A CommandGroups that runs a list of commands in sequence. More...

#include <frc2/command/SequentialCommandGroup.h>

Inheritance diagram for frc2::SequentialCommandGroup:

Public Member Functions
	SequentialCommandGroup (std::vector< std::unique_ptr< Command > > &&commands)
	Creates a new SequentialCommandGroup. More...

template<class... Types, typename = std::enable_if_t<std::conjunction_v< std::is_base_of<Command, std::remove_reference_t<Types>>...>>>
	SequentialCommandGroup (Types &&... commands)
	Creates a new SequentialCommandGroup. More...

	SequentialCommandGroup (SequentialCommandGroup &&other)=default

	SequentialCommandGroup (const SequentialCommandGroup &)=delete

	SequentialCommandGroup (SequentialCommandGroup &)=delete

template<class... Types, typename = std::enable_if_t<std::conjunction_v< std::is_base_of<Command, std::remove_reference_t<Types>>...>>>
void	AddCommands (Types &&... commands)

void	Initialize () override
	The initial subroutine of a command. More...

void	Execute () override
	The main body of a command. More...

void	End (bool interrupted) override
	The action to take when the command ends. More...

bool	IsFinished () override
	Whether the command has finished. More...

bool	RunsWhenDisabled () const override
	Whether the given command should run when the robot is disabled. More...

SequentialCommandGroup	BeforeStarting (std::function< void()> toRun, wpi::span< Subsystem *const > requirements={}) &&override
	Decorates this command with a runnable to run before this command starts. More...

SequentialCommandGroup	AndThen (std::function< void()> toRun, wpi::span< Subsystem *const > requirements={}) &&override
	Decorates this command with a runnable to run after the command finishes. More...

Public Member Functions inherited from frc2::CommandHelper< CommandGroupBase, SequentialCommandGroup >
	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

Command &	operator= (const Command &rhs)

	Command (Command &&)=default

Command &	operator= (Command &&)=default

virtual ParallelRaceGroup	WithTimeout (units::second_t duration) &&
	Decorates this command with a timeout. More...

virtual ParallelRaceGroup	Until (std::function< bool()> condition) &&
	Decorates this command with an interrupt condition. 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	AndThen (std::function< void()> toRun, std::initializer_list< Subsystem * > 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...

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)

SendableHelper &	operator= (const SendableHelper &rhs)=default

SendableHelper &	operator= (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...

Additional Inherited Members
Static Public Member Functions inherited from frc2::CommandGroupBase
static bool	RequireUngrouped (const Command &command)
	Requires that the specified command not have been already allocated to a CommandGroup. More...

static bool	RequireUngrouped (const Command *command)
	Requires that the specified command not have been already allocated to a CommandGroup. More...

static bool	RequireUngrouped (wpi::span< const std::unique_ptr< Command > > commands)
	Requires that the specified commands not have been already allocated to a CommandGroup. More...

static bool	RequireUngrouped (std::initializer_list< const Command * > commands)
	Requires that the specified commands not have been already allocated to a CommandGroup. More...

Protected Member Functions inherited from frc2::CommandHelper< CommandGroupBase, SequentialCommandGroup >
std::unique_ptr< Command >	TransferOwnership () &&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 ()

Protected Attributes inherited from frc2::CommandBase
wpi::SmallSet< Subsystem *, 4 >	m_requirements

Protected Attributes inherited from frc2::Command
bool	m_isGrouped = false

Detailed Description

A CommandGroups that runs a list of commands in sequence.

As a rule, CommandGroups require the union of the requirements of their component commands.

This class is provided by the NewCommands VendorDep

Constructor & Destructor Documentation

◆ SequentialCommandGroup() [1/5]

frc2::SequentialCommandGroup::SequentialCommandGroup ( std::vector< std::unique_ptr< Command > > && commands )

explicit

Creates a new SequentialCommandGroup.

The given commands will be run sequentially, with the CommandGroup finishing when the last command finishes.

Parameters

commands the commands to include in this group.

◆ SequentialCommandGroup() [2/5]

template<class... Types, typename = std::enable_if_t<std::conjunction_v< std::is_base_of<Command, std::remove_reference_t<Types>>...>>>

frc2::SequentialCommandGroup::SequentialCommandGroup ( Types &&... commands )

inlineexplicit

Creates a new SequentialCommandGroup.

The given commands will be run sequentially, with the CommandGroup finishing when the last command finishes.

Parameters

commands the commands to include in this group.

◆ SequentialCommandGroup() [3/5]

frc2::SequentialCommandGroup::SequentialCommandGroup ( SequentialCommandGroup && other )

default

◆ SequentialCommandGroup() [4/5]

frc2::SequentialCommandGroup::SequentialCommandGroup ( const SequentialCommandGroup & )

delete

◆ SequentialCommandGroup() [5/5]

frc2::SequentialCommandGroup::SequentialCommandGroup ( SequentialCommandGroup & )

delete

Member Function Documentation

◆ AddCommands()

template<class... Types, typename = std::enable_if_t<std::conjunction_v< std::is_base_of<Command, std::remove_reference_t<Types>>...>>>

void frc2::SequentialCommandGroup::AddCommands ( Types &&... commands )

inline

◆ AndThen()

SequentialCommandGroup frc2::SequentialCommandGroup::AndThen	(	std::function< void()>	toRun,
		wpi::span< Subsystem *const >	requirements = `{}`
	)		&&

overridevirtual

Decorates this command with a runnable to run after the command finishes.

Parameters

toRun	the Runnable to run
requirements	the required subsystems

Returns: the decorated command

Reimplemented from frc2::Command.

◆ BeforeStarting()

SequentialCommandGroup frc2::SequentialCommandGroup::BeforeStarting	(	std::function< void()>	toRun,
		wpi::span< Subsystem *const >	requirements = `{}`
	)		&&

overridevirtual

Decorates this command with a runnable to run before this command starts.

Parameters

toRun	the Runnable to run
requirements	the required subsystems

Returns: the decorated command

Reimplemented from frc2::Command.

◆ End()

void frc2::SequentialCommandGroup::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

interrupted whether the command was interrupted/canceled

Reimplemented from frc2::Command.

◆ Execute()

void frc2::SequentialCommandGroup::Execute ( )

overridevirtual

The main body of a command.

Called repeatedly while the command is scheduled.

Reimplemented from frc2::Command.

◆ Initialize()

void frc2::SequentialCommandGroup::Initialize ( )

overridevirtual

The initial subroutine of a command.

Called once when the command is initially scheduled.

Reimplemented from frc2::Command.

◆ IsFinished()

bool frc2::SequentialCommandGroup::IsFinished ( )

overridevirtual

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.

Reimplemented from frc2::Command.

◆ RunsWhenDisabled()

bool frc2::SequentialCommandGroup::RunsWhenDisabled ( ) const

overridevirtual

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

Reimplemented from frc2::Command.

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

frc2/command/SequentialCommandGroup.h

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ SequentialCommandGroup() [1/5]

◆ SequentialCommandGroup() [2/5]

◆ SequentialCommandGroup() [3/5]

◆ SequentialCommandGroup() [4/5]

◆ SequentialCommandGroup() [5/5]

Member Function Documentation

◆ AddCommands()

◆ AndThen()

◆ BeforeStarting()

◆ End()

◆ Execute()

◆ Initialize()

◆ IsFinished()

◆ RunsWhenDisabled()