Package edu.wpi.first.wpilibj2.command

Class CommandBase

java.lang.Object

edu.wpi.first.wpilibj2.command.CommandBase

All Implemented Interfaces:

Sendable, Command

Direct Known Subclasses:

CommandGroupBase, ConditionalCommand, FunctionalCommand, MecanumControllerCommand, NotifierCommand, PerpetualCommand, PIDCommand, ProfiledPIDCommand, ProxyCommand, ProxyScheduleCommand, RamseteCommand, RepeatCommand, ScheduleCommand, SelectCommand, SwerveControllerCommand, TrapezoidProfileCommand, WaitCommand, WaitUntilCommand, WrapperCommand

public abstract class CommandBase
extends Object
implements Sendable, Command

A Sendable base class for Commands.

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

Modifier and Type	Field	Description
protected Set<Subsystem>	m_requirements

Constructor Summary

Constructors

Modifier	Constructor	Description
protected	CommandBase()

Method Summary

Modifier and Type	Method	Description
void	addRequirements(Subsystem... requirements)	Adds the specified subsystems to the requirements of the command.
String	getName()	Gets the name of this Command.
Set<Subsystem>	getRequirements()	Specifies the set of subsystems used by this command.
String	getSubsystem()	Gets the subsystem name of this Command.
void	initSendable(SendableBuilder builder)	Initializes this sendable.
void	setName(String name)	Sets the name of this Command.
void	setSubsystem(String subsystem)	Sets the subsystem name of this Command.

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, end, execute, finallyDo, getInterruptionBehavior, handleInterrupt, hasRequirement, ignoringDisable, initialize, isFinished, isScheduled, perpetually, raceWith, repeatedly, runsWhenDisabled, schedule, unless, until, withInterrupt, withInterruptBehavior, withName, withTimeout

Field Details

m_requirements

protected Set<Subsystem> m_requirements

Constructor Details

CommandBase

protected CommandBase()

Method Details

addRequirements

public final void addRequirements(Subsystem... requirements)

Adds the specified subsystems to the requirements of the command. The scheduler will prevent two commands that require the same subsystem from being scheduled simultaneously.

Note that the scheduler determines the requirements of a command when it is scheduled, so this method should normally be called from the command's constructor.

Parameters:

requirements - the requirements to add

getRequirements

public Set<Subsystem> getRequirements()

Description copied from interface: Command

Specifies the set of subsystems used by this command. Two commands cannot use the same subsystem at the same time. If another command is scheduled that shares a requirement, Command.getInterruptionBehavior() will be checked and followed. If no subsystems are required, return an empty set.

Note: it is recommended that user implementations contain the requirements as a field, and return that field here, rather than allocating a new set every time this is called.

Specified by:

getRequirements in interface Command

Returns:

the set of subsystems that are required

See Also:

Command.InterruptionBehavior

getName

public String getName()

Description copied from interface: Command

Gets the name of this Command. Defaults to the simple class name if not overridden.

Specified by:

getName in interface Command

Returns:

The display name of the Command

setName

public void setName(String name)

Sets the name of this Command.

Specified by:

setName in interface Command

Parameters:

name - name

getSubsystem

public String getSubsystem()

Gets the subsystem name of this Command.

Returns:

Subsystem name

setSubsystem

public void setSubsystem(String subsystem)

Sets the subsystem name of this Command.

Parameters:

subsystem - subsystem name

initSendable

public void initSendable(SendableBuilder builder)

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

Specified by:

initSendable in interface Sendable

Parameters:

builder - the builder used to construct this sendable