Package org.chsrobotics.lib.commands

Class RunnableCommand

  • All Implemented Interfaces:
    edu.wpi.first.util.sendable.Sendable, edu.wpi.first.wpilibj2.command.Command
    public class RunnableCommand
extends edu.wpi.first.wpilibj2.command.CommandBase
    Simple class to call a method (with no parameters) in the command-based structure.

    • Field Summary

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

        m_requirements

    • Constructor Summary

      Constructors 
      Constructor Description
      RunnableCommand​(java.lang.Runnable init, edu.wpi.first.wpilibj2.command.Subsystem... toRequire)
      Constructs a RunnableCommand that instantly ends.
      RunnableCommand​(java.lang.Runnable init, java.lang.Runnable end, double durationSeconds, edu.wpi.first.wpilibj2.command.Subsystem... toRequire)
      Constructs a RunnableCommand.

    • 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

      • RunnableCommand

        public RunnableCommand​(java.lang.Runnable init,
                       java.lang.Runnable end,
                       double durationSeconds,
                       edu.wpi.first.wpilibj2.command.Subsystem... toRequire)
        Constructs a RunnableCommand.
        Parameters:
        init - Method to call upon initialization of this command. If null, will not be called.
        end - Method to call upon end of this command. If null, will not be called.
        durationSeconds - Time this command should be active for; if less than zero, will not end; if zero, will end in the first command scheduler loop.
        toRequire - Any subsystems that need to be free for the given methods.

      • RunnableCommand

        public RunnableCommand​(java.lang.Runnable init,
                       edu.wpi.first.wpilibj2.command.Subsystem... toRequire)
        Constructs a RunnableCommand that instantly ends.
        Parameters:
        init - The method to call upon initalization of this command. If null, will not be called.
        toRequire - Any subsystems that need to be free for the given method.

    • 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()