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

Public Member Functions
default void	initialize ()

default void	execute ()

default void	end (boolean interrupted)

default boolean	isFinished ()

Set< Subsystem >	getRequirements ()

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 ()

Detailed Description

A state machine representing a complete action to be performed by the robot. Commands are run by the CommandScheduler, and can be composed into CommandGroups to allow users to build complicated multi-step actions without the need to roll the state machine logic themselves.

Commands are run synchronously from the main robot loop; no multithreading is used, unless specified explicitly from the command implementation.

Member Function Documentation

◆ alongWith()

default ParallelCommandGroup edu.wpi.first.wpilibj2.command.Command.alongWith ( Command... parallel )

Decorates this command with a set of commands to run parallel to it, ending when the last command ends. Often more convenient/less-verbose than constructing a new ParallelCommandGroup explicitly.

Note: This decorator works by composing this command within a CommandGroup. The command cannot be used independently after being decorated, or be re-decorated with a different decorator, unless it is manually cleared from the list of grouped commands with CommandGroupBase#clearGroupedCommand(Command). The decorated command can, however, be further decorated without issue.

Parameters

parallel the commands to run in parallel

Returns: the decorated command

◆ andThen() [1/2]

default SequentialCommandGroup edu.wpi.first.wpilibj2.command.Command.andThen ( Command... next )

Decorates this command with a set of commands to run after it in sequence. Often more convenient/less-verbose than constructing a new SequentialCommandGroup explicitly.

Note: This decorator works by composing this command within a CommandGroup. The command cannot be used independently after being decorated, or be re-decorated with a different decorator, unless it is manually cleared from the list of grouped commands with CommandGroupBase#clearGroupedCommand(Command). The decorated command can, however, be further decorated without issue.

Parameters

next	the commands to run next

Returns: the decorated command

◆ andThen() [2/2]

default SequentialCommandGroup edu.wpi.first.wpilibj2.command.Command.andThen	(	Runnable	toRun,
		Subsystem...	requirements
	)

Decorates this command with a runnable to run after the command finishes.

Note: This decorator works by composing this command within a CommandGroup. The command cannot be used independently after being decorated, or be re-decorated with a different decorator, unless it is manually cleared from the list of grouped commands with CommandGroupBase#clearGroupedCommand(Command). The decorated command can, however, be further decorated without issue.

Parameters

toRun	the Runnable to run
requirements	the required subsystems

Returns: the decorated command

◆ asProxy()

default ProxyScheduleCommand edu.wpi.first.wpilibj2.command.Command.asProxy ( )

Decorates this command to run "by proxy" by wrapping it in a ProxyScheduleCommand. This is useful for "forking off" from command groups when the user does not wish to extend the command's requirements to the entire command group.

Returns: the decorated command

◆ beforeStarting()

default SequentialCommandGroup edu.wpi.first.wpilibj2.command.Command.beforeStarting	(	Runnable	toRun,
		Subsystem...	requirements
	)

Decorates this command with a runnable to run before this command starts.

Note: This decorator works by composing this command within a CommandGroup. The command cannot be used independently after being decorated, or be re-decorated with a different decorator, unless it is manually cleared from the list of grouped commands with CommandGroupBase#clearGroupedCommand(Command). The decorated command can, however, be further decorated without issue.

Parameters

toRun	the Runnable to run
requirements	the required subsystems

Returns: the decorated command

◆ cancel()

default void edu.wpi.first.wpilibj2.command.Command.cancel ( )

Cancels this command. Will call the command's interrupted() method. Commands will be canceled even if they are not marked as interruptible.

◆ deadlineWith()

default ParallelDeadlineGroup edu.wpi.first.wpilibj2.command.Command.deadlineWith ( Command... parallel )

Decorates this command with a set of commands to run parallel to it, ending when the calling command ends and interrupting all the others. Often more convenient/less-verbose than constructing a new ParallelDeadlineGroup explicitly.

Note: This decorator works by composing this command within a CommandGroup. The command cannot be used independently after being decorated, or be re-decorated with a different decorator, unless it is manually cleared from the list of grouped commands with CommandGroupBase#clearGroupedCommand(Command). The decorated command can, however, be further decorated without issue.

Parameters

parallel the commands to run in parallel

Returns: the decorated command

◆ end()

default void edu.wpi.first.wpilibj2.command.Command.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

◆ execute()

default void edu.wpi.first.wpilibj2.command.Command.execute ( )

The main body of a command. Called repeatedly while the command is scheduled.

◆ getName()

default String edu.wpi.first.wpilibj2.command.Command.getName ( )

Gets the name of this Command.

Returns: Name

◆ getRequirements()

Set<Subsystem> edu.wpi.first.wpilibj2.command.Command.getRequirements ( )

Specifies the set of subsystems used by this command. Two commands cannot use the same subsystem at the same time. If the command is scheduled as interruptible and another command is scheduled that shares a requirement, the command will be interrupted. Else, the command will not be scheduled. If no subsystems are required, return an empty set.

Note: it is recommended that user implementations contain the requirements as a field, and return that field here, rather than allocating a new set every time this is called.

Returns: the set of subsystems that are required

Implemented in edu.wpi.first.wpilibj2.command.CommandBase.

◆ hasRequirement()

default boolean edu.wpi.first.wpilibj2.command.Command.hasRequirement ( Subsystem requirement )

Whether the command requires a given subsystem. Named "hasRequirement" rather than "requires" to avoid confusion with edu.wpi.first.wpilibj.command.Command#requires(edu.wpi.first.wpilibj.command.Subsystem)

this may be able to be changed in a few years.

Parameters

requirement the subsystem to inquire about

Returns: whether the subsystem is required

◆ initialize()

default void edu.wpi.first.wpilibj2.command.Command.initialize ( )

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

◆ isFinished()

default boolean edu.wpi.first.wpilibj2.command.Command.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.

◆ isScheduled()

default boolean edu.wpi.first.wpilibj2.command.Command.isScheduled ( )

Whether or not the command is currently scheduled. Note that this does not detect whether the command is being run by a CommandGroup, only whether it is directly being run by the scheduler.

Returns: Whether the command is scheduled.

◆ perpetually()

default PerpetualCommand edu.wpi.first.wpilibj2.command.Command.perpetually ( )

Decorates this command to run perpetually, ignoring its ordinary end conditions. The decorated command can still be interrupted or canceled.

Note: This decorator works by composing this command within a CommandGroup. The command cannot be used independently after being decorated, or be re-decorated with a different decorator, unless it is manually cleared from the list of grouped commands with CommandGroupBase#clearGroupedCommand(Command). The decorated command can, however, be further decorated without issue.

Returns: the decorated command

◆ raceWith()

default ParallelRaceGroup edu.wpi.first.wpilibj2.command.Command.raceWith ( Command... parallel )

Decorates this command with a set of commands to run parallel to it, ending when the first command ends. Often more convenient/less-verbose than constructing a new ParallelRaceGroup explicitly.

Note: This decorator works by composing this command within a CommandGroup. The command cannot be used independently after being decorated, or be re-decorated with a different decorator, unless it is manually cleared from the list of grouped commands with CommandGroupBase#clearGroupedCommand(Command). The decorated command can, however, be further decorated without issue.

Parameters

parallel the commands to run in parallel

Returns: the decorated command

◆ runsWhenDisabled()

default boolean edu.wpi.first.wpilibj2.command.Command.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

◆ schedule() [1/2]

default void edu.wpi.first.wpilibj2.command.Command.schedule ( )

Schedules this command, defaulting to interruptible.

◆ schedule() [2/2]

default void edu.wpi.first.wpilibj2.command.Command.schedule ( boolean interruptible )

Schedules this command.

Parameters

interruptible whether this command can be interrupted by another command that shares one of its requirements

◆ withInterrupt()

default ParallelRaceGroup edu.wpi.first.wpilibj2.command.Command.withInterrupt ( BooleanSupplier condition )

Decorates this command with an interrupt condition. If the specified condition becomes true before the command finishes normally, the command will be interrupted and un-scheduled. Note that this only applies to the command returned by this method; the calling command is not itself changed.

Note: This decorator works by composing this command within a CommandGroup. The command cannot be used independently after being decorated, or be re-decorated with a different decorator, unless it is manually cleared from the list of grouped commands with CommandGroupBase#clearGroupedCommand(Command). The decorated command can, however, be further decorated without issue.

Parameters

condition the interrupt condition

Returns: the command with the interrupt condition added

◆ withTimeout()

default ParallelRaceGroup edu.wpi.first.wpilibj2.command.Command.withTimeout ( double seconds )

Decorates this command with a timeout. If the specified timeout is exceeded before the command finishes normally, the command will be interrupted and un-scheduled. Note that the timeout only applies to the command returned by this method; the calling command is not itself changed.

Note: This decorator works by composing this command within a CommandGroup. The command cannot be used independently after being decorated, or be re-decorated with a different decorator, unless it is manually cleared from the list of grouped commands with CommandGroupBase#clearGroupedCommand(Command). The decorated command can, however, be further decorated without issue.

Parameters

seconds the timeout duration

Returns: the command with the timeout added

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

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

Public Member Functions

Detailed Description

Member Function Documentation

◆ alongWith()

◆ andThen() [1/2]

◆ andThen() [2/2]

◆ asProxy()

◆ beforeStarting()

◆ cancel()

◆ deadlineWith()

◆ end()

◆ execute()

◆ getName()

◆ getRequirements()

◆ hasRequirement()

◆ initialize()

◆ isFinished()

◆ isScheduled()

◆ perpetually()

◆ raceWith()

◆ runsWhenDisabled()

◆ schedule() [1/2]

◆ schedule() [2/2]

◆ withInterrupt()

◆ withTimeout()