Package edu.wpi.first.wpilibj2.command

Class StartEndCommand

java.lang.Object

edu.wpi.first.wpilibj2.command.CommandBase

edu.wpi.first.wpilibj2.command.FunctionalCommand

edu.wpi.first.wpilibj2.command.StartEndCommand

All Implemented Interfaces:

Sendable, Command

public class StartEndCommand
extends FunctionalCommand

A command that runs a given runnable when it is initialized, and another runnable when it ends. Useful for running and then stopping a motor, or extending and then retracting a solenoid. Has no end condition as-is; either subclass it or use Command.withTimeout(double) or Command.until(java.util.function.BooleanSupplier) to give it one.

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 inherited from class edu.wpi.first.wpilibj2.command.FunctionalCommand

m_isFinished, m_onEnd, m_onExecute, m_onInit

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

m_requirements

Constructor Summary

Constructors

Constructor	Description
StartEndCommand(Runnable onInit, Runnable onEnd, Subsystem... requirements)	Creates a new StartEndCommand.

Method Summary

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

end, execute, initialize, isFinished

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

Constructor Details

StartEndCommand

public StartEndCommand(Runnable onInit, Runnable onEnd, Subsystem... requirements)

Creates a new StartEndCommand. Will run the given runnables when the command starts and when it ends.

Parameters:

onInit - the Runnable to run on command init

onEnd - the Runnable to run on command end

requirements - the subsystems required by this command