Robot Core Documentation
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Protected Member Functions | |
WrapperCommand (Command command) | |
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Command () | |
Protected Attributes | |
final Command | m_command |
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Set< Subsystem > | m_requirements = new HashSet<>() |
A class used internally to wrap commands while overriding a specific method; all other methods will call through to the wrapped command.
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.
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protected |
Wrap a command.
command | the command being wrapped. Trying to directly schedule this command or add it to a composition will throw an exception. |
void edu.wpi.first.wpilibj2.command.WrapperCommand.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.WrapperCommand.execute | ( | ) |
The main body of a command. Called repeatedly while the command is scheduled.
Reimplemented from edu.wpi.first.wpilibj2.command.Command.
InterruptionBehavior edu.wpi.first.wpilibj2.command.WrapperCommand.getInterruptionBehavior | ( | ) |
How the command behaves when another command with a shared requirement is scheduled.
InterruptionBehavior
, defaulting to kCancelSelf
. Reimplemented from edu.wpi.first.wpilibj2.command.Command.
Set< Subsystem > edu.wpi.first.wpilibj2.command.WrapperCommand.getRequirements | ( | ) |
Specifies the set of subsystems used by this command. Two commands cannot use the same subsystem at the same time. If the command is scheduled as interruptible and another command is scheduled that shares a requirement, the command will be interrupted. Else, the command will not be scheduled. If no subsystems are required, return an empty set.
Note: it is recommended that user implementations contain the requirements as a field, and return that field here, rather than allocating a new set every time this is called.
Reimplemented from edu.wpi.first.wpilibj2.command.Command.
void edu.wpi.first.wpilibj2.command.WrapperCommand.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.WrapperCommand.isFinished | ( | ) |
Whether the command has finished. Once a command finishes, the scheduler will call its end() method and un-schedule it.
Reimplemented from edu.wpi.first.wpilibj2.command.Command.
boolean edu.wpi.first.wpilibj2.command.WrapperCommand.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.
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protected |
Command being wrapped.