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edu.wpi.first.wpilibj2.command.DeferredCommand Class Reference
Inheritance diagram for edu.wpi.first.wpilibj2.command.DeferredCommand:
edu.wpi.first.wpilibj2.command.Command edu.wpi.first.util.sendable.Sendable

Public Member Functions

 DeferredCommand (Supplier< Command > supplier, Set< Subsystem > requirements)
 
void initialize ()
 
void execute ()
 
boolean isFinished ()
 
void end (boolean interrupted)
 
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)
 
InterruptionBehavior getInterruptionBehavior ()
 
boolean runsWhenDisabled ()
 
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

Defers Command construction to runtime. Runs the command returned by the supplier when this command is initialized, and ends when it ends. Useful for performing runtime tasks before creating a new command. If this command is interrupted, it will cancel the command.

Note that the supplier must create a new Command each call. For selecting one of a preallocated set of commands, use SelectCommand.

This class is provided by the NewCommands VendorDep

Constructor & Destructor Documentation

◆ DeferredCommand()

edu.wpi.first.wpilibj2.command.DeferredCommand.DeferredCommand ( Supplier< Command > supplier,
Set< Subsystem > requirements )

Creates a new DeferredCommand that runs the supplied command when initialized, and ends when it ends. Useful for lazily creating commands at runtime. The Supplier will be called each time this command is initialized. The Supplier must create a new Command each call.

Parameters
supplierThe command supplier
requirementsThe command requirements. This is a Set to prevent accidental omission of command requirements. Use Set#of() to easily construct a requirement set.

Member Function Documentation

◆ end()

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

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

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

◆ initialize()

void edu.wpi.first.wpilibj2.command.DeferredCommand.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.DeferredCommand.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.DeferredCommand.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.


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