Command-Based Programming

Note

Old command-based is no longer available in 2023. Users should migrate to the new command-based framework below. Documentation for old command-based is available here.

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
• WPILib Command Classes
• Command Decorator Methods
• PID Control through PIDSubsystems and PIDCommands
• Motion Profiling through TrapezoidProfileSubsystems and TrapezoidProfileCommands
• Combining Motion Profiling and PID in Command-Based
• Organizing Command-Based Robot Projects
• A Technical Discussion on C++ Commands