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

  • 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

      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