Package org.chsrobotics.lib.commands

Class ConditionalEndConsumerCommand<T>

  • All Implemented Interfaces:
    edu.wpi.first.util.sendable.Sendable, edu.wpi.first.wpilibj2.command.Command
    public class ConditionalEndConsumerCommand<T>
extends edu.wpi.first.wpilibj2.command.CommandBase
    Class for the command-based structure which allows for method execution (using one or two values of generic T) at beginning and end of the command, with a boolean lambda of when the command should end.

    • Field Summary

      • Fields inherited from class edu.wpi.first.wpilibj2.command.CommandBase

        m_requirements

    • Constructor Summary

      Constructors 
      Constructor Description
      ConditionalEndConsumerCommand​(java.util.function.BiConsumer<T,​T> biConsumer, Tuple2<T> init, Tuple2<T> end, java.util.function.Supplier<java.lang.Boolean> endConditional, edu.wpi.first.wpilibj2.command.Subsystem... toRequire)
      Constructs a ConditionalConsumerCommand for a method with two parameters.
      ConditionalEndConsumerCommand​(java.util.function.Consumer<T> consumer, T init, T end, java.util.function.Supplier<java.lang.Boolean> endConditional, edu.wpi.first.wpilibj2.command.Subsystem... toRequire)
      Constructs a ConditionalConsumerCommand for a method with one parameter.

    • Method Summary

      All Methods Instance Methods Concrete Methods 
      Modifier and Type Method Description
      void end​(boolean interrupted)  
      void initialize()  
      boolean isFinished()  
      boolean runsWhenDisabled()  
      void setRunsWhileDisabled​(boolean runsWhileDisabled)
      Sets whether this command should continue to run even while the robot is in a disabled state.

      • Methods inherited from class edu.wpi.first.wpilibj2.command.CommandBase

        addRequirements, getName, getRequirements, getSubsystem, initSendable, setName, setSubsystem, withName

      • Methods inherited from class java.lang.Object

        clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

      • Methods inherited from interface edu.wpi.first.wpilibj2.command.Command

        alongWith, andThen, andThen, asProxy, beforeStarting, beforeStarting, cancel, deadlineWith, execute, hasRequirement, isScheduled, perpetually, raceWith, schedule, schedule, until, withInterrupt, withTimeout

    • Constructor Detail

      • ConditionalEndConsumerCommand

        public ConditionalEndConsumerCommand​(java.util.function.Consumer<T> consumer,
                                     T init,
                                     T end,
                                     java.util.function.Supplier<java.lang.Boolean> endConditional,
                                     edu.wpi.first.wpilibj2.command.Subsystem... toRequire)
        Constructs a ConditionalConsumerCommand for a method with one parameter.
        Parameters:
        consumer - A method which takes one parameter of type T.
        init - A value of T to feed to the consumer upon command initalization.
        end - A value of T to feed to the consumer upon command end.
        endConditional - A lambda of whether the command should be ended.
        toRequire - Any subsystems required to be freed for method execution.

      • ConditionalEndConsumerCommand

        public ConditionalEndConsumerCommand​(java.util.function.BiConsumer<T,​T> biConsumer,
                                     Tuple2<T> init,
                                     Tuple2<T> end,
                                     java.util.function.Supplier<java.lang.Boolean> endConditional,
                                     edu.wpi.first.wpilibj2.command.Subsystem... toRequire)
        Constructs a ConditionalConsumerCommand for a method with two parameters.
        Parameters:
        biConsumer - A method which takes two parameters, each of type T.
        init - A Tuple2 of Ts to feed to the consumer upon command initalization, in the order that they are in the actual method.
        end - A Tuple2 of Ts to feed to the consumer upon command end, in the order that they are in the actual method.
        endConditional - A lambda of whether the command should be ended.
        toRequire - Any subsystems required to be freed for method execution.

    • Method Detail

      • setRunsWhileDisabled

        public void setRunsWhileDisabled​(boolean runsWhileDisabled)
        Sets whether this command should continue to run even while the robot is in a disabled state.
        Parameters:
        runsWhileDisabled - True if this command should continue in the disabled state.

      • runsWhenDisabled

        public boolean runsWhenDisabled()

      • initialize

        public void initialize()

      • end

        public void end​(boolean interrupted)

      • isFinished

        public boolean isFinished()