Robot Core Documentation
Loading...
Searching...
No Matches
edu.wpi.first.wpilibj2.command.ConditionalCommand Class Reference
Inheritance diagram for edu.wpi.first.wpilibj2.command.ConditionalCommand:
edu.wpi.first.wpilibj2.command.Command edu.wpi.first.util.sendable.Sendable

Public Member Functions

 ConditionalCommand (Command onTrue, Command onFalse, BooleanSupplier condition)
 
void initialize ()
 
void execute ()
 
void end (boolean interrupted)
 
boolean isFinished ()
 
boolean runsWhenDisabled ()
 
InterruptionBehavior getInterruptionBehavior ()
 
void initSendable (SendableBuilder builder)
 
- Public Member Functions inherited from edu.wpi.first.wpilibj2.command.Command
Set< SubsystemgetRequirements ()
 
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)
 
WrapperCommand withName (String name)
 
- Public Member Functions inherited from edu.wpi.first.util.sendable.Sendable

Additional Inherited Members

- Protected Member Functions inherited from edu.wpi.first.wpilibj2.command.Command
 Command ()
 
- Protected Attributes inherited from edu.wpi.first.wpilibj2.command.Command
Set< Subsystemm_requirements = new HashSet<>()
 

Detailed Description

A command composition that runs one of two commands, depending on the value of the given condition when this command is initialized.

The rules for command compositions apply: command instances that are passed to it cannot be added to any other composition or scheduled individually, and the composition requires all subsystems its components require.

This class is provided by the NewCommands VendorDep

Constructor & Destructor Documentation

◆ ConditionalCommand()

edu.wpi.first.wpilibj2.command.ConditionalCommand.ConditionalCommand ( Command onTrue,
Command onFalse,
BooleanSupplier condition )

Creates a new ConditionalCommand.

Parameters
onTruethe command to run if the condition is true
onFalsethe command to run if the condition is false
conditionthe condition to determine which command to run

Member Function Documentation

◆ end()

void edu.wpi.first.wpilibj2.command.ConditionalCommand.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
interruptedwhether the command was interrupted/canceled

Reimplemented from edu.wpi.first.wpilibj2.command.Command.

◆ execute()

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

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

Reimplemented from edu.wpi.first.wpilibj2.command.Command.

◆ getInterruptionBehavior()

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

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

Returns
a variant of InterruptionBehavior, defaulting to kCancelSelf.

Reimplemented from edu.wpi.first.wpilibj2.command.Command.

◆ initialize()

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

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

Reimplemented from edu.wpi.first.wpilibj2.command.Command.

◆ initSendable()

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

Initializes this Sendable object.

Parameters
buildersendable builder

Reimplemented from edu.wpi.first.wpilibj2.command.Command.

◆ isFinished()

boolean edu.wpi.first.wpilibj2.command.ConditionalCommand.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.

Reimplemented from edu.wpi.first.wpilibj2.command.Command.

◆ runsWhenDisabled()

boolean edu.wpi.first.wpilibj2.command.ConditionalCommand.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

Reimplemented from edu.wpi.first.wpilibj2.command.Command.


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