Interface Command

    • Method Detail

      • initialize

        default void initialize()
        The initial subroutine of a command. Called once when the command is initially scheduled.
      • execute

        default void execute()
        The main body of a command. Called repeatedly while the command is scheduled.
      • end

        default void 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
      • isFinished

        default boolean 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.
      • getRequirements

        Set<Subsystem> 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
      • withTimeout

        default ParallelRaceGroup withTimeout​(double seconds)
        Decorates this command with a timeout. If the specified timeout is exceeded before the command finishes normally, the command will be interrupted and un-scheduled. Note that the timeout only applies to the command returned by this method; the calling command is not itself changed.

        Note: This decorator works by composing this command within a CommandGroup. The command cannot be used independently after being decorated, or be re-decorated with a different decorator, unless it is manually cleared from the list of grouped commands with CommandGroupBase.clearGroupedCommand(Command). The decorated command can, however, be further decorated without issue.

        Parameters:
        seconds - the timeout duration
        Returns:
        the command with the timeout added
      • withInterrupt

        default ParallelRaceGroup withInterrupt​(BooleanSupplier condition)
        Decorates this command with an interrupt condition. If the specified condition becomes true before the command finishes normally, the command will be interrupted and un-scheduled. Note that this only applies to the command returned by this method; the calling command is not itself changed.

        Note: This decorator works by composing this command within a CommandGroup. The command cannot be used independently after being decorated, or be re-decorated with a different decorator, unless it is manually cleared from the list of grouped commands with CommandGroupBase.clearGroupedCommand(Command). The decorated command can, however, be further decorated without issue.

        Parameters:
        condition - the interrupt condition
        Returns:
        the command with the interrupt condition added
      • beforeStarting

        default SequentialCommandGroup beforeStarting​(Runnable toRun,
                                                      Subsystem... requirements)
        Decorates this command with a runnable to run before this command starts.

        Note: This decorator works by composing this command within a CommandGroup. The command cannot be used independently after being decorated, or be re-decorated with a different decorator, unless it is manually cleared from the list of grouped commands with CommandGroupBase.clearGroupedCommand(Command). The decorated command can, however, be further decorated without issue.

        Parameters:
        toRun - the Runnable to run
        requirements - the required subsystems
        Returns:
        the decorated command
      • andThen

        default SequentialCommandGroup andThen​(Runnable toRun,
                                               Subsystem... requirements)
        Decorates this command with a runnable to run after the command finishes.

        Note: This decorator works by composing this command within a CommandGroup. The command cannot be used independently after being decorated, or be re-decorated with a different decorator, unless it is manually cleared from the list of grouped commands with CommandGroupBase.clearGroupedCommand(Command). The decorated command can, however, be further decorated without issue.

        Parameters:
        toRun - the Runnable to run
        requirements - the required subsystems
        Returns:
        the decorated command
      • andThen

        default SequentialCommandGroup andThen​(Command... next)
        Decorates this command with a set of commands to run after it in sequence. Often more convenient/less-verbose than constructing a new SequentialCommandGroup explicitly.

        Note: This decorator works by composing this command within a CommandGroup. The command cannot be used independently after being decorated, or be re-decorated with a different decorator, unless it is manually cleared from the list of grouped commands with CommandGroupBase.clearGroupedCommand(Command). The decorated command can, however, be further decorated without issue.

        Parameters:
        next - the commands to run next
        Returns:
        the decorated command
      • deadlineWith

        default ParallelDeadlineGroup deadlineWith​(Command... parallel)
        Decorates this command with a set of commands to run parallel to it, ending when the calling command ends and interrupting all the others. Often more convenient/less-verbose than constructing a new ParallelDeadlineGroup explicitly.

        Note: This decorator works by composing this command within a CommandGroup. The command cannot be used independently after being decorated, or be re-decorated with a different decorator, unless it is manually cleared from the list of grouped commands with CommandGroupBase.clearGroupedCommand(Command). The decorated command can, however, be further decorated without issue.

        Parameters:
        parallel - the commands to run in parallel
        Returns:
        the decorated command
      • alongWith

        default ParallelCommandGroup alongWith​(Command... parallel)
        Decorates this command with a set of commands to run parallel to it, ending when the last command ends. Often more convenient/less-verbose than constructing a new ParallelCommandGroup explicitly.

        Note: This decorator works by composing this command within a CommandGroup. The command cannot be used independently after being decorated, or be re-decorated with a different decorator, unless it is manually cleared from the list of grouped commands with CommandGroupBase.clearGroupedCommand(Command). The decorated command can, however, be further decorated without issue.

        Parameters:
        parallel - the commands to run in parallel
        Returns:
        the decorated command
      • raceWith

        default ParallelRaceGroup raceWith​(Command... parallel)
        Decorates this command with a set of commands to run parallel to it, ending when the first command ends. Often more convenient/less-verbose than constructing a new ParallelRaceGroup explicitly.

        Note: This decorator works by composing this command within a CommandGroup. The command cannot be used independently after being decorated, or be re-decorated with a different decorator, unless it is manually cleared from the list of grouped commands with CommandGroupBase.clearGroupedCommand(Command). The decorated command can, however, be further decorated without issue.

        Parameters:
        parallel - the commands to run in parallel
        Returns:
        the decorated command
      • perpetually

        default PerpetualCommand perpetually()
        Decorates this command to run perpetually, ignoring its ordinary end conditions. The decorated command can still be interrupted or canceled.

        Note: This decorator works by composing this command within a CommandGroup. The command cannot be used independently after being decorated, or be re-decorated with a different decorator, unless it is manually cleared from the list of grouped commands with CommandGroupBase.clearGroupedCommand(Command). The decorated command can, however, be further decorated without issue.

        Returns:
        the decorated command
      • asProxy

        default ProxyScheduleCommand asProxy()
        Decorates this command to run "by proxy" by wrapping it in a ProxyScheduleCommand. This is useful for "forking off" from command groups when the user does not wish to extend the command's requirements to the entire command group.
        Returns:
        the decorated command
      • schedule

        default void schedule​(boolean interruptible)
        Schedules this command.
        Parameters:
        interruptible - whether this command can be interrupted by another command that shares one of its requirements
      • schedule

        default void schedule()
        Schedules this command, defaulting to interruptible.
      • cancel

        default void cancel()
        Cancels this command. Will call the command's interrupted() method. Commands will be canceled even if they are not marked as interruptible.
      • isScheduled

        default boolean isScheduled()
        Whether or not the command is currently scheduled. Note that this does not detect whether the command is being run by a CommandGroup, only whether it is directly being run by the scheduler.
        Returns:
        Whether the command is scheduled.
      • hasRequirement

        default boolean hasRequirement​(Subsystem requirement)
        Whether the command requires a given subsystem. Named "hasRequirement" rather than "requires" to avoid confusion with Command.requires(edu.wpi.first.wpilibj.command.Subsystem) - this may be able to be changed in a few years.
        Parameters:
        requirement - the subsystem to inquire about
        Returns:
        whether the subsystem is required
      • runsWhenDisabled

        default boolean 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
      • getName

        default String getName()
        Gets the name of this Command.
        Returns:
        Name