Inheritance diagram for edu.wpi.first.wpilibj2.command.Command:

Classes
enum	InterruptionBehavior

Public Member Functions
void	initialize ()

void	execute ()

void	end (boolean interrupted)

boolean	isFinished ()

Set< Subsystem >	getRequirements ()

final void	addRequirements (Subsystem... requirements)

String	getName ()

void	setName (String name)

String	getSubsystem ()

void	setSubsystem (String subsystem)

ParallelRaceGroup	withTimeout (double seconds)

ParallelRaceGroup	until (BooleanSupplier condition)

ParallelRaceGroup	onlyWhile (BooleanSupplier condition)

SequentialCommandGroup	beforeStarting (Runnable toRun, Subsystem... requirements)

SequentialCommandGroup	beforeStarting (Command before)

SequentialCommandGroup	andThen (Runnable toRun, Subsystem... requirements)

SequentialCommandGroup	andThen (Command... next)

ParallelDeadlineGroup	deadlineWith (Command... parallel)

ParallelCommandGroup	alongWith (Command... parallel)

ParallelRaceGroup	raceWith (Command... parallel)

RepeatCommand	repeatedly ()

ProxyCommand	asProxy ()

ConditionalCommand	unless (BooleanSupplier condition)

ConditionalCommand	onlyIf (BooleanSupplier condition)

WrapperCommand	ignoringDisable (boolean doesRunWhenDisabled)

WrapperCommand	withInterruptBehavior (InterruptionBehavior interruptBehavior)

WrapperCommand	finallyDo (BooleanConsumer end)

WrapperCommand	finallyDo (Runnable end)

WrapperCommand	handleInterrupt (Runnable handler)

void	schedule ()

void	cancel ()

boolean	isScheduled ()

boolean	hasRequirement (Subsystem requirement)

InterruptionBehavior	getInterruptionBehavior ()

boolean	runsWhenDisabled ()

WrapperCommand	withName (String name)

void	initSendable (SendableBuilder builder)

Public Member Functions inherited from edu.wpi.first.util.sendable.Sendable

Protected Member Functions
	Command ()

Protected Attributes
Set< Subsystem >	m_requirements = new HashSet<>()

Detailed Description

A state machine representing a complete action to be performed by the robot. Commands are run by the CommandScheduler, and can be composed into CommandGroups to allow users to build complicated multistep actions without the need to roll the state machine logic themselves.

Commands are run synchronously from the main robot loop; no multithreading is used, unless specified explicitly from the command implementation.

This class is provided by the NewCommands VendorDep

Constructor & Destructor Documentation

◆ Command()

edu.wpi.first.wpilibj2.command.Command.Command ( )

protected

Default constructor.

Member Function Documentation

◆ addRequirements()

final void edu.wpi.first.wpilibj2.command.Command.addRequirements ( Subsystem... requirements )

Adds the specified subsystems to the requirements of the command. The scheduler will prevent two commands that require the same subsystem from being scheduled simultaneously.

Note that the scheduler determines the requirements of a command when it is scheduled, so this method should normally be called from the command's constructor.

Parameters

requirements the requirements to add

◆ alongWith()

ParallelCommandGroup edu.wpi.first.wpilibj2.command.Command.alongWith ( Command... parallel )

Decorates this command with a set of commands to run parallel to it, ending when the last command ends. Often more convenient/less-verbose than constructing a new ParallelCommandGroup explicitly.

Note: This decorator works by adding this command to a composition. The command the decorator was called on cannot be scheduled independently or be added to a different composition (namely, decorators), unless it is manually cleared from the list of composed commands with CommandScheduler#removeComposedCommand(Command). The command composition returned from this method can be further decorated without issue.

Parameters

parallel the commands to run in parallel

Returns: the decorated command

◆ andThen() [1/2]

SequentialCommandGroup edu.wpi.first.wpilibj2.command.Command.andThen ( Command... next )

Decorates this command with a set of commands to run after it in sequence. Often more convenient/less-verbose than constructing a new SequentialCommandGroup explicitly.

Note: This decorator works by adding this command to a composition. The command the decorator was called on cannot be scheduled independently or be added to a different composition (namely, decorators), unless it is manually cleared from the list of composed commands with CommandScheduler#removeComposedCommand(Command). The command composition returned from this method can be further decorated without issue.

Parameters

next	the commands to run next

Returns: the decorated command

◆ andThen() [2/2]

SequentialCommandGroup edu.wpi.first.wpilibj2.command.Command.andThen	(	Runnable	toRun,
		Subsystem...	requirements )

Decorates this command with a runnable to run after the command finishes.

Note: This decorator works by adding this command to a composition. The command the decorator was called on cannot be scheduled independently or be added to a different composition (namely, decorators), unless it is manually cleared from the list of composed commands with CommandScheduler#removeComposedCommand(Command). The command composition returned from this method can be further decorated without issue.

Parameters

toRun	the Runnable to run
requirements	the required subsystems

Returns: the decorated command

◆ asProxy()

ProxyCommand edu.wpi.first.wpilibj2.command.Command.asProxy ( )

Decorates this command to run "by proxy" by wrapping it in a ProxyCommand. This is useful for "forking off" from command compositions when the user does not wish to extend the command's requirements to the entire command composition.

Returns: the decorated command

◆ beforeStarting() [1/2]

SequentialCommandGroup edu.wpi.first.wpilibj2.command.Command.beforeStarting ( Command before )

Decorates this command with another command to run before this command starts.

Note: This decorator works by adding this command to a composition. The command the decorator was called on cannot be scheduled independently or be added to a different composition (namely, decorators), unless it is manually cleared from the list of composed commands with CommandScheduler#removeComposedCommand(Command). The command composition returned from this method can be further decorated without issue.

Parameters

before the command to run before this one

Returns: the decorated command

◆ beforeStarting() [2/2]

SequentialCommandGroup edu.wpi.first.wpilibj2.command.Command.beforeStarting	(	Runnable	toRun,
		Subsystem...	requirements )

Decorates this command with a runnable to run before this command starts.

Note: This decorator works by adding this command to a composition. The command the decorator was called on cannot be scheduled independently or be added to a different composition (namely, decorators), unless it is manually cleared from the list of composed commands with CommandScheduler#removeComposedCommand(Command). The command composition returned from this method can be further decorated without issue.

Parameters

toRun	the Runnable to run
requirements	the required subsystems

Returns: the decorated command

◆ cancel()

void edu.wpi.first.wpilibj2.command.Command.cancel ( )

Cancels this command. Will call end(true). Commands will be canceled regardless of interruption behavior.

See also: CommandScheduler.cancel(Command...)

◆ deadlineWith()

ParallelDeadlineGroup edu.wpi.first.wpilibj2.command.Command.deadlineWith ( Command... parallel )

Decorates this command with a set of commands to run parallel to it, ending when the calling command ends and interrupting all the others. Often more convenient/less-verbose than constructing a new ParallelDeadlineGroup explicitly.

Note: This decorator works by adding this command to a composition. The command the decorator was called on cannot be scheduled independently or be added to a different composition (namely, decorators), unless it is manually cleared from the list of composed commands with CommandScheduler#removeComposedCommand(Command). The command composition returned from this method can be further decorated without issue.

Parameters

parallel the commands to run in parallel

Returns: the decorated command

◆ end()

void edu.wpi.first.wpilibj2.command.Command.end ( boolean interrupted )

The action to take when the command ends. Called when either the command finishes normally, or when it interrupted/canceled.

Do not schedule commands here that share requirements with this command. Use andThen(Command...) instead.

Parameters

interrupted whether the command was interrupted/canceled

◆ execute()

void edu.wpi.first.wpilibj2.command.Command.execute ( )

The main body of a command. Called repeatedly while the command is scheduled.

◆ finallyDo() [1/2]

WrapperCommand edu.wpi.first.wpilibj2.command.Command.finallyDo ( BooleanConsumer end )

Decorates this command with a lambda to call on interrupt or end, following the command's inherent end(boolean) method.

Parameters

end	a lambda accepting a boolean parameter specifying whether the command was interrupted.

Returns: the decorated command

◆ finallyDo() [2/2]

WrapperCommand edu.wpi.first.wpilibj2.command.Command.finallyDo ( Runnable end )

Decorates this command with a lambda to call on interrupt or end, following the command's inherent end(boolean) method. The provided lambda will run identically in both interrupt and end cases.

Parameters

end	a lambda to run when the command ends, whether or not it was interrupted.

Returns: the decorated command

◆ getInterruptionBehavior()

InterruptionBehavior edu.wpi.first.wpilibj2.command.Command.getInterruptionBehavior ( )

How the command behaves when another command with a shared requirement is scheduled.

Returns: a variant of InterruptionBehavior, defaulting to kCancelSelf.

Reimplemented in edu.wpi.first.wpilibj2.command.ConditionalCommand, edu.wpi.first.wpilibj2.command.ParallelCommandGroup, edu.wpi.first.wpilibj2.command.ParallelDeadlineGroup, edu.wpi.first.wpilibj2.command.ParallelRaceGroup, edu.wpi.first.wpilibj2.command.RepeatCommand, edu.wpi.first.wpilibj2.command.SelectCommand< K >, edu.wpi.first.wpilibj2.command.SequentialCommandGroup, and edu.wpi.first.wpilibj2.command.WrapperCommand.

◆ getName()

String edu.wpi.first.wpilibj2.command.Command.getName ( )

Gets the name of this Command.

By default, the simple class name is used. This can be changed with setName(String).

Returns: The display name of the Command

◆ getRequirements()

Set< Subsystem > edu.wpi.first.wpilibj2.command.Command.getRequirements ( )

Specifies the set of subsystems used by this command. Two commands cannot use the same subsystem at the same time. If another command is scheduled that shares a requirement, getInterruptionBehavior() will be checked and followed. If no subsystems are required, return an empty set.

Note: it is recommended that user implementations contain the requirements as a field, and return that field here, rather than allocating a new set every time this is called.

Returns: the set of subsystems that are required

See also: InterruptionBehavior

Reimplemented in edu.wpi.first.wpilibj2.command.WrapperCommand.

◆ getSubsystem()

String edu.wpi.first.wpilibj2.command.Command.getSubsystem ( )

Gets the subsystem name of this Command.

Returns: Subsystem name

◆ handleInterrupt()

WrapperCommand edu.wpi.first.wpilibj2.command.Command.handleInterrupt ( Runnable handler )

Decorates this command with a lambda to call on interrupt, following the command's inherent end(boolean) method.

Parameters

handler a lambda to run when the command is interrupted

Returns: the decorated command

◆ hasRequirement()

boolean edu.wpi.first.wpilibj2.command.Command.hasRequirement ( Subsystem requirement )

Whether the command requires a given subsystem.

Parameters

requirement the subsystem to inquire about

Returns: whether the subsystem is required

◆ ignoringDisable()

WrapperCommand edu.wpi.first.wpilibj2.command.Command.ignoringDisable ( boolean doesRunWhenDisabled )

Decorates this command to run or stop when disabled.

Parameters

doesRunWhenDisabled true to run when disabled.

Returns: the decorated command

◆ initialize()

void edu.wpi.first.wpilibj2.command.Command.initialize ( )

The initial subroutine of a command. Called once when the command is initially scheduled.

◆ initSendable()

void edu.wpi.first.wpilibj2.command.Command.initSendable ( SendableBuilder builder )

Initializes this Sendable object.

Parameters

builder sendable builder

Implements edu.wpi.first.util.sendable.Sendable.

Reimplemented in edu.wpi.first.wpilibj2.command.ConditionalCommand, edu.wpi.first.wpilibj2.command.DeferredCommand, edu.wpi.first.wpilibj2.command.ParallelDeadlineGroup, edu.wpi.first.wpilibj2.command.ProxyCommand, edu.wpi.first.wpilibj2.command.RepeatCommand, edu.wpi.first.wpilibj2.command.SelectCommand< K >, edu.wpi.first.wpilibj2.command.SequentialCommandGroup, and edu.wpi.first.wpilibj2.command.WaitCommand.

◆ isFinished()

boolean edu.wpi.first.wpilibj2.command.Command.isFinished ( )

Whether the command has finished. Once a command finishes, the scheduler will call its end() method and un-schedule it.

Returns: whether the command has finished.

◆ isScheduled()

boolean edu.wpi.first.wpilibj2.command.Command.isScheduled ( )

Whether the command is currently scheduled. Note that this does not detect whether the command is in a composition, only whether it is directly being run by the scheduler.

Returns: Whether the command is scheduled.

◆ onlyIf()

ConditionalCommand edu.wpi.first.wpilibj2.command.Command.onlyIf ( BooleanSupplier condition )

Decorates this command to only run if this condition is met. If the command is already running and the condition changes to false, the command will not stop running. The requirements of this command will be kept for the new conditional command.

Note: This decorator works by adding this command to a composition. The command the decorator was called on cannot be scheduled independently or be added to a different composition (namely, decorators), unless it is manually cleared from the list of composed commands with CommandScheduler#removeComposedCommand(Command). The command composition returned from this method can be further decorated without issue.

Parameters

condition the condition that will allow the command to run

Returns: the decorated command

See also: unless(BooleanSupplier)

◆ onlyWhile()

ParallelRaceGroup edu.wpi.first.wpilibj2.command.Command.onlyWhile ( BooleanSupplier condition )

Decorates this command with a run condition. If the specified condition becomes false before the command finishes normally, the command will be interrupted and un-scheduled.

Note: This decorator works by adding this command to a composition. The command the decorator was called on cannot be scheduled independently or be added to a different composition (namely, decorators), unless it is manually cleared from the list of composed commands with CommandScheduler#removeComposedCommand(Command). The command composition returned from this method can be further decorated without issue.

Parameters

condition the run condition

Returns: the command with the run condition added

See also: until(BooleanSupplier)

◆ raceWith()

ParallelRaceGroup edu.wpi.first.wpilibj2.command.Command.raceWith ( Command... parallel )

Decorates this command with a set of commands to run parallel to it, ending when the first command ends. Often more convenient/less-verbose than constructing a new ParallelRaceGroup explicitly.

Note: This decorator works by adding this command to a composition. The command the decorator was called on cannot be scheduled independently or be added to a different composition (namely, decorators), unless it is manually cleared from the list of composed commands with CommandScheduler#removeComposedCommand(Command). The command composition returned from this method can be further decorated without issue.

Parameters

parallel the commands to run in parallel

Returns: the decorated command

◆ repeatedly()

RepeatCommand edu.wpi.first.wpilibj2.command.Command.repeatedly ( )

Decorates this command to run repeatedly, restarting it when it ends, until this command is interrupted. The decorated command can still be canceled.

Note: This decorator works by adding this command to a composition. The command the decorator was called on cannot be scheduled independently or be added to a different composition (namely, decorators), unless it is manually cleared from the list of composed commands with CommandScheduler#removeComposedCommand(Command). The command composition returned from this method can be further decorated without issue.

Returns: the decorated command

◆ runsWhenDisabled()

boolean edu.wpi.first.wpilibj2.command.Command.runsWhenDisabled ( )

Whether the given command should run when the robot is disabled. Override to return true if the command should run when disabled.

Returns: whether the command should run when the robot is disabled

◆ schedule()

void edu.wpi.first.wpilibj2.command.Command.schedule ( )

Schedules this command.

◆ setName()

void edu.wpi.first.wpilibj2.command.Command.setName ( String name )

Sets the name of this Command.

Parameters

name	The display name of the Command.

◆ setSubsystem()

void edu.wpi.first.wpilibj2.command.Command.setSubsystem ( String subsystem )

Sets the subsystem name of this Command.

Parameters

subsystem subsystem name

◆ unless()

ConditionalCommand edu.wpi.first.wpilibj2.command.Command.unless ( BooleanSupplier condition )

Decorates this command to only run if this condition is not met. If the command is already running and the condition changes to true, the command will not stop running. The requirements of this command will be kept for the new conditional command.

Note: This decorator works by adding this command to a composition. The command the decorator was called on cannot be scheduled independently or be added to a different composition (namely, decorators), unless it is manually cleared from the list of composed commands with CommandScheduler#removeComposedCommand(Command). The command composition returned from this method can be further decorated without issue.

Parameters

condition the condition that will prevent the command from running

Returns: the decorated command

See also: onlyIf(BooleanSupplier)

◆ until()

ParallelRaceGroup edu.wpi.first.wpilibj2.command.Command.until ( BooleanSupplier condition )

Decorates this command with an interrupt condition. If the specified condition becomes true before the command finishes normally, the command will be interrupted and un-scheduled.

Note: This decorator works by adding this command to a composition. The command the decorator was called on cannot be scheduled independently or be added to a different composition (namely, decorators), unless it is manually cleared from the list of composed commands with CommandScheduler#removeComposedCommand(Command). The command composition returned from this method can be further decorated without issue.

Parameters

condition the interrupt condition

Returns: the command with the interrupt condition added

See also: onlyWhile(BooleanSupplier)

◆ withInterruptBehavior()

WrapperCommand edu.wpi.first.wpilibj2.command.Command.withInterruptBehavior ( InterruptionBehavior interruptBehavior )

Decorates this command to have a different interruption behavior.

Parameters

interruptBehavior the desired interrupt behavior

Returns: the decorated command

◆ withName()

WrapperCommand edu.wpi.first.wpilibj2.command.Command.withName ( String name )

Decorates this Command with a name.

Parameters

name name

Returns: the decorated Command

◆ withTimeout()

ParallelRaceGroup edu.wpi.first.wpilibj2.command.Command.withTimeout ( double seconds )

Decorates this command with a timeout. If the specified timeout is exceeded before the command finishes normally, the command will be interrupted and un-scheduled.

Note: This decorator works by adding this command to a composition. The command the decorator was called on cannot be scheduled independently or be added to a different composition (namely, decorators), unless it is manually cleared from the list of composed commands with CommandScheduler#removeComposedCommand(Command). The command composition returned from this method can be further decorated without issue.

Parameters

seconds the timeout duration

Returns: the command with the timeout added

Member Data Documentation

◆ m_requirements

Set<Subsystem> edu.wpi.first.wpilibj2.command.Command.m_requirements = new HashSet<>()

protected

Requirements set.

The documentation for this class was generated from the following file:

D:/SDASVN/2024/RaspberryPi/VSCode/Source/edu/wpi/first/wpilibj2/command/Command.java

Classes

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ Command()

Member Function Documentation

◆ addRequirements()

◆ alongWith()

◆ andThen() [1/2]

◆ andThen() [2/2]

◆ asProxy()

◆ beforeStarting() [1/2]

◆ beforeStarting() [2/2]

◆ cancel()

◆ deadlineWith()

◆ end()

◆ execute()

◆ finallyDo() [1/2]

◆ finallyDo() [2/2]

◆ getInterruptionBehavior()

◆ getName()

◆ getRequirements()

◆ getSubsystem()

◆ handleInterrupt()

◆ hasRequirement()

◆ ignoringDisable()

◆ initialize()

◆ initSendable()

◆ isFinished()

◆ isScheduled()

◆ onlyIf()

◆ onlyWhile()

◆ raceWith()

◆ repeatedly()

◆ runsWhenDisabled()

◆ schedule()

◆ setName()

◆ setSubsystem()

◆ unless()

◆ until()

◆ withInterruptBehavior()

◆ withName()

◆ withTimeout()

Member Data Documentation

◆ m_requirements