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

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

Public Member Functions
	StartEndCommand (Runnable onInit, Runnable onEnd, Subsystem... requirements)
Public Member Functions inherited from edu.wpi.first.wpilibj2.command.FunctionalCommand
	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.Command
Set< Subsystem >	getRequirements ()
final void	addRequirements (Subsystem... requirements)
String	getName ()
void	setName (String name)
String	getSubsystem ()
void	setSubsystem (String subsystem)
ParallelRaceGroup	withTimeout (double seconds)
ParallelRaceGroup	until (BooleanSupplier condition)
ParallelRaceGroup	onlyWhile (BooleanSupplier condition)
SequentialCommandGroup	beforeStarting (Runnable toRun, Subsystem... requirements)
SequentialCommandGroup	beforeStarting (Command before)
SequentialCommandGroup	andThen (Runnable toRun, Subsystem... requirements)
SequentialCommandGroup	andThen (Command... next)
ParallelDeadlineGroup	deadlineWith (Command... parallel)
ParallelCommandGroup	alongWith (Command... parallel)
ParallelRaceGroup	raceWith (Command... parallel)
RepeatCommand	repeatedly ()
ProxyCommand	asProxy ()
ConditionalCommand	unless (BooleanSupplier condition)
ConditionalCommand	onlyIf (BooleanSupplier condition)
WrapperCommand	ignoringDisable (boolean doesRunWhenDisabled)
WrapperCommand	withInterruptBehavior (InterruptionBehavior interruptBehavior)
WrapperCommand	finallyDo (BooleanConsumer end)
WrapperCommand	finallyDo (Runnable end)
WrapperCommand	handleInterrupt (Runnable handler)
void	schedule ()
void	cancel ()
boolean	isScheduled ()
boolean	hasRequirement (Subsystem requirement)
InterruptionBehavior	getInterruptionBehavior ()
boolean	runsWhenDisabled ()
WrapperCommand	withName (String name)
void	initSendable (SendableBuilder builder)
Public Member Functions inherited from edu.wpi.first.util.sendable.Sendable

Additional Inherited Members
Protected Member Functions inherited from edu.wpi.first.wpilibj2.command.Command
	Command ()
Protected Attributes inherited from edu.wpi.first.wpilibj2.command.Command
Set< Subsystem >	m_requirements = new HashSet<>()

Detailed Description

A command that runs a given runnable when it is initialized, and another runnable when it ends. Useful for running and then stopping a motor, or extending and then retracting a solenoid. Has no end condition as-is; either subclass it or use Command#withTimeout(double) or Command#until(java.util.function.BooleanSupplier) to give it one.

This class is provided by the NewCommands VendorDep

Constructor & Destructor Documentation

StartEndCommand()

edu.wpi.first.wpilibj2.command.StartEndCommand.StartEndCommand	(	Runnable	onInit,
		Runnable	onEnd,
		Subsystem...	requirements )

Creates a new StartEndCommand. Will run the given runnables when the command starts and when it ends.

Parameters

onInit	the Runnable to run on command init
onEnd	the Runnable to run on command end
requirements	the subsystems required by this command

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

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