Command Framework API

The Command Framework (wpilibNewCommands) provides a structured approach to organizing robot code using the Command design pattern.

Overview

The Command Framework helps you:

Organize robot code into reusable commands
Manage subsystem resource allocation
Schedule concurrent and sequential operations
Create complex autonomous routines
Bind commands to driver inputs
Implement state machines and behaviors

Architecture

Core Concepts

Commands

Reusable robot actions and behaviors

Subsystems

Robot hardware groupings

Command Scheduler

Manages command execution

Command Composition

Combine commands into complex behaviors

Subsystems

Subsystems represent distinct robot mechanisms.

Creating a Subsystem (Java)

import edu.wpi.first.wpilibj2.command.SubsystemBase;
import edu.wpi.first.wpilibj.motorcontrol.Spark;

public class DriveSubsystem extends SubsystemBase {
  private final Spark leftMotor = new Spark(0);
  private final Spark rightMotor = new Spark(1);
  
  public DriveSubsystem() {
    // Configure motors
    rightMotor.setInverted(true);
  }
  
  // Command methods
  public void arcadeDrive(double forward, double rotation) {
    double left = forward + rotation;
    double right = forward - rotation;
    leftMotor.set(left);
    rightMotor.set(right);
  }
  
  public void stop() {
    leftMotor.set(0);
    rightMotor.set(0);
  }
  
  @Override
  public void periodic() {
    // Called every 20ms - update telemetry, etc.
  }
}

Creating a Subsystem (C++)

#include <frc2/command/SubsystemBase.h>
#include <frc/motorcontrol/Spark.h>

class DriveSubsystem : public frc2::SubsystemBase {
 public:
  DriveSubsystem() {
    m_rightMotor.SetInverted(true);
  }
  
  void ArcadeDrive(double forward, double rotation) {
    double left = forward + rotation;
    double right = forward - rotation;
    m_leftMotor.Set(left);
    m_rightMotor.Set(right);
  }
  
  void Stop() {
    m_leftMotor.Set(0);
    m_rightMotor.Set(0);
  }
  
  void Periodic() override {
    // Called every 20ms
  }
  
 private:
  frc::Spark m_leftMotor{0};
  frc::Spark m_rightMotor{1};
};

Commands

Commands are actions that use subsystems.

Command Lifecycle

import edu.wpi.first.wpilibj2.command.Command;

public class MyCommand extends Command {
  @Override
  public void initialize() {
    // Called once when command starts
  }
  
  @Override
  public void execute() {
    // Called repeatedly (every 20ms) while command runs
  }
  
  @Override
  public void end(boolean interrupted) {
    // Called once when command ends
    // interrupted = true if command was interrupted
  }
  
  @Override
  public boolean isFinished() {
    // Return true to end command
    return false;
  }
}

Inline Commands (Java)

import edu.wpi.first.wpilibj2.command.*;

public class DriveCommands {
  private final DriveSubsystem drive;
  
  // Inline command using method references
  public Command driveForward() {
    return run(() -> drive.arcadeDrive(0.5, 0), drive)
        .withTimeout(2.0);
  }
  
  // One-time action
  public Command resetEncoders() {
    return runOnce(() -> drive.resetEncoders(), drive);
  }
  
  // Run until condition
  public Command driveUntilDistance(double distance) {
    return run(() -> drive.arcadeDrive(0.3, 0), drive)
        .until(() -> drive.getDistance() >= distance);
  }
}

Command Factories (C++)

#include <frc2/command/Commands.h>

frc2::CommandPtr DriveForward(DriveSubsystem* drive) {
  return frc2::cmd::Run(
      [drive] { drive->ArcadeDrive(0.5, 0); },
      {drive}
  ).WithTimeout(2.0_s);
}

frc2::CommandPtr ResetEncoders(DriveSubsystem* drive) {
  return frc2::cmd::RunOnce(
      [drive] { drive->ResetEncoders(); },
      {drive}
  );
}

Built-in Command Types

InstantCommand

Runs once and finishes immediately.

// Java
new InstantCommand(() -> intake.deploy(), intake);

// Or as factory method
Commands.runOnce(() -> intake.deploy(), intake);

// C++
frc2::InstantCommand([this] { m_intake.Deploy(); }, {&m_intake});

// Or as factory
frc2::cmd::RunOnce([this] { m_intake.Deploy(); }, {&m_intake});

RunCommand

Runs continuously until interrupted.

// Java - default command for teleop
drive.setDefaultCommand(
    new RunCommand(
        () -> drive.arcadeDrive(
            -controller.getLeftY(),
            -controller.getRightX()
        ),
        drive
    )
);

// C++
m_drive.SetDefaultCommand(
    frc2::RunCommand(
        [this] {
            m_drive.ArcadeDrive(
                -m_controller.GetLeftY(),
                -m_controller.GetRightX()
            );
        },
        {&m_drive}
    )
);

FunctionalCommand

Full control over command lifecycle.

new FunctionalCommand(
    // initialize
    () -> shooter.setSpeed(5000),
    // execute
    () -> {},
    // end
    interrupted -> shooter.stop(),
    // isFinished
    () -> shooter.atSpeed(),
    // requirements
    shooter
);

StartEndCommand

Runs one action at start, another at end.

new StartEndCommand(
    () -> intake.setPower(1.0),  // Start
    () -> intake.setPower(0.0),  // End
    intake
);

Command Composition

Sequential Commands

Run commands one after another.

import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;

// Traditional syntax
new SequentialCommandGroup(
    driveForward(2.0),
    turnRight(90),
    driveForward(1.0)
);

// Inline syntax
driveForward(2.0)
    .andThen(turnRight(90))
    .andThen(driveForward(1.0));

// Factory method
Commands.sequence(
    driveForward(2.0),
    turnRight(90),
    driveForward(1.0)
);

// C++
frc2::SequentialCommandGroup{
    DriveForward(2.0_m),
    TurnRight(90_deg),
    DriveForward(1.0_m)
};

// Or with AndThen
DriveForward(2.0_m)
    .AndThen(TurnRight(90_deg))
    .AndThen(DriveForward(1.0_m));

Parallel Commands

Run commands simultaneously.

import edu.wpi.first.wpilibj2.command.ParallelCommandGroup;

// Run until all finish
new ParallelCommandGroup(
    spinUpShooter(),
    aimTurret(),
    runConveyor()
);

// Inline
spinUpShooter()
    .alongWith(aimTurret())
    .alongWith(runConveyor());

Parallel Race

Run until first command finishes.

import edu.wpi.first.wpilibj2.command.ParallelRaceGroup;

// Drive forward while intaking, stop when either finishes
new ParallelRaceGroup(
    driveForward(3.0),
    runIntake()
);

// Inline
driveForward(3.0)
    .raceWith(runIntake());

Parallel Deadline

Run until deadline command finishes.

import edu.wpi.first.wpilibj2.command.ParallelDeadlineGroup;

// Run intake and conveyor until drive finishes
new ParallelDeadlineGroup(
    driveForward(2.0),  // Deadline
    runIntake(),
    runConveyor()
);

// Inline
driveForward(2.0)
    .deadlineWith(runIntake(), runConveyor());

Command Decorators

Timeouts

// Run for maximum 2 seconds
driveForward().withTimeout(2.0);

Conditions

// Run until condition true
driveForward().until(() -> drive.getDistance() > 2.0);

// Only run if condition true
shoot().onlyIf(() -> shooter.hasTarget());

// Only run while condition true
intake().onlyWhile(() -> !storage.isFull());

Repeat

// Repeat forever
flashLights().repeatedly();

// Repeat N times
shoot().repeatedly().withTimeout(5.0);

Before/After Actions

// Run action before command
driveForward()
    .beforeStarting(() -> drive.resetEncoders());

// Run action after command
shoot()
    .andThen(() -> shooter.stop());

Command Scheduler

Manages command execution.

Running Commands

import edu.wpi.first.wpilibj2.command.CommandScheduler;

// Schedule a command
CommandScheduler.getInstance().schedule(myCommand);

// Cancel a command
CommandScheduler.getInstance().cancel(myCommand);

// Cancel all commands using subsystem
CommandScheduler.getInstance().cancel(driveSubsystem);

// Check if command is scheduled
boolean running = CommandScheduler.getInstance().isScheduled(myCommand);

Periodic Execution

public class Robot extends TimedRobot {
  @Override
  public void robotPeriodic() {
    // MUST call this every loop
    CommandScheduler.getInstance().run();
  }
}

Default Commands

// Set default command for subsystem
// Runs when no other command uses the subsystem
drive.setDefaultCommand(
    new RunCommand(
        () -> drive.arcadeDrive(
            controller.getLeftY(),
            controller.getRightX()
        ),
        drive
    )
);

Button Bindings

Bind commands to controller buttons.

Trigger Types

import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
import edu.wpi.first.wpilibj2.command.button.Trigger;

CommandXboxController controller = new CommandXboxController(0);

// Button press (command runs while held)
controller.a().whileTrue(runIntake());

// Button release
controller.b().whileFalse(stopAll());

// Button toggle
controller.x().toggleOnTrue(deployIntake());

// Button press once
controller.y().onTrue(shoot());

// Button release once  
controller.rightBumper().onFalse(stopShooter());

// Custom trigger
new Trigger(() -> drive.getSpeed() > 0.5)
    .onTrue(enableSpeedMode());

frc2::CommandXboxController controller{0};

// Button bindings
controller.A().WhileTrue(RunIntake());
controller.B().OnTrue(Shoot());
controller.X().ToggleOnTrue(DeployIntake());

// Custom trigger
frc2::Trigger{[this] { return m_drive.GetSpeed() > 0.5; }}
    .OnTrue(EnableSpeedMode());

POV/D-Pad Bindings

// POV directions (0 = up, 90 = right, 180 = down, 270 = left)
controller.povUp().onTrue(aimHigh());
controller.povDown().onTrue(aimLow());
controller.povLeft().whileTrue(rotateLeft());
controller.povRight().whileTrue(rotateRight());

Advanced Features

PID Commands

import edu.wpi.first.wpilibj2.command.PIDCommand;
import edu.wpi.first.math.controller.PIDController;

new PIDCommand(
    new PIDController(1.0, 0, 0.5),  // Controller
    drive::getDistance,              // Measurement source
    5.0,                             // Setpoint
    output -> drive.setSpeed(output), // Use output
    drive                            // Requirements
);

Profiled PID Commands

import edu.wpi.first.wpilibj2.command.ProfiledPIDCommand;
import edu.wpi.first.math.controller.ProfiledPIDController;
import edu.wpi.first.math.trajectory.TrapezoidProfile;

new ProfiledPIDCommand(
    new ProfiledPIDController(
        1.0, 0, 0.5,
        new TrapezoidProfile.Constraints(2.0, 1.0)
    ),
    elevator::getHeight,
    5.0,
    (output, setpoint) -> elevator.setVoltage(output),
    elevator
);

Proxy Commands

Defer command creation until execution.

import edu.wpi.first.wpilibj2.command.ProxyCommand;

// Command supplier - evaluated when scheduled
new ProxyCommand(() -> 
    vision.hasTarget() 
        ? aimAndShoot() 
        : defaultShot()
);

Deferred Commands

import edu.wpi.first.wpilibj2.command.DeferredCommand;

// Parameters evaluated when command starts
new DeferredCommand(
    () -> driveToPosition(vision.getTargetPose()),
    Set.of(drive, vision)
);

Select Commands

Choose command based on selector.

import edu.wpi.first.wpilibj2.command.SelectCommand;

enum ShootMode { HIGH, MID, LOW }

new SelectCommand<ShootMode>(
    Map.of(
        ShootMode.HIGH, shootHigh(),
        ShootMode.MID, shootMid(),
        ShootMode.LOW, shootLow()
    ),
    this::getShootMode  // Selector function
);

Command Composition Patterns

Complex Auto Routine

public Command getAutonomousCommand() {
    return Commands.sequence(
        // Reset and initialize
        resetOdometry(startPose),
        
        // Score preload
        Commands.parallel(
            followTrajectory(toScoringPosition),
            deployArm(),
            spinUpShooter()
        ),
        
        // Shoot
        Commands.deadline(
            waitSeconds(2.0),
            runShooter(),
            runConveyor()
        ),
        
        // Pickup second game piece
        Commands.deadline(
            followTrajectory(toPickupPosition),
            deployIntake(),
            runIntake()
        ).until(() -> storage.hasGamePiece()),
        
        // Return and score
        Commands.parallel(
            followTrajectory(backToScoringPosition),
            stowIntake(),
            spinUpShooter()
        ),
        
        shoot()
    );
}

Robot Container

Organize subsystems and commands.

import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.button.CommandXboxController;

public class RobotContainer {
  // Subsystems
  private final DriveSubsystem drive = new DriveSubsystem();
  private final ShooterSubsystem shooter = new ShooterSubsystem();
  private final IntakeSubsystem intake = new IntakeSubsystem();
  
  // Controllers
  private final CommandXboxController driverController = 
      new CommandXboxController(0);
  
  public RobotContainer() {
    configureBindings();
    configureDefaultCommands();
  }
  
  private void configureDefaultCommands() {
    drive.setDefaultCommand(
        Commands.run(
            () -> drive.arcadeDrive(
                -driverController.getLeftY(),
                -driverController.getRightX()
            ),
            drive
        )
    );
  }
  
  private void configureBindings() {
    driverController.a().whileTrue(intake.runCommand());
    driverController.b().onTrue(shooter.shootCommand());
    driverController.x().toggleOnTrue(intake.deployCommand());
  }
  
  public Command getAutonomousCommand() {
    // Return auto command
    return Commands.print("No autonomous command configured");
  }
}

Source Code

View the full source code on GitHub:

WPILibJ

Java robot API

WPILibC

C++ robot API

WPIMath

Controllers and trajectories

Core Libraries

Math & Utilities

Networking & Vision

Command Framework

Simulation

​Overview

​Architecture

​Core Concepts

Commands

Subsystems

Command Scheduler

Command Composition

​Subsystems

​Creating a Subsystem (Java)

​Creating a Subsystem (C++)

​Commands

​Command Lifecycle

​Inline Commands (Java)

​Command Factories (C++)

​Built-in Command Types

​InstantCommand

​RunCommand

​FunctionalCommand

​StartEndCommand

​Command Composition

​Sequential Commands

​Parallel Commands

​Parallel Race

​Parallel Deadline

​Command Decorators

​Timeouts

​Conditions

​Repeat

​Before/After Actions

​Command Scheduler

​Running Commands

​Periodic Execution

​Default Commands

​Button Bindings

​Trigger Types

​POV/D-Pad Bindings

​Advanced Features

​PID Commands

​Profiled PID Commands

​Proxy Commands

​Deferred Commands

​Select Commands

​Command Composition Patterns

​Complex Auto Routine

​Robot Container

​Source Code

​Related Documentation

WPILibJ

WPILibC

WPIMath

Build docs developers (and LLMs) love

Overview

Architecture

Core Concepts

Subsystems

Creating a Subsystem (Java)

Creating a Subsystem (C++)

Commands

Command Lifecycle

Inline Commands (Java)

Command Factories (C++)

Built-in Command Types

InstantCommand

RunCommand

FunctionalCommand

StartEndCommand

Command Composition

Sequential Commands

Parallel Commands

Parallel Race

Parallel Deadline

Command Decorators

Timeouts

Conditions

Repeat

Before/After Actions

Command Scheduler

Running Commands

Periodic Execution

Default Commands

Button Bindings

Trigger Types

POV/D-Pad Bindings

Advanced Features

PID Commands

Profiled PID Commands

Proxy Commands

Deferred Commands

Select Commands

Command Composition Patterns

Complex Auto Routine

Robot Container

Source Code

Related Documentation