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Because routed commands are first-class elements of the Framework rather than wrappers for CLR objects, they’re much easier to create than dependency properties or routed events. In fact, they don’t require any techniques you don’t know already. But you do need to make some design decisions:
While it’s possible to implement a new command type, usually you’ll create an instance of RoutedCommand or RoutedUICommand as a public static property. But a property of which class?
If you’re defining your own commands, you’ll need to decide whether a gesture should be associated with the command (they’re optional), and if so, what that gesture should be. Be careful not to step on any of the Windows conventions. If you redefine Ctrl+C to close the application instead of copy text, you’re going to confuse people.