Package edu.wpi.first.wpilibj2.command

Class ProxyCommand

java.lang.Object
edu.wpi.first.wpilibj2.command.CommandBase
edu.wpi.first.wpilibj2.command.ProxyCommand
All Implemented Interfaces:
Sendable, Command
public class ProxyCommand
extends CommandBase
Schedules the given command when this command is initialized, and ends when it ends. Useful for forking off from CommandGroups. If this command is interrupted, it will cancel the command.

This class is provided by the NewCommands VendorDep

  • Constructor Details

    • ProxyCommand

      public ProxyCommand​(Supplier<Command> supplier)
      Creates a new ProxyCommand that schedules the supplied command when initialized, and ends when it is no longer scheduled. Useful for lazily creating commands at runtime.
      Parameters:
      supplier - the command supplier

    • ProxyCommand

      public ProxyCommand​(Command command)
      Creates a new ProxyCommand that schedules the given command when initialized, and ends when it is no longer scheduled.
      Parameters:
      command - the command to run by proxy

  • 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.

    • 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

    • execute

      public void execute()
      Description copied from interface: Command
      The main body of a command. Called repeatedly while the command is scheduled.

    • 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()
      Whether the given command should run when the robot is disabled. Override to return true if the command should run when disabled.
      Returns:
      true. Otherwise, this proxy would cancel commands that do run when disabled.

    • 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