WPILibC++ 2022.4.1
frc2::WaitCommand Class Reference

A command that does nothing but takes a specified amount of time to finish. More...

#include <frc2/command/WaitCommand.h>

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

Public Member Functions

 WaitCommand (units::second_t duration)
 Creates a new WaitCommand. More...
 
 WaitCommand (WaitCommand &&other)=default
 
 WaitCommand (const WaitCommand &other)=default
 
void Initialize () override
 The initial subroutine 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...
 
- Public Member Functions inherited from frc2::CommandHelper< CommandBase, WaitCommand >
 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 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 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...
 
- 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

frc::Timer m_timer
 
- 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, WaitCommand >
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 does nothing but takes a specified amount of time to finish.

Useful for CommandGroups. Can also be subclassed to make a command with an internal timer.

This class is provided by the NewCommands VendorDep

Constructor & Destructor Documentation

◆ WaitCommand() [1/3]

frc2::WaitCommand::WaitCommand ( units::second_t  duration)
explicit

Creates a new WaitCommand.

This command will do nothing, and end after the specified duration.

Parameters
durationthe time to wait

◆ WaitCommand() [2/3]

frc2::WaitCommand::WaitCommand ( WaitCommand &&  other)
default

◆ WaitCommand() [3/3]

frc2::WaitCommand::WaitCommand ( const WaitCommand other)
default

Member Function Documentation

◆ End()

void frc2::WaitCommand::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::WaitCommand::Initialize ( )
overridevirtual

The initial subroutine of a command.

Called once when the command is initially scheduled.

Reimplemented from frc2::Command.

◆ IsFinished()

bool frc2::WaitCommand::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::WaitCommand::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.

Member Data Documentation

◆ m_timer

frc::Timer frc2::WaitCommand::m_timer
protected

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