Simulation
  • Robot Characterization
  • OutlineViewer

Advanced Programming

  • Vision Processing
  • Command-Based Programming
    • 2020 Command-Based Rewrite: What Changed?
    • What Is “Command-Based” Programming?
    • Creating a Robot Project
    • Subsystems
    • Commands
    • Command Groups
    • The Command Scheduler
    • Binding Commands to Triggers
    • Structuring a Command-Based Robot Project
    • Convenience Features
    • PID Control through PIDSubsystems and PIDCommands
    • Motion Profiling through TrapezoidProfileSubsystems and TrapezoidProfileCommands
    • Combining Motion Profiling and PID in Command-Based
    • A Technical Discussion on C++ Commands
  • [Old] Command Based Programming
  • Kinematics and Odometry
  • NetworkTables
  • roboRIO
  • Advanced Controls
  • Convenience Features

Examples and Tutorials

  • WPILib Example Projects
  • Trajectory Tutorial
  • Drivetrain Simulation Tutorial

Hardware

  • Hardware - Basics
  • Hardware Tutorials
  • Sensors

Romi Robot

  • Getting Started with Romi

Robot Networking

  • Networking Introduction
  • Networking Utilities

Contributing

  • Contributing to frc-docs
  • Developing with allwpilib

Issues

  • Report an Issue
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  • Command-Based Programming
  • Edit on GitHub

Command-Based Programming¶

This sequence of articles serves as an introduction to and reference for the WPILib command-based framework.

For a collection of example projects using the command-based framework, see Command-Based Examples.

  • 2020 Command-Based Rewrite: What Changed?
  • What Is “Command-Based” Programming?
  • Creating a Robot Project
  • Subsystems
  • Commands
  • Command Groups
  • The Command Scheduler
  • Binding Commands to Triggers
  • Structuring a Command-Based Robot Project
  • Convenience Features
  • PID Control through PIDSubsystems and PIDCommands
  • Motion Profiling through TrapezoidProfileSubsystems and TrapezoidProfileCommands
  • Combining Motion Profiling and PID in Command-Based
  • A Technical Discussion on C++ Commands
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