Package edu.wpi.first.wpilibj2.command

Class ConditionalCommand

java.lang.Object

edu.wpi.first.wpilibj2.command.CommandBase

edu.wpi.first.wpilibj2.command.ConditionalCommand

All Implemented Interfaces:

Sendable, Command

public class ConditionalCommand
extends CommandBase

A command composition that runs one of two commands, depending on the value of the given condition when this command is initialized.

The rules for command compositions apply: command instances that are passed to it cannot be added to any other composition or scheduled individually, and the composition requires all subsystems its components require.

This class is provided by the NewCommands VendorDep

Nested Class Summary

Nested classes/interfaces inherited from interface edu.wpi.first.wpilibj2.command.Command

Command.InterruptionBehavior

Field Summary

Fields inherited from class edu.wpi.first.wpilibj2.command.CommandBase

m_requirements

Constructor Summary

Constructors

Constructor	Description
ConditionalCommand(Command onTrue, Command onFalse, BooleanSupplier condition)	Creates a new ConditionalCommand.

Method Summary

Modifier and Type	Method	Description
void	end(boolean interrupted)	The action to take when the command ends.
void	execute()	The main body of a command.
Command.InterruptionBehavior	getInterruptionBehavior()	How the command behaves when another command with a shared requirement is scheduled.
void	initialize()	The initial subroutine of a command.
void	initSendable(SendableBuilder builder)	Initializes this sendable.
boolean	isFinished()	Whether the command has finished.
boolean	runsWhenDisabled()	Whether the given command should run when the robot is disabled.

Methods inherited from class edu.wpi.first.wpilibj2.command.CommandBase

addRequirements, getName, getRequirements, getSubsystem, setName, setSubsystem

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Methods inherited from interface edu.wpi.first.wpilibj2.command.Command

alongWith, andThen, andThen, asProxy, beforeStarting, beforeStarting, cancel, deadlineWith, finallyDo, handleInterrupt, hasRequirement, ignoringDisable, isScheduled, onlyIf, onlyWhile, raceWith, repeatedly, schedule, unless, until, withInterruptBehavior, withName, withTimeout

Constructor Details

ConditionalCommand

public ConditionalCommand(Command onTrue, Command onFalse, BooleanSupplier condition)

Creates a new ConditionalCommand.

Parameters:

onTrue - the command to run if the condition is true

onFalse - the command to run if the condition is false

condition - the condition to determine which command to run

Method Details

initialize

public void initialize()

Description copied from interface: Command

The initial subroutine of a command. Called once when the command is initially scheduled.

execute

public void execute()

Description copied from interface: Command

The main body of a command. Called repeatedly while the command is 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

isFinished

public boolean isFinished()

Description copied from interface: Command

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.

runsWhenDisabled

public boolean runsWhenDisabled()

Description copied from interface: Command

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

getInterruptionBehavior

public Command.InterruptionBehavior getInterruptionBehavior()

Description copied from interface: Command

How the command behaves when another command with a shared requirement is scheduled.

Returns:

a variant of Command.InterruptionBehavior, defaulting to kCancelSelf.

initSendable

public void initSendable(SendableBuilder builder)

Description copied from class: CommandBase

Initializes this sendable. Useful for allowing implementations to easily extend SendableBase.

Specified by:

initSendable in interface Sendable

Overrides:

initSendable in class CommandBase

Parameters:

builder - the builder used to construct this sendable