wpilib-best-practices

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WPILib best practices span multiple domains. Load only the reference(s) relevant to the current task.

WPILib最佳实践涵盖多个领域。仅加载与当前任务相关的参考文档即可。

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`

领域	参考文档	适用场景
基于命令的架构	references/command-based.md	项目结构、 `Robot` / `RobotContainer` 布局、命令定义模式（内联 vs 工厂 vs 子类）、自主程序、子系统组织、 `Constants` 类
命令调度器	references/command-scheduler.md	调度器运行方式、每轮迭代执行顺序、默认命令、调度冲突、事件回调、 `disable()` / `cancel()` 方法
命令组合	references/command-compositions.md	使用 `sequence` 、 `parallel` 、 `race` 、 `deadline` 、 `repeatedly` 组合命令；结束条件与结束行为装饰器； `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)