If you're coming from C++ or Java, you are probably familiar with the Command based robot paradigm. All of the pieces you're used to are still available in RobotPy.
Note
Unfortunately, nobody has written any Python specific documentation for the new command framework. Please refer to the WPILib documentation<frc:docs/software/commandbased/index> for now.
If you're interested in contributing a Python-specific guide to the command framework, we'd love your help!
command_v2_api
magicbot_framework_docs