WPILibC++ 2022.2.1-1-gf3a0b5c
frc2::StartEndCommand Class Reference

A command that runs a given runnable when it is initialized, and another runnable when it ends. More...

#include <frc2/command/StartEndCommand.h>

Inheritance diagram for frc2::StartEndCommand:
frc2::CommandHelper< CommandBase, StartEndCommand > frc2::CommandBase frc2::Command wpi::Sendable wpi::SendableHelper< CommandBase >

Public Member Functions

 StartEndCommand (std::function< void()> onInit, std::function< void()> onEnd, std::initializer_list< Subsystem * > requirements)
 Creates a new StartEndCommand. More...
 
 StartEndCommand (std::function< void()> onInit, std::function< void()> onEnd, wpi::span< Subsystem *const > requirements={})
 Creates a new StartEndCommand. More...
 
 StartEndCommand (StartEndCommand &&other)=default
 
 StartEndCommand (const StartEndCommand &other)
 
void Initialize () override
 The initial subroutine of a command. More...
 
void End (bool interrupted) override
 The action to take when the command ends. More...
 
- Public Member Functions inherited from frc2::CommandHelper< CommandBase, StartEndCommand >
 CommandHelper ()=default
 
- Public Member Functions inherited from frc2::CommandBase
void AddRequirements (std::initializer_list< Subsystem * > requirements)
 Adds the specified Subsystem requirements to the command. More...
 
void AddRequirements (wpi::span< Subsystem *const > requirements)
 Adds the specified Subsystem requirements to the command. More...
 
void AddRequirements (wpi::SmallSet< Subsystem *, 4 > requirements)
 Adds the specified Subsystem requirements to the command. More...
 
void AddRequirements (Subsystem *requirement)
 Adds the specified Subsystem requirement to the command. More...
 
wpi::SmallSet< Subsystem *, 4 > GetRequirements () const override
 Gets the Subsystem requirements of the command. More...
 
void SetName (std::string_view name)
 Sets the name of this Command. More...
 
std::string GetName () const override
 Gets the name of this Command. More...
 
std::string GetSubsystem () const
 Gets the subsystem name of this Command. More...
 
void SetSubsystem (std::string_view subsystem)
 Sets the subsystem name of this Command. More...
 
void InitSendable (wpi::SendableBuilder &builder) override
 Initializes this Sendable object. More...
 
- Public Member Functions inherited from frc2::Command
 Command ()=default
 
virtual ~Command ()
 
 Command (const Command &)=default
 
Commandoperator= (const Command &rhs)
 
 Command (Command &&)=default
 
Commandoperator= (Command &&)=default
 
virtual void Execute ()
 The main body of a command. More...
 
virtual bool IsFinished ()
 Whether the command has finished. More...
 
virtual ParallelRaceGroup WithTimeout (units::second_t duration) &&
 Decorates this command with a timeout. More...
 
virtual ParallelRaceGroup WithInterrupt (std::function< bool()> condition) &&
 Decorates this command with an interrupt condition. More...
 
virtual SequentialCommandGroup BeforeStarting (std::function< void()> toRun, std::initializer_list< Subsystem * > requirements) &&
 Decorates this command with a runnable to run before this command starts. More...
 
virtual SequentialCommandGroup BeforeStarting (std::function< void()> toRun, wpi::span< Subsystem *const > requirements={}) &&
 Decorates this command with a runnable to run before this command starts. More...
 
virtual SequentialCommandGroup AndThen (std::function< void()> toRun, std::initializer_list< Subsystem * > requirements) &&
 Decorates this command with a runnable to run after the command finishes. More...
 
virtual SequentialCommandGroup AndThen (std::function< void()> toRun, wpi::span< Subsystem *const > requirements={}) &&
 Decorates this command with a runnable to run after the command finishes. More...
 
virtual PerpetualCommand Perpetually () &&
 Decorates this command to run perpetually, ignoring its ordinary end conditions. More...
 
virtual ProxyScheduleCommand AsProxy ()
 Decorates this command to run "by proxy" by wrapping it in a ProxyScheduleCommand. More...
 
void Schedule (bool interruptible)
 Schedules this command. More...
 
void Schedule ()
 Schedules this command, defaulting to interruptible. More...
 
void Cancel ()
 Cancels this command. More...
 
bool IsScheduled () const
 Whether or not the command is currently scheduled. More...
 
bool HasRequirement (Subsystem *requirement) const
 Whether the command requires a given subsystem. More...
 
bool IsGrouped () const
 Whether the command is currently grouped in a command group. More...
 
void SetGrouped (bool grouped)
 Sets whether the command is currently grouped in a command group. More...
 
virtual bool RunsWhenDisabled () const
 Whether the given command should run when the robot is disabled. More...
 
- Public Member Functions inherited from wpi::Sendable
virtual ~Sendable ()=default
 
- Public Member Functions inherited from wpi::SendableHelper< CommandBase >
 SendableHelper (const SendableHelper &rhs)=default
 
 SendableHelper (SendableHelper &&rhs)
 
SendableHelperoperator= (const SendableHelper &rhs)=default
 
SendableHelperoperator= (SendableHelper &&rhs)
 
std::string GetName () const
 Gets the name of this Sendable object. More...
 
void SetName (std::string_view name)
 Sets the name of this Sendable object. More...
 
void SetName (std::string_view subsystem, std::string_view name)
 Sets both the subsystem name and device name of this Sendable object. More...
 
std::string GetSubsystem () const
 Gets the subsystem name of this Sendable object. More...
 
void SetSubsystem (std::string_view subsystem)
 Sets the subsystem name of this Sendable object. More...
 

Protected Attributes

std::function< void()> m_onInit
 
std::function< void()> m_onEnd
 
- Protected Attributes inherited from frc2::CommandBase
wpi::SmallSet< Subsystem *, 4 > m_requirements
 
- Protected Attributes inherited from frc2::Command
bool m_isGrouped = false
 

Additional Inherited Members

- Protected Member Functions inherited from frc2::CommandHelper< CommandBase, StartEndCommand >
std::unique_ptr< CommandTransferOwnership () &&override
 
- Protected Member Functions inherited from frc2::CommandBase
 CommandBase ()
 
- Protected Member Functions inherited from wpi::SendableHelper< CommandBase >
 SendableHelper ()=default
 
void SetName (std::string_view moduleType, int channel)
 Sets the name of the sensor with a channel number. More...
 
void SetName (std::string_view moduleType, int moduleNumber, int channel)
 Sets the name of the sensor with a module and channel number. More...
 
void AddChild (std::shared_ptr< Sendable > child)
 Add a child component. More...
 
void AddChild (void *child)
 Add a child component. More...
 
 ~SendableHelper ()
 

Detailed Description

A command that runs a given runnable when it is initialized, and another runnable when it ends.

Useful for running and then stopping a motor, or extending and then retracting a solenoid. Has no end condition as-is; either subclass it or use Command.WithTimeout() or Command.WithInterrupt() to give it one.

This class is provided by the NewCommands VendorDep

Constructor & Destructor Documentation

◆ StartEndCommand() [1/4]

frc2::StartEndCommand::StartEndCommand ( std::function< void()>  onInit,
std::function< void()>  onEnd,
std::initializer_list< Subsystem * >  requirements 
)

Creates a new StartEndCommand.

Will run the given runnables when the command starts and when it ends.

Parameters
onInitthe Runnable to run on command init
onEndthe Runnable to run on command end
requirementsthe subsystems required by this command

◆ StartEndCommand() [2/4]

frc2::StartEndCommand::StartEndCommand ( std::function< void()>  onInit,
std::function< void()>  onEnd,
wpi::span< Subsystem *const >  requirements = {} 
)

Creates a new StartEndCommand.

Will run the given runnables when the command starts and when it ends.

Parameters
onInitthe Runnable to run on command init
onEndthe Runnable to run on command end
requirementsthe subsystems required by this command

◆ StartEndCommand() [3/4]

frc2::StartEndCommand::StartEndCommand ( StartEndCommand &&  other)
default

◆ StartEndCommand() [4/4]

frc2::StartEndCommand::StartEndCommand ( const StartEndCommand other)

Member Function Documentation

◆ End()

void frc2::StartEndCommand::End ( bool  interrupted)
overridevirtual

The action to take when the command ends.

Called when either the command finishes normally, or when it interrupted/canceled.

Parameters
interruptedwhether the command was interrupted/canceled

Reimplemented from frc2::Command.

◆ Initialize()

void frc2::StartEndCommand::Initialize ( )
overridevirtual

The initial subroutine of a command.

Called once when the command is initially scheduled.

Reimplemented from frc2::Command.

Member Data Documentation

◆ m_onEnd

std::function<void()> frc2::StartEndCommand::m_onEnd
protected

◆ m_onInit

std::function<void()> frc2::StartEndCommand::m_onInit
protected

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