# Command-Based Programming

This section serves as an introduction to and reference for the WPILib command-based frameworks. WPILib provides two command-based frameworks: the Commands v2 library, introduced in the 2020 FRC season, and the Commands v3 library, introduced in the 2027 FRC season.

.. note:: Both the v2 and v3 libraries will be supported side-by-side for several seasons. The v2 library will only be removed when usage reporting shows nearly zero usage.

For a collection of example projects using the command-based frameworks, see :ref:`docs/software/examples-tutorials/wpilib-examples:Commands v2 Examples` and :ref:`docs/software/examples-tutorials/wpilib-examples:Commands v3 Examples`.

.. toctree::
   :maxdepth: 2

   commands-v2/index
   commands-v3/index