Class StartEndCommand

    • Field Detail

      • m_onInit

        protected final Runnable m_onInit
      • m_onEnd

        protected final Runnable m_onEnd
    • Constructor Detail

      • StartEndCommand

        public StartEndCommand​(Runnable onInit,
                               Runnable onEnd,
                               Subsystem... requirements)
        Creates a new StartEndCommand. Will run the given runnables when the command starts and when it ends.
        Parameters:
        onInit - the Runnable to run on command init
        onEnd - the Runnable to run on command end
        requirements - the subsystems required by this command
    • Method Detail

      • initialize

        public void initialize()
        Description copied from interface: Command
        The initial subroutine of a command. Called once when the command is initially scheduled.
      • end

        public void end​(boolean interrupted)
        Description copied from interface: Command
        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 Command.andThen(Command...) instead.

        Parameters:
        interrupted - whether the command was interrupted/canceled