public class PerpetualCommand extends CommandBase
A command that runs another command in perpetuity, ignoring that command's end conditions. While this class does not extend
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.
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, isFinished, isScheduled, perpetually, raceWith, schedule, schedule, withInterrupt, withTimeout
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