The scheduler responsible for running Command
s. A Command-based robot should call CommandScheduler#run()
on the singleton instance in its periodic block in order to run commands synchronously from the main loop. Subsystems should be registered with the scheduler using CommandScheduler#registerSubsystem(Subsystem...)
in order for their Subsystem#periodic()
methods to be called and for their default commands to be scheduled.
This class is provided by the NewCommands VendorDep
◆ cancel()
void edu.wpi.first.wpilibj2.command.CommandScheduler.cancel |
( |
Command... | commands | ) |
|
Cancels commands. The scheduler will only call Command#end(boolean)
method of the canceled command with true
, indicating they were canceled (as opposed to finishing normally).
Commands will be canceled regardless of interruption behavior
.
- Parameters
-
commands | the commands to cancel |
◆ cancelAll()
void edu.wpi.first.wpilibj2.command.CommandScheduler.cancelAll |
( |
| ) |
|
Cancels all commands that are currently scheduled.
◆ clearComposedCommands()
void edu.wpi.first.wpilibj2.command.CommandScheduler.clearComposedCommands |
( |
| ) |
|
Clears the list of composed commands, allowing all commands to be freely used again.
WARNING: Using this haphazardly can result in unexpected/undesirable behavior. Do not use this unless you fully understand what you are doing.
◆ disable()
void edu.wpi.first.wpilibj2.command.CommandScheduler.disable |
( |
| ) |
|
Disables the command scheduler.
◆ enable()
void edu.wpi.first.wpilibj2.command.CommandScheduler.enable |
( |
| ) |
|
Enables the command scheduler.
◆ getActiveButtonLoop()
EventLoop edu.wpi.first.wpilibj2.command.CommandScheduler.getActiveButtonLoop |
( |
| ) |
|
Get the active button poll.
- Returns
- a reference to the current
EventLoop
object polling buttons.
◆ getDefaultButtonLoop()
EventLoop edu.wpi.first.wpilibj2.command.CommandScheduler.getDefaultButtonLoop |
( |
| ) |
|
Get the default button poll.
- Returns
- a reference to the default
EventLoop
object polling buttons.
◆ getDefaultCommand()
Command edu.wpi.first.wpilibj2.command.CommandScheduler.getDefaultCommand |
( |
Subsystem | subsystem | ) |
|
Gets the default command associated with this subsystem. Null if this subsystem has no default command associated with it.
- Parameters
-
subsystem | the subsystem to inquire about |
- Returns
- the default command associated with the subsystem
◆ getInstance()
static synchronized CommandScheduler edu.wpi.first.wpilibj2.command.CommandScheduler.getInstance |
( |
| ) |
|
|
static |
Returns the Scheduler instance.
- Returns
- the instance
◆ initSendable()
void edu.wpi.first.wpilibj2.command.CommandScheduler.initSendable |
( |
SendableBuilder | builder | ) |
|
◆ isComposed()
boolean edu.wpi.first.wpilibj2.command.CommandScheduler.isComposed |
( |
Command | command | ) |
|
Check if the given command has been composed.
- Parameters
-
command | The command to check |
- Returns
- true if composed
◆ isScheduled()
boolean edu.wpi.first.wpilibj2.command.CommandScheduler.isScheduled |
( |
Command... | commands | ) |
|
Whether the given commands are running. Note that this only works on commands that are directly scheduled by the scheduler; it will not work on commands inside compositions, as the scheduler does not see them.
- Parameters
-
commands | the command to query |
- Returns
- whether the command is currently scheduled
◆ onCommandExecute()
void edu.wpi.first.wpilibj2.command.CommandScheduler.onCommandExecute |
( |
Consumer< Command > | action | ) |
|
Adds an action to perform on the execution of any command by the scheduler.
- Parameters
-
action | the action to perform |
◆ onCommandFinish()
void edu.wpi.first.wpilibj2.command.CommandScheduler.onCommandFinish |
( |
Consumer< Command > | action | ) |
|
Adds an action to perform on the finishing of any command by the scheduler.
- Parameters
-
action | the action to perform |
◆ onCommandInitialize()
void edu.wpi.first.wpilibj2.command.CommandScheduler.onCommandInitialize |
( |
Consumer< Command > | action | ) |
|
Adds an action to perform on the initialization of any command by the scheduler.
- Parameters
-
action | the action to perform |
◆ onCommandInterrupt() [1/2]
void edu.wpi.first.wpilibj2.command.CommandScheduler.onCommandInterrupt |
( |
BiConsumer< Command, Optional< Command > > | action | ) |
|
Adds an action to perform on the interruption of any command by the scheduler. The action receives the interrupted command and an Optional containing the interrupting command, or Optional.empty() if it was not canceled by a command (e.g., by CommandScheduler#cancel
).
- Parameters
-
action | the action to perform |
◆ onCommandInterrupt() [2/2]
void edu.wpi.first.wpilibj2.command.CommandScheduler.onCommandInterrupt |
( |
Consumer< Command > | action | ) |
|
Adds an action to perform on the interruption of any command by the scheduler.
- Parameters
-
action | the action to perform |
◆ registerComposedCommands()
void edu.wpi.first.wpilibj2.command.CommandScheduler.registerComposedCommands |
( |
Command... | commands | ) |
|
Register commands as composed. An exception will be thrown if these commands are scheduled directly or added to a composition.
- Parameters
-
commands | the commands to register |
- Exceptions
-
IllegalArgumentException | if the given commands have already been composed, or the array of commands has duplicates. |
◆ registerSubsystem()
void edu.wpi.first.wpilibj2.command.CommandScheduler.registerSubsystem |
( |
Subsystem... | subsystems | ) |
|
Registers subsystems with the scheduler. This must be called for the subsystem's periodic block to run when the scheduler is run, and for the subsystem's default command to be scheduled. It is recommended to call this from the constructor of your subsystem implementations.
- Parameters
-
subsystems | the subsystem to register |
◆ removeComposedCommand()
void edu.wpi.first.wpilibj2.command.CommandScheduler.removeComposedCommand |
( |
Command | command | ) |
|
Removes a single command from the list of composed commands, allowing it to be freely used again.
WARNING: Using this haphazardly can result in unexpected/undesirable behavior. Do not use this unless you fully understand what you are doing.
- Parameters
-
command | the command to remove from the list of grouped commands |
◆ removeDefaultCommand()
void edu.wpi.first.wpilibj2.command.CommandScheduler.removeDefaultCommand |
( |
Subsystem | subsystem | ) |
|
Removes the default command for a subsystem. The current default command will run until another command is scheduled that requires the subsystem, at which point the current default command will not be re-scheduled.
- Parameters
-
subsystem | the subsystem whose default command will be removed |
◆ requireNotComposed() [1/2]
void edu.wpi.first.wpilibj2.command.CommandScheduler.requireNotComposed |
( |
Collection< Command > | commands | ) |
|
Requires that the specified commands have not already been added to a composition.
- Parameters
-
commands | The commands to check |
- Exceptions
-
IllegalArgumentException | if the given commands have already been composed. |
◆ requireNotComposed() [2/2]
void edu.wpi.first.wpilibj2.command.CommandScheduler.requireNotComposed |
( |
Command... | commands | ) |
|
Requires that the specified command hasn't already been added to a composition.
- Parameters
-
commands | The commands to check |
- Exceptions
-
IllegalArgumentException | if the given commands have already been composed. |
◆ requireNotComposedOrScheduled() [1/2]
void edu.wpi.first.wpilibj2.command.CommandScheduler.requireNotComposedOrScheduled |
( |
Collection< Command > | commands | ) |
|
Requires that the specified commands have not already been added to a composition, and are not currently scheduled.
- Parameters
-
commands | The commands to check |
- Exceptions
-
IllegalArgumentException | if the given commands have already been composed or scheduled. |
◆ requireNotComposedOrScheduled() [2/2]
void edu.wpi.first.wpilibj2.command.CommandScheduler.requireNotComposedOrScheduled |
( |
Command | command | ) |
|
Requires that the specified command hasn't already been added to a composition, and is not currently scheduled.
- Parameters
-
command | The command to check |
- Exceptions
-
IllegalArgumentException | if the given command has already been composed or scheduled. |
◆ requiring()
Command edu.wpi.first.wpilibj2.command.CommandScheduler.requiring |
( |
Subsystem | subsystem | ) |
|
Returns the command currently requiring a given subsystem. Null if no command is currently requiring the subsystem
- Parameters
-
subsystem | the subsystem to be inquired about |
- Returns
- the command currently requiring the subsystem, or null if no command is currently scheduled
◆ run()
void edu.wpi.first.wpilibj2.command.CommandScheduler.run |
( |
| ) |
|
Runs a single iteration of the scheduler. The execution occurs in the following order:
Subsystem periodic methods are called.
Button bindings are polled, and new commands are scheduled from them.
Currently-scheduled commands are executed.
End conditions are checked on currently-scheduled commands, and commands that are finished have their end methods called and are removed.
Any subsystems not being used as requirements have their default methods started.
◆ schedule()
void edu.wpi.first.wpilibj2.command.CommandScheduler.schedule |
( |
Command... | commands | ) |
|
Schedules multiple commands for execution. Does nothing for commands already scheduled.
- Parameters
-
commands | the commands to schedule. No-op on null. |
◆ setActiveButtonLoop()
void edu.wpi.first.wpilibj2.command.CommandScheduler.setActiveButtonLoop |
( |
EventLoop | loop | ) |
|
Replace the button poll with another one.
- Parameters
-
loop | the new button polling loop object. |
◆ setDefaultCommand()
void edu.wpi.first.wpilibj2.command.CommandScheduler.setDefaultCommand |
( |
Subsystem | subsystem, |
|
|
Command | defaultCommand ) |
Sets the default command for a subsystem. Registers that subsystem if it is not already registered. Default commands will run whenever there is no other command currently scheduled that requires the subsystem. Default commands should be written to never end (i.e. their Command#isFinished()
method should return false), as they would simply be re-scheduled if they do. Default commands must also require their subsystem.
- Parameters
-
subsystem | the subsystem whose default command will be set |
defaultCommand | the default command to associate with the subsystem |
◆ setPeriod()
void edu.wpi.first.wpilibj2.command.CommandScheduler.setPeriod |
( |
double | period | ) |
|
Changes the period of the loop overrun watchdog. This should be kept in sync with the TimedRobot period.
- Parameters
-
◆ unregisterAllSubsystems()
void edu.wpi.first.wpilibj2.command.CommandScheduler.unregisterAllSubsystems |
( |
| ) |
|
Un-registers all registered Subsystems with the scheduler. All currently registered subsystems will no longer have their periodic block called, and will not have their default command scheduled.
◆ unregisterSubsystem()
void edu.wpi.first.wpilibj2.command.CommandScheduler.unregisterSubsystem |
( |
Subsystem... | subsystems | ) |
|
Un-registers subsystems with the scheduler. The subsystem will no longer have its periodic block called, and will not have its default command scheduled.
- Parameters
-
subsystems | the subsystem to un-register |
The documentation for this class was generated from the following file:
- D:/SDASVN/2024/RaspberryPi/VSCode/Source/edu/wpi/first/wpilibj2/command/CommandScheduler.java