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

Public Member Functions
	StartEndCommand (Runnable onInit, Runnable onEnd, Subsystem... requirements)

void	initialize ()

void	end (boolean interrupted)

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 void	execute ()

default boolean	isFinished ()

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_onEnd

Protected Attributes inherited from edu.wpi.first.wpilibj2.command.CommandBase
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#withInterrupt(BooleanSupplier) to give it one.

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

Member Function Documentation

◆ end()

void edu.wpi.first.wpilibj2.command.StartEndCommand.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.

◆ initialize()

void edu.wpi.first.wpilibj2.command.StartEndCommand.initialize ( )

The initial subroutine of a command. Called once when the command is initially scheduled.