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edu.wpi.first.wpilibj2.command.WrapperCommand Class Referenceabstract
Inheritance diagram for edu.wpi.first.wpilibj2.command.WrapperCommand:
edu.wpi.first.wpilibj2.command.Command edu.wpi.first.util.sendable.Sendable

Public Member Functions

void initialize ()
 
void execute ()
 
void end (boolean interrupted)
 
boolean isFinished ()
 
Set< SubsystemgetRequirements ()
 
boolean runsWhenDisabled ()
 
InterruptionBehavior getInterruptionBehavior ()
 
- Public Member Functions inherited from edu.wpi.first.wpilibj2.command.Command
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)
 
void initSendable (SendableBuilder builder)
 
- Public Member Functions inherited from edu.wpi.first.util.sendable.Sendable

Protected Member Functions

 WrapperCommand (Command command)
 
- Protected Member Functions inherited from edu.wpi.first.wpilibj2.command.Command
 Command ()
 

Protected Attributes

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

Detailed Description

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.

Constructor & Destructor Documentation

◆ WrapperCommand()

edu.wpi.first.wpilibj2.command.WrapperCommand.WrapperCommand ( Command command)
protected

Wrap a command.

Parameters
commandthe command being wrapped. Trying to directly schedule this command or add it to a composition will throw an exception.

Member Function Documentation

◆ end()

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.

Parameters
interruptedwhether the command was interrupted/canceled

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

◆ execute()

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.

◆ getInterruptionBehavior()

InterruptionBehavior edu.wpi.first.wpilibj2.command.WrapperCommand.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.

◆ getRequirements()

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.

Returns
the set of subsystems that are required

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

◆ initialize()

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.

◆ isFinished()

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.

Returns
whether the command has finished.

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

◆ runsWhenDisabled()

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.

Returns
whether the command should run when the robot is disabled

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

Member Data Documentation

◆ m_command

final Command edu.wpi.first.wpilibj2.command.WrapperCommand.m_command
protected

Command being wrapped.


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