Package edu.wpi.first.wpilibj2.command

Class RepeatCommand

java.lang.Object
edu.wpi.first.wpilibj2.command.CommandBase
edu.wpi.first.wpilibj2.command.RepeatCommand
All Implemented Interfaces:
Sendable, Command
public class RepeatCommand
extends CommandBase
A command that runs another command repeatedly, restarting it when it ends, until this command is interrupted. Command instances that are passed to it cannot be added to any other groups, or scheduled individually.

The rules for command compositions apply: command instances that are passed to it cannot be added to any other composition or scheduled individually,and the composition requires all subsystems its components require.

This class is provided by the NewCommands VendorDep

  • Field Details

  • Constructor Details

    • RepeatCommand

      public RepeatCommand​(Command command)
      Creates a new RepeatCommand. Will run another command repeatedly, restarting it whenever it ends, until this command is interrupted.
      Parameters:
      command - the command to run repeatedly

  • 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.

    • 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.

    • 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

    • runsWhenDisabled

      public boolean runsWhenDisabled()
      Description copied from interface: Command
      Whether the given command should run when the robot is disabled. Override to return true if the command should run when disabled.
      Returns:
      whether the command should run when the robot is disabled

    • getInterruptionBehavior

      public Command.InterruptionBehavior getInterruptionBehavior()
      Description copied from interface: Command
      How the command behaves when another command with a shared requirement is scheduled.
      Returns:
      a variant of Command.InterruptionBehavior, defaulting to kCancelSelf.

    • initSendable

      public void initSendable​(SendableBuilder builder)
      Description copied from class: CommandBase
      Initializes this sendable. Useful for allowing implementations to easily extend SendableBase.
      Specified by:
      initSendable in interface Sendable
      Overrides:
      initSendable in class CommandBase
      Parameters:
      builder - the builder used to construct this sendable