frc2::FunctionalCommand Class Reference

A command that allows the user to pass in functions for each of the basic command methods through the constructor. More...

#include <frc2/command/FunctionalCommand.h>

Inheritance diagram for frc2::FunctionalCommand:

Public Member Functions
	FunctionalCommand (std::function< void()> onInit, std::function< void()> onExecute, std::function< void(bool)> onEnd, std::function< bool()> isFinished, std::initializer_list< Subsystem * > requirements)
	Creates a new FunctionalCommand. More...
	FunctionalCommand (std::function< void()> onInit, std::function< void()> onExecute, std::function< void(bool)> onEnd, std::function< bool()> isFinished, std::span< Subsystem *const > requirements={})
	Creates a new FunctionalCommand. More...
	FunctionalCommand (FunctionalCommand &&other)=default
	FunctionalCommand (const FunctionalCommand &other)=default
void	Initialize () override
void	Execute () override
void	End (bool interrupted) override
bool	IsFinished () override
Public Member Functions inherited from frc2::CommandHelper< CommandBase, FunctionalCommand >
	CommandHelper ()=default
CommandPtr	ToPtr () &&override

Additional Inherited Members
Protected Member Functions inherited from frc2::CommandHelper< CommandBase, FunctionalCommand >
std::unique_ptr< Command >	TransferOwnership () &&override

Detailed Description

A command that allows the user to pass in functions for each of the basic command methods through the constructor.

Useful for inline definitions of complex commands - note, however, that if a command is beyond a certain complexity it is usually better practice to write a proper class for it than to inline it.

This class is provided by the NewCommands VendorDep

Constructor & Destructor Documentation

FunctionalCommand() [1/4]

frc2::FunctionalCommand::FunctionalCommand	(	std::function< void()>	onInit,
		std::function< void()>	onExecute,
		std::function< void(bool)>	onEnd,
		std::function< bool()>	isFinished,
		std::initializer_list< Subsystem * >	requirements
	)

Creates a new FunctionalCommand.

Parameters

onInit	the function to run on command initialization
onExecute	the function to run on command execution
onEnd	the function to run on command end
isFinished	the function that determines whether the command has finished
requirements	the subsystems required by this command

FunctionalCommand() [2/4]

frc2::FunctionalCommand::FunctionalCommand	(	std::function< void()>	onInit,
		std::function< void()>	onExecute,
		std::function< void(bool)>	onEnd,
		std::function< bool()>	isFinished,
		std::span< Subsystem *const >	requirements = {}
	)

Creates a new FunctionalCommand.

Parameters

onInit	the function to run on command initialization
onExecute	the function to run on command execution
onEnd	the function to run on command end
isFinished	the function that determines whether the command has finished
requirements	the subsystems required by this command

FunctionalCommand() [3/4]

frc2::FunctionalCommand::FunctionalCommand ( FunctionalCommand &&  other )

default

FunctionalCommand() [4/4]

frc2::FunctionalCommand::FunctionalCommand ( const FunctionalCommand &  other )

default

Member Function Documentation

End()

void frc2::FunctionalCommand::End ( bool  interrupted )

override

Execute()

void frc2::FunctionalCommand::Execute ( )

override

Initialize()

void frc2::FunctionalCommand::Initialize ( )

override

IsFinished()

bool frc2::FunctionalCommand::IsFinished ( )

override

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

• frc2/command/FunctionalCommand.h