Package edu.wpi.first.wpilibj2.command

Class FunctionalCommand

java.lang.Object

edu.wpi.first.wpilibj2.command.CommandBase

edu.wpi.first.wpilibj2.command.FunctionalCommand

All Implemented Interfaces:

Sendable, Command

Direct Known Subclasses:

InstantCommand, RunCommand, StartEndCommand

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.

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 BooleanSupplier	m_isFinished
protected Consumer<Boolean>	m_onEnd
protected Runnable	m_onExecute
protected Runnable	m_onInit

Fields inherited from class edu.wpi.first.wpilibj2.command.CommandBase

m_requirements

Constructor Summary

Constructors

Constructor	Description
FunctionalCommand(Runnable onInit, Runnable onExecute, Consumer<Boolean> onEnd, BooleanSupplier isFinished, Subsystem... requirements)	Creates a new FunctionalCommand.

Method Summary

Modifier and Type	Method	Description
void	end(boolean interrupted)	The action to take when the command ends.
void	execute()	The main body of a command.
void	initialize()	The initial subroutine of a command.
boolean	isFinished()	Whether the command has finished.

Methods inherited from class edu.wpi.first.wpilibj2.command.CommandBase

addRequirements, getName, getRequirements, getSubsystem, initSendable, setName, setSubsystem

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

Field Details

m_onInit

protected final Runnable m_onInit

m_onExecute

protected final Runnable m_onExecute

m_onEnd

protected final Consumer<Boolean> m_onEnd

m_isFinished

protected final BooleanSupplier m_isFinished

Constructor Details

FunctionalCommand

public FunctionalCommand(Runnable onInit, Runnable onExecute, Consumer<Boolean> onEnd, BooleanSupplier isFinished, Subsystem... requirements)

Creates a new FunctionalCommand.

Parameters:

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

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.

execute

public void execute()

Description copied from interface: Command

The main body of a command. Called repeatedly while the command is 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

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.