Package edu.wpi.first.wpilibj2.command

Class Commands

java.lang.Object
edu.wpi.first.wpilibj2.command.Commands
public final class Commands
extends Object
Namespace for command factory methods.

For convenience, you might want to static import the members of this class.

  • Method Details

    • none

      public static CommandBase none()
      Constructs a command that does nothing, finishing immediately.
      Returns:
      the command

    • runOnce

      public static CommandBase runOnce​(Runnable action, Subsystem... requirements)
      Constructs a command that runs an action once and finishes.
      Parameters:
      action - the action to run
      requirements - subsystems the action requires
      Returns:
      the command
      See Also:
      InstantCommand

    • run

      public static CommandBase run​(Runnable action, Subsystem... requirements)
      Constructs a command that runs an action every iteration until interrupted.
      Parameters:
      action - the action to run
      requirements - subsystems the action requires
      Returns:
      the command
      See Also:
      RunCommand

    • startEnd

      public static CommandBase startEnd​(Runnable start, Runnable end, Subsystem... requirements)
      Constructs a command that runs an action once and another action when the command is interrupted.
      Parameters:
      start - the action to run on start
      end - the action to run on interrupt
      requirements - subsystems the action requires
      Returns:
      the command
      See Also:
      StartEndCommand

    • runEnd

      public static CommandBase runEnd​(Runnable run, Runnable end, Subsystem... requirements)
      Constructs a command that runs an action every iteration until interrupted, and then runs a second action.
      Parameters:
      run - the action to run every iteration
      end - the action to run on interrupt
      requirements - subsystems the action requires
      Returns:
      the command

    • print

      public static CommandBase print​(String message)
      Constructs a command that prints a message and finishes.
      Parameters:
      message - the message to print
      Returns:
      the command
      See Also:
      PrintCommand

    • waitSeconds

      public static CommandBase waitSeconds​(double seconds)
      Constructs a command that does nothing, finishing after a specified duration.
      Parameters:
      seconds - after how long the command finishes
      Returns:
      the command
      See Also:
      WaitCommand

    • waitUntil

      public static CommandBase waitUntil​(BooleanSupplier condition)
      Constructs a command that does nothing, finishing once a command becomes true.
      Parameters:
      condition - the condition
      Returns:
      the command
      See Also:
      WaitUntilCommand

    • either

      public static CommandBase either​(Command onTrue, Command onFalse, BooleanSupplier selector)
      Runs one of two commands, based on the boolean selector function.
      Parameters:
      onTrue - the command to run if the selector function returns true
      onFalse - the command to run if the selector function returns false
      selector - the selector function
      Returns:
      the command
      See Also:
      ConditionalCommand

    • select

      public static CommandBase select​(Map<Object,​Command> commands, Supplier<Object> selector)
      Runs one of several commands, based on the selector function.
      Parameters:
      selector - the selector function
      commands - map of commands to select from
      Returns:
      the command
      See Also:
      SelectCommand

    • sequence

      public static CommandBase sequence​(Command... commands)
      Runs a group of commands in series, one after the other.
      Parameters:
      commands - the commands to include
      Returns:
      the command group
      See Also:
      SequentialCommandGroup

    • repeatingSequence

      public static CommandBase repeatingSequence​(Command... commands)
      Runs a group of commands in series, one after the other. Once the last command ends, the group is restarted.
      Parameters:
      commands - the commands to include
      Returns:
      the command group
      See Also:
      SequentialCommandGroup, Command.repeatedly()

    • parallel

      public static CommandBase parallel​(Command... commands)
      Runs a group of commands at the same time. Ends once all commands in the group finish.
      Parameters:
      commands - the commands to include
      Returns:
      the command
      See Also:
      ParallelCommandGroup

    • race

      public static CommandBase race​(Command... commands)
      Runs a group of commands at the same time. Ends once any command in the group finishes, and cancels the others.
      Parameters:
      commands - the commands to include
      Returns:
      the command group
      See Also:
      ParallelRaceGroup

    • deadline

      public static CommandBase deadline​(Command deadline, Command... commands)
      Runs a group of commands at the same time. Ends once a specific command finishes, and cancels the others.
      Parameters:
      deadline - the deadline command
      commands - the commands to include
      Returns:
      the command group
      See Also:
      ParallelDeadlineGroup