edu.wpi.first.wpilibj2.command.FunctionalCommand Class Reference

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

Public Member Functions
	FunctionalCommand (Runnable onInit, Runnable onExecute, Consumer< Boolean > onEnd, BooleanSupplier isFinished, Subsystem... requirements)
void	initialize ()
void	execute ()
void	end (boolean interrupted)
boolean	isFinished ()
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 boolean	runsWhenDisabled ()
default String	getName ()

Protected Attributes
final Runnable	m_onInit
final Runnable	m_onExecute
final Consumer< Boolean >	m_onEnd
final BooleanSupplier	m_isFinished
Protected Attributes inherited from edu.wpi.first.wpilibj2.command.CommandBase
Set< Subsystem >	m_requirements = new HashSet<>()

Detailed Description

A command that allows the user to pass in functions for each of the basic command methods through the constructor. Useful for inline definitions of complex commands - note, however, that if a command is beyond a certain complexity it is usually better practice to write a proper class for it than to inline it.

Constructor & Destructor Documentation

FunctionalCommand()

edu.wpi.first.wpilibj2.command.FunctionalCommand.FunctionalCommand	(	Runnable	onInit,
		Runnable	onExecute,
		Consumer< Boolean >	onEnd,
		BooleanSupplier	isFinished,
		Subsystem...	requirements
	)

Creates a new FunctionalCommand.

Parameters

onInit	the function to run on command initialization
onExecute	the function to run on command execution
onEnd	the function to run on command end
isFinished	the function that determines whether the command has finished
requirements	the subsystems required by this command

Member Function Documentation

end()

void edu.wpi.first.wpilibj2.command.FunctionalCommand.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.FunctionalCommand.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.FunctionalCommand.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.FunctionalCommand.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.

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

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