Package edu.wpi.first.wpilibj2.command

Interface Summary

Interface	Description
Command	A state machine representing a complete action to be performed by the robot.
Subsystem	A robot subsystem.

Class Summary

Class	Description
CommandBase	A Sendable base class for Commands.
CommandGroupBase	Deprecated, for removal: This API element is subject to removal in a future version. This class is an empty abstraction.
Commands	Namespace for command factory methods.
CommandScheduler	The scheduler responsible for running Commands.
ConditionalCommand	A command composition that runs one of two commands, depending on the value of the given condition when this command is initialized.
FunctionalCommand	A command that allows the user to pass in functions for each of the basic command methods through the constructor.
InstantCommand	A Command that runs instantly; it will initialize, execute once, and end on the same iteration of the scheduler.
MecanumControllerCommand	A command that uses two PID controllers (PIDController) and a ProfiledPIDController (ProfiledPIDController) to follow a trajectory Trajectory with a mecanum drive.
NotifierCommand	A command that starts a notifier to run the given runnable periodically in a separate thread.
ParallelCommandGroup	A command composition that runs a set of commands in parallel, ending when the last command ends.
ParallelDeadlineGroup	A command composition that runs a set of commands in parallel, ending only when a specific command (the "deadline") ends, interrupting all other commands that are still running at that point.
ParallelRaceGroup	A composition that runs a set of commands in parallel, ending when any one of the commands ends and interrupting all the others.
PerpetualCommand	Deprecated, for removal: This API element is subject to removal in a future version. PerpetualCommand violates the assumption that execute() doesn't get called after isFinished() returns true -- an assumption that should be valid.
PIDCommand	A command that controls an output with a PIDController.
PIDSubsystem	A subsystem that uses a PIDController to control an output.
PrintCommand	A command that prints a string when initialized.
ProfiledPIDCommand	A command that controls an output with a ProfiledPIDController.
ProfiledPIDSubsystem	A subsystem that uses a ProfiledPIDController to control an output.
ProxyCommand	Schedules the given command when this command is initialized, and ends when it ends.
ProxyScheduleCommand	Schedules the given commands when this command is initialized, and ends when all the commands are no longer scheduled.
RamseteCommand	A command that uses a RAMSETE controller (RamseteController) to follow a trajectory Trajectory with a differential drive.
RepeatCommand	A command that runs another command repeatedly, restarting it when it ends, until this command is interrupted.
RunCommand	A command that runs a Runnable continuously.
ScheduleCommand	Schedules the given commands when this command is initialized.
SelectCommand	A command composition that runs one of a selection of commands, either using a selector and a key to command mapping, or a supplier that returns the command directly at runtime.
SequentialCommandGroup	A command composition that runs a list of commands in sequence.
StartEndCommand	A command that runs a given runnable when it is initialized, and another runnable when it ends.
SubsystemBase	A base for subsystems that handles registration in the constructor, and provides a more intuitive method for setting the default command.
SwerveControllerCommand	A command that uses two PID controllers (PIDController) and a ProfiledPIDController (ProfiledPIDController) to follow a trajectory Trajectory with a swerve drive.
TrapezoidProfileCommand	A command that runs a TrapezoidProfile.
TrapezoidProfileSubsystem	A subsystem that generates and runs trapezoidal motion profiles automatically.
WaitCommand	A command that does nothing but takes a specified amount of time to finish.
WaitUntilCommand	A command that does nothing but ends after a specified match time or condition.
WrapperCommand	A class used internally to wrap commands while overriding a specific method; all other methods will call through to the wrapped command.

Enum Summary

Enum	Description
Command.InterruptionBehavior	An enum describing the command's behavior when another command with a shared requirement is scheduled.