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`

"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)