Public Member Functions | |
| ConditionalCommand (Command onTrue, Command onFalse, BooleanSupplier condition) | |
| void | initialize () |
| void | execute () |
| void | end (boolean interrupted) |
| boolean | isFinished () |
| boolean | runsWhenDisabled () |
 Public Member Functions inherited from edu.wpi.first.wpilibj2.command.CommandBase | |
| final void | addRequirements (Subsystem... requirements) |
| Set< Subsystem > | getRequirements () |
| Public Member Functions inherited from edu.wpi.first.wpilibj2.command.Command | |
| default ParallelRaceGroup | withTimeout (double seconds) |
| default ParallelRaceGroup | withInterrupt (BooleanSupplier condition) |
| default SequentialCommandGroup | beforeStarting (Runnable toRun, Subsystem... requirements) |
| default SequentialCommandGroup | andThen (Runnable toRun, Subsystem... requirements) |
| default SequentialCommandGroup | andThen (Command... next) |
| default ParallelDeadlineGroup | deadlineWith (Command... parallel) |
| default ParallelCommandGroup | alongWith (Command... parallel) |
| default ParallelRaceGroup | raceWith (Command... parallel) |
| default PerpetualCommand | perpetually () |
| default ProxyScheduleCommand | asProxy () |
| default void | schedule (boolean interruptible) |
| default void | schedule () |
| default void | cancel () |
| default boolean | isScheduled () |
| default boolean | hasRequirement (Subsystem requirement) |
| default String | getName () |
Additional Inherited Members | |
| Protected Attributes inherited from edu.wpi.first.wpilibj2.command.CommandBase | |
| Set< Subsystem > | m_requirements = new HashSet<>() |
Detailed Description
Runs one of two commands, depending on the value of the given condition when this command is initialized. Does not actually schedule the selected command - rather, the command is run through this command; this ensures that the command will behave as expected if used as part of a CommandGroup. Requires the requirements of both commands, again to ensure proper functioning when used in a CommandGroup. If this is undesired, consider using ScheduleCommand.
As this command contains multiple component commands within it, it is technically a command group; the command instances that are passed to it cannot be added to any other groups, or scheduled individually.
As a rule, CommandGroups require the union of the requirements of their component commands.
Constructor & Destructor Documentation
◆ ConditionalCommand()
| edu.wpi.first.wpilibj2.command.ConditionalCommand.ConditionalCommand | ( | Command | onTrue, |
| Command | onFalse, | ||
| BooleanSupplier | condition | ||
| ) |
Creates a new ConditionalCommand.
- Parameters
-
onTrue the command to run if the condition is true onFalse the command to run if the condition is false condition the condition to determine which command to run
Member Function Documentation
◆ end()
| void edu.wpi.first.wpilibj2.command.ConditionalCommand.end | ( | boolean | interrupted | ) |
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 andThen(Command...) instead.
- Parameters
-
interrupted whether the command was interrupted/canceled
Implements edu.wpi.first.wpilibj2.command.Command.
◆ execute()
| void edu.wpi.first.wpilibj2.command.ConditionalCommand.execute | ( | ) |
The main body of a command. Called repeatedly while the command is scheduled.
Implements edu.wpi.first.wpilibj2.command.Command.
◆ initialize()
| void edu.wpi.first.wpilibj2.command.ConditionalCommand.initialize | ( | ) |
The initial subroutine of a command. Called once when the command is initially scheduled.
Implements edu.wpi.first.wpilibj2.command.Command.
◆ isFinished()
| boolean edu.wpi.first.wpilibj2.command.ConditionalCommand.isFinished | ( | ) |
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.
Implements edu.wpi.first.wpilibj2.command.Command.
◆ runsWhenDisabled()
| boolean edu.wpi.first.wpilibj2.command.ConditionalCommand.runsWhenDisabled | ( | ) |
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
Implements edu.wpi.first.wpilibj2.command.Command.
The documentation for this class was generated from the following file:
- D:/SDASVN/2022/RaspberryPi/Source/edu/wpi/first/wpilibj2/command/ConditionalCommand.java
