public class FunctionalCommand extends CommandBase
A command that allows the user to pass in functions for each of the basic command methods through the constructor. Useful for inline definitions of complex commands - note, however, that if a command is beyond a certain complexity it is usually better practice to write a proper class for it than to inline it.
Fields Modifier and Type Field Description
Methods inherited from class edu.wpi.first.wpilibj2.command.CommandBase
addRequirements, getName, getRequirements, getSubsystem, initSendable, setName, setSubsystem, withName
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, cancel, deadlineWith, hasRequirement, isScheduled, perpetually, raceWith, runsWhenDisabled, schedule, schedule, withInterrupt, withTimeout
public FunctionalCommand(Runnable onInit, Runnable onExecute, Consumer<Boolean> onEnd, BooleanSupplier isFinished, Subsystem... requirements)Creates a new FunctionalCommand.
onInit- the function to run on command initialization
onExecute- the function to run on command execution
onEnd- the function to run on command end
isFinished- the function that determines whether the command has finished
requirements- the subsystems required by this command
public void initialize()The initial subroutine of a command. Called once when the command is initially scheduled.
public void execute()The main body of a command. Called repeatedly while the command is scheduled.
public void end(boolean interrupted)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
interrupted- whether the command was interrupted/canceled
public boolean isFinished()Whether the command has finished. Once a command finishes, the scheduler will call its end() method and un-schedule it.
- whether the command has finished.