Static Public Member Functions
static Command	none ()

static Command	idle (Subsystem... requirements)

static Command	runOnce (Runnable action, Subsystem... requirements)

static Command	run (Runnable action, Subsystem... requirements)

static Command	startEnd (Runnable start, Runnable end, Subsystem... requirements)

static Command	runEnd (Runnable run, Runnable end, Subsystem... requirements)

static Command	print (String message)

static Command	waitSeconds (double seconds)

static Command	waitUntil (BooleanSupplier condition)

static Command	either (Command onTrue, Command onFalse, BooleanSupplier selector)

static< K > Command	select (Map< K, Command > commands, Supplier<? extends K > selector)

static Command	defer (Supplier< Command > supplier, Set< Subsystem > requirements)

static Command	deferredProxy (Supplier< Command > supplier)

static Command	sequence (Command... commands)

static Command	repeatingSequence (Command... commands)

static Command	parallel (Command... commands)

static Command	race (Command... commands)

static Command	deadline (Command deadline, Command... otherCommands)

Detailed Description

Namespace for command factory methods.

For convenience, you might want to static import the members of this class.

Member Function Documentation

◆ deadline()

static Command edu.wpi.first.wpilibj2.command.Commands.deadline	(	Command	deadline,
		Command...	otherCommands )

static

Runs a group of commands at the same time. Ends once a specific command finishes, and cancels the others.

Parameters

deadline	the deadline command
otherCommands	the other commands to include

Returns: the command group

See also: ParallelDeadlineGroup

Exceptions

IllegalArgumentException if the deadline command is also in the otherCommands argument

◆ defer()

static Command edu.wpi.first.wpilibj2.command.Commands.defer	(	Supplier< Command >	supplier,
		Set< Subsystem >	requirements )

static

Runs the command supplied by the supplier.

Parameters

supplier	the command supplier
requirements	the set of requirements for this command

Returns: the command

See also: DeferredCommand

◆ deferredProxy()

static Command edu.wpi.first.wpilibj2.command.Commands.deferredProxy ( Supplier< Command > supplier )

static

Constructs a command that schedules the command returned from the supplier when initialized, and ends when it is no longer scheduled. The supplier is called when the command is initialized.

Parameters

supplier the command supplier

Returns: the command

See also: ProxyCommand

◆ either()

static Command edu.wpi.first.wpilibj2.command.Commands.either	(	Command	onTrue,
		Command	onFalse,
		BooleanSupplier	selector )

static

Runs one of two commands, based on the boolean selector function.

Parameters

onTrue	the command to run if the selector function returns true
onFalse	the command to run if the selector function returns false
selector	the selector function

Returns: the command

See also: ConditionalCommand

◆ idle()

static Command edu.wpi.first.wpilibj2.command.Commands.idle ( Subsystem... requirements )

static

Constructs a command that does nothing until interrupted.

Parameters

requirements Subsystems to require

Returns: the command

◆ none()

static Command edu.wpi.first.wpilibj2.command.Commands.none ( )

static

Constructs a command that does nothing, finishing immediately.

Returns: the command

◆ parallel()

static Command edu.wpi.first.wpilibj2.command.Commands.parallel ( Command... commands )

static

Runs a group of commands at the same time. Ends once all commands in the group finish.

Parameters

commands the commands to include

Returns: the command

See also: ParallelCommandGroup

◆ print()

static Command edu.wpi.first.wpilibj2.command.Commands.print ( String message )

static

Constructs a command that prints a message and finishes.

Parameters

message the message to print

Returns: the command

See also: PrintCommand

◆ race()

static Command edu.wpi.first.wpilibj2.command.Commands.race ( Command... commands )

static

Runs a group of commands at the same time. Ends once any command in the group finishes, and cancels the others.

Parameters

commands the commands to include

Returns: the command group

See also: ParallelRaceGroup

◆ repeatingSequence()

static Command edu.wpi.first.wpilibj2.command.Commands.repeatingSequence ( Command... commands )

static

Runs a group of commands in series, one after the other. Once the last command ends, the group is restarted.

Parameters

commands the commands to include

Returns: the command group

See also: SequentialCommandGroup; Command.repeatedly()

◆ run()

static Command edu.wpi.first.wpilibj2.command.Commands.run	(	Runnable	action,
		Subsystem...	requirements )

static

Constructs a command that runs an action every iteration until interrupted.

Parameters

action	the action to run
requirements	subsystems the action requires

Returns: the command

See also: RunCommand

◆ runEnd()

static Command edu.wpi.first.wpilibj2.command.Commands.runEnd	(	Runnable	run,
		Runnable	end,
		Subsystem...	requirements )

static

Constructs a command that runs an action every iteration until interrupted, and then runs a second action.

Parameters

run	the action to run every iteration
end	the action to run on interrupt
requirements	subsystems the action requires

Returns: the command

◆ runOnce()

static Command edu.wpi.first.wpilibj2.command.Commands.runOnce	(	Runnable	action,
		Subsystem...	requirements )

static

Constructs a command that runs an action once and finishes.

Parameters

action	the action to run
requirements	subsystems the action requires

Returns: the command

See also: InstantCommand

◆ select()

static< K > Command edu.wpi.first.wpilibj2.command.Commands.select	(	Map< K, Command >	commands,
		Supplier<? extends K >	selector )

static

Runs one of several commands, based on the selector function.

Parameters

<K>	The type of key used to select the command
selector	the selector function
commands	map of commands to select from

Returns: the command

See also: SelectCommand

◆ sequence()

static Command edu.wpi.first.wpilibj2.command.Commands.sequence ( Command... commands )

static

Runs a group of commands in series, one after the other.

Parameters

commands the commands to include

Returns: the command group

See also: SequentialCommandGroup

◆ startEnd()

static Command edu.wpi.first.wpilibj2.command.Commands.startEnd	(	Runnable	start,
		Runnable	end,
		Subsystem...	requirements )

static

Constructs a command that runs an action once and another action when the command is interrupted.

Parameters

start	the action to run on start
end	the action to run on interrupt
requirements	subsystems the action requires

Returns: the command

See also: StartEndCommand

◆ waitSeconds()

static Command edu.wpi.first.wpilibj2.command.Commands.waitSeconds ( double seconds )

static

Constructs a command that does nothing, finishing after a specified duration.

Parameters

seconds after how long the command finishes

Returns: the command

See also: WaitCommand

◆ waitUntil()

static Command edu.wpi.first.wpilibj2.command.Commands.waitUntil ( BooleanSupplier condition )

static

Constructs a command that does nothing, finishing once a condition becomes true.

Parameters

condition the condition

Returns: the command

See also: WaitUntilCommand

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

D:/SDASVN/2024/RaspberryPi/VSCode/Source/edu/wpi/first/wpilibj2/command/Commands.java

Static Public Member Functions

Detailed Description

Member Function Documentation

◆ deadline()

◆ defer()

◆ deferredProxy()

◆ either()

◆ idle()

◆ none()

◆ parallel()

◆ print()

◆ race()

◆ repeatingSequence()

◆ run()

◆ runEnd()

◆ runOnce()

◆ select()

◆ sequence()

◆ startEnd()

◆ waitSeconds()

◆ waitUntil()