Command-Based Programming

This section serves as an introduction to and reference for the WPILib command-based frameworks. WPILib provides two command-based frameworks: the Commands v2 library, introduced in the 2020 FRC season, and the Commands v3 library, introduced in the 2027 FRC season.

Nota

Both the v2 and v3 libraries will be supported side-by-side for several seasons. The v2 library will only be removed when usage reporting shows nearly zero usage.

For a collection of example projects using the command-based frameworks, see Commands v2 Examples and Commands v3 Examples.

• Commands v2 Programming
  • What Is «Command-Based» Programming?
  • Commands
  • Command Compositions
  • Subsystems
  • Binding Commands to Triggers
  • Structuring a Command-Based Robot Project
  • Organizing Command-Based Robot Projects
  • The Command Scheduler
  • A Technical Discussion on C++ Commands
  • PID Control in Command-based
  • Motion Profiling in Command-based
  • Combining Motion Profiling and PID in Command-Based
  • Why Commands v2?
  • Passing Functions As Parameters
• Commands v3 Programming
  • Creating Commands
  • How the Scheduler Works
  • Using Lambda Functions
  • Making Commands Run
  • Command Mechanisms
  • Migrating from Commands v2
  • Scopes
  • State Machines with Commands
  • Structuring Your Project
  • Telemetry with Commands
  • Command Triggers
  • Troubleshooting Commands
  • Core APIs