public class PerpetualCommand extends CommandBase
CommandGroupBase, it is still considered a CommandGroup, as it allows one to compose another command within it; the command instances that are passed to it cannot be added to any other groups, or scheduled individually.
As a rule, CommandGroups require the union of the requirements of their component commands.
This class is provided by the NewCommands VendorDep
Modifier and Type Method Description
end(boolean interrupted)The action to take when the command ends.
execute()The main body of a command.
initialize()The initial subroutine of a command.
perpetually()Decorates this command to run perpetually, ignoring its ordinary end conditions.
runsWhenDisabled()Whether the given command should run when the robot is disabled.
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
Creates a new PerpetualCommand. Will run another command in perpetuity, ignoring that command's end conditions, unless this command itself is interrupted.
command- the command to run perpetually
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 runsWhenDisabled()Whether the given command should run when the robot is disabled. Override to return true if the command should run when disabled.
- whether the command should run when the robot is disabled
Decorates this command to run perpetually, ignoring its ordinary end conditions. The decorated command can still be interrupted or canceled.
Note: This decorator works by composing this command within a CommandGroup. The command cannot be used independently after being decorated, or be re-decorated with a different decorator, unless it is manually cleared from the list of grouped commands with
CommandGroupBase.clearGroupedCommand(Command). The decorated command can, however, be further decorated without issue.
- the decorated command