Inheritance diagram for edu.wpi.first.wpilibj2.command.CommandScheduler:

Public Member Functions
void	close ()

void	addButton (Runnable button)

void	clearButtons ()

void	schedule (boolean interruptible, Command... commands)

void	schedule (Command... commands)

void	run ()

void	registerSubsystem (Subsystem... subsystems)

void	unregisterSubsystem (Subsystem... subsystems)

void	setDefaultCommand (Subsystem subsystem, Command defaultCommand)

Command	getDefaultCommand (Subsystem subsystem)

void	cancel (Command... commands)

void	cancelAll ()

boolean	isScheduled (Command... commands)

Command	requiring (Subsystem subsystem)

void	disable ()

void	enable ()

void	onCommandInitialize (Consumer< Command > action)

void	onCommandExecute (Consumer< Command > action)

void	onCommandInterrupt (Consumer< Command > action)

void	onCommandFinish (Consumer< Command > action)

Static Public Member Functions
static synchronized CommandScheduler	getInstance ()

Detailed Description

The scheduler responsible for running Commands. A Command-based robot should call {} on the singleton instance in its periodic block in order to run commands synchronously from the main loop. Subsystems should be registered with the scheduler using CommandScheduler#registerSubsystem(Subsystem...)} in order for their { Subsystem#periodic()} methods to be called and for their default commands to be scheduled.

Member Function Documentation

◆ addButton()

void edu.wpi.first.wpilibj2.command.CommandScheduler.addButton ( Runnable button )

Adds a button binding to the scheduler, which will be polled to schedule commands.

Parameters

button The button to add

◆ cancel()

void edu.wpi.first.wpilibj2.command.CommandScheduler.cancel ( Command... commands )

Cancels commands. The scheduler will only call Command#end(boolean) method of the canceled command with

true

, indicating they were canceled (as opposed to finishing normally).

Commands will be canceled even if they are not scheduled as interruptible.

Parameters

commands the commands to cancel

◆ cancelAll()

void edu.wpi.first.wpilibj2.command.CommandScheduler.cancelAll ( )

Cancels all commands that are currently scheduled.

◆ clearButtons()

void edu.wpi.first.wpilibj2.command.CommandScheduler.clearButtons ( )

Removes all button bindings from the scheduler.

◆ close()

void edu.wpi.first.wpilibj2.command.CommandScheduler.close ( )

Changes the period of the loop overrun watchdog. This should be be kept in sync with the TimedRobot period.

Parameters

period Period in seconds.

◆ disable()

void edu.wpi.first.wpilibj2.command.CommandScheduler.disable ( )

Disables the command scheduler.

◆ enable()

void edu.wpi.first.wpilibj2.command.CommandScheduler.enable ( )

Enables the command scheduler.

◆ getDefaultCommand()

Command edu.wpi.first.wpilibj2.command.CommandScheduler.getDefaultCommand ( Subsystem subsystem )

Gets the default command associated with this subsystem. Null if this subsystem has no default command associated with it.

Parameters

subsystem the subsystem to inquire about

Returns: the default command associated with the subsystem

◆ getInstance()

static synchronized CommandScheduler edu.wpi.first.wpilibj2.command.CommandScheduler.getInstance ( )

static

Returns the Scheduler instance.

Returns: the instance

◆ isScheduled()

boolean edu.wpi.first.wpilibj2.command.CommandScheduler.isScheduled ( Command... commands )

Returns the time since a given command was scheduled. Note that this only works on commands that are directly scheduled by the scheduler; it will not work on commands inside of commandgroups, as the scheduler does not see them.

Parameters

command the command to query

Returns: the time since the command was scheduled, in seconds Whether the given commands are running. Note that this only works on commands that are directly scheduled by the scheduler; it will not work on commands inside of CommandGroups, as the scheduler does not see them.

Parameters

commands the command to query

Returns: whether the command is currently scheduled

◆ onCommandExecute()

void edu.wpi.first.wpilibj2.command.CommandScheduler.onCommandExecute ( Consumer< Command > action )

Adds an action to perform on the execution of any command by the scheduler.

Parameters

action the action to perform

◆ onCommandFinish()

void edu.wpi.first.wpilibj2.command.CommandScheduler.onCommandFinish ( Consumer< Command > action )

Adds an action to perform on the finishing of any command by the scheduler.

Parameters

action the action to perform

◆ onCommandInitialize()

void edu.wpi.first.wpilibj2.command.CommandScheduler.onCommandInitialize ( Consumer< Command > action )

Adds an action to perform on the initialization of any command by the scheduler.

Parameters

action the action to perform

◆ onCommandInterrupt()

void edu.wpi.first.wpilibj2.command.CommandScheduler.onCommandInterrupt ( Consumer< Command > action )

Adds an action to perform on the interruption of any command by the scheduler.

Parameters

action the action to perform

◆ registerSubsystem()

void edu.wpi.first.wpilibj2.command.CommandScheduler.registerSubsystem ( Subsystem... subsystems )

Registers subsystems with the scheduler. This must be called for the subsystem's periodic block to run when the scheduler is run, and for the subsystem's default command to be scheduled. It is recommended to call this from the constructor of your subsystem implementations.

Parameters

subsystems the subsystem to register

◆ requiring()

Command edu.wpi.first.wpilibj2.command.CommandScheduler.requiring ( Subsystem subsystem )

Returns the command currently requiring a given subsystem. Null if no command is currently requiring the subsystem

Parameters

subsystem the subsystem to be inquired about

Returns: the command currently requiring the subsystem

◆ run()

void edu.wpi.first.wpilibj2.command.CommandScheduler.run ( )

Runs a single iteration of the scheduler. The execution occurs in the following order:

Subsystem periodic methods are called.

Button bindings are polled, and new commands are scheduled from them.

Currently-scheduled commands are executed.

End conditions are checked on currently-scheduled commands, and commands that are finished have their end methods called and are removed.

Any subsystems not being used as requirements have their default methods started.

◆ schedule() [1/2]

void edu.wpi.first.wpilibj2.command.CommandScheduler.schedule	(	boolean	interruptible,
		Command...	commands
	)

Schedules multiple commands for execution. Does nothing if the command is already scheduled. If a command's requirements are not available, it will only be started if all the commands currently using those requirements have been scheduled as interruptible. If this is the case, they will be interrupted and the command will be scheduled.

Parameters

interruptible	whether the commands should be interruptible
commands	the commands to schedule

◆ schedule() [2/2]

void edu.wpi.first.wpilibj2.command.CommandScheduler.schedule ( Command... commands )

Schedules multiple commands for execution, with interruptible defaulted to true. Does nothing if the command is already scheduled.

Parameters

commands the commands to schedule

◆ setDefaultCommand()

void edu.wpi.first.wpilibj2.command.CommandScheduler.setDefaultCommand	(	Subsystem	subsystem,
		Command	defaultCommand
	)

Sets the default command for a subsystem. Registers that subsystem if it is not already registered. Default commands will run whenever there is no other command currently scheduled that requires the subsystem. Default commands should be written to never end (i.e. their Command#isFinished() method should return false), as they would simply be re-scheduled if they do. Default commands must also require their subsystem.

Parameters

subsystem	the subsystem whose default command will be set
defaultCommand	the default command to associate with the subsystem

◆ unregisterSubsystem()

void edu.wpi.first.wpilibj2.command.CommandScheduler.unregisterSubsystem ( Subsystem... subsystems )

Un-registers subsystems with the scheduler. The subsystem will no longer have its periodic block called, and will not have its default command scheduled.

Parameters

subsystems the subsystem to un-register

The documentation for this class was generated from the following file:

D:/SDASVN/2022/RaspberryPi/Source/edu/wpi/first/wpilibj2/command/CommandScheduler.java

Public Member Functions

Static Public Member Functions

Detailed Description

Member Function Documentation

◆ addButton()

◆ cancel()

◆ cancelAll()

◆ clearButtons()

◆ close()

◆ disable()

◆ enable()

◆ getDefaultCommand()

◆ getInstance()

◆ isScheduled()

◆ onCommandExecute()

◆ onCommandFinish()

◆ onCommandInitialize()

◆ onCommandInterrupt()

◆ registerSubsystem()

◆ requiring()

◆ run()

◆ schedule() [1/2]

◆ schedule() [2/2]

◆ setDefaultCommand()

◆ unregisterSubsystem()