edu.wpi.first.wpilibj2.command.FunctionalCommand Class Reference

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

Public Member Functions
	FunctionalCommand (Runnable onInit, Runnable onExecute, Consumer< Boolean > onEnd, BooleanSupplier isFinished, Subsystem... requirements)
void	initialize ()
void	execute ()
void	end (boolean interrupted)
boolean	isFinished ()
Public Member Functions inherited from edu.wpi.first.wpilibj2.command.Command
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

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< Subsystem >	m_requirements = new HashSet<>()

Detailed Description

A command that allows the user to pass in functions for each of the basic command methods through the constructor. Useful for inline definitions of complex commands - note, however, that if a command is beyond a certain complexity it is usually better practice to write a proper class for it than to inline it.

This class is provided by the NewCommands VendorDep

Constructor & Destructor Documentation

FunctionalCommand()

edu.wpi.first.wpilibj2.command.FunctionalCommand.FunctionalCommand	(	Runnable	onInit,
		Runnable	onExecute,
		Consumer< Boolean >	onEnd,
		BooleanSupplier	isFinished,
		Subsystem...	requirements )

Creates a new FunctionalCommand.

Parameters

onInit	the function to run on command initialization
onExecute	the function to run on command execution
onEnd	the function to run on command end
isFinished	the function that determines whether the command has finished
requirements	the subsystems required by this command

Member Function Documentation

end()

void edu.wpi.first.wpilibj2.command.FunctionalCommand.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

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

execute()

void edu.wpi.first.wpilibj2.command.FunctionalCommand.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.FunctionalCommand.initialize

(

)

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

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

isFinished()

boolean edu.wpi.first.wpilibj2.command.FunctionalCommand.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.

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

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