Often you will want to run multiple commands, one after another to enable more complex behaviors in your program. Once each of the individual commands have been debugged, you can create a CommandGroup. A CommandGroup is a named set of commands that may be executed sequentially or in parallel.

Commands handle the behaviors for your robot. The command starts a subsystem to some operating mode like raising and elevator and continues running until it reaches some setpoint or timeout. The command then handles waiting for the subsystem to finish. That way commands can run in sequence to develop more complex behaviors.

RobotBuilder will also generate code to schedule a command to run whenever a button on your operator interface is pressed. You can also write code to run a command when a particular trigger condition has happened.

Commands are classes you create that provide behaviors or actions for your subsystems. The subsystem class should set the operation of the subsystem, like ElevatorUp to start the elevator moving up, or ElevatorToSetPoint to set the elevator's PID setpoint. The commands initiate the subystem operation and keep track of when it is finished.

The RobotBuilder program has some default properties that need to be set up so the generated program and other generated files work properly. This setup information is stored in the properties for robot description (the first line).