By name: wpilib-best-practices description: > WPILib and FRC robot programming best practices, design patterns, and code guidance for Java. Use when writing, reviewing, or explaining WPILib robot code—command-based project structure, subsystems, autonomous routines, RobotContainer layout, command definition patterns (inline, factory, subclass), or Constants organization.
WPILib Best Practices
WPILib best practices span multiple domains. Load only the reference(s) relevant to the current task.
References
| Domain | Reference | When to load |
|---|---|---|
| Command-based architecture | references/command-based.md | Project structure, Robot/RobotContainer layout, command definition patterns (inline vs factory vs subclass), autonomous routines, subsystem organization, Constants class |
| Command Scheduler | references/command-scheduler.md | How the scheduler runs, per-iteration execution order, default commands, scheduling conflicts, event callbacks, disable()/cancel() |
| Command Compositions | references/command-compositions.md | Combining commands with sequence, parallel, race, deadline, repeatedly; end condition and end behavior decorators; ConditionalCommand; ProxyCommand |
Quick Navigation
- "How do I structure my command-based project?" → command-based.md (Project Structure)
- "Should I use a factory method or a Command subclass?" → command-based.md (Pattern Selection)
- "Where do subsystems and button bindings go?" → command-based.md (RobotContainer)
- "How do I handle multi-subsystem commands without circular deps?" → command-based.md (Static Command Factories)
- "How does the scheduler decide what runs and when?" → command-scheduler.md (Per-Iteration Run Sequence)
- "What happens when two commands need the same subsystem?" → command-scheduler.md (Scheduling a Command)
- "How do I run commands in sequence or parallel?" → command-compositions.md (Composition Types)
- "How do I add a timeout or stop-when condition to a command?" → command-compositions.md (End Condition Decorators)
- "How do I run different commands based on a condition?" → command-compositions.md (Conditional Commands)