Robot Core Documentation
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Additional Inherited Members | |
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Command () | |
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Set< Subsystem > | m_requirements = new HashSet<>() |
A command that runs another command in perpetuity, ignoring that command's end conditions. While this class does not extend CommandGroupBase
, it is still considered a composition, as it allows one to compose another command within it; the command instances that are passed to it cannot be added to any other groups, or scheduled individually.
As a rule, CommandGroups require the union of the requirements of their component commands.
This class is provided by the NewCommands VendorDep
edu.wpi.first.wpilibj2.command.PerpetualCommand.PerpetualCommand | ( | Command | command | ) |
Creates a new PerpetualCommand. Will run another command in perpetuity, ignoring that command's end conditions, unless this command itself is interrupted.
command | the command to run perpetually |
void edu.wpi.first.wpilibj2.command.PerpetualCommand.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.
interrupted | whether the command was interrupted/canceled |
Reimplemented from edu.wpi.first.wpilibj2.command.Command.
void edu.wpi.first.wpilibj2.command.PerpetualCommand.execute | ( | ) |
The main body of a command. Called repeatedly while the command is scheduled.
Reimplemented from edu.wpi.first.wpilibj2.command.Command.
void edu.wpi.first.wpilibj2.command.PerpetualCommand.initialize | ( | ) |
The initial subroutine of a command. Called once when the command is initially scheduled.
Reimplemented from edu.wpi.first.wpilibj2.command.Command.
boolean edu.wpi.first.wpilibj2.command.PerpetualCommand.runsWhenDisabled | ( | ) |
Whether the given command should run when the robot is disabled. Override to return true if the command should run when disabled.
Reimplemented from edu.wpi.first.wpilibj2.command.Command.