Package org.chsrobotics.lib.commands

Class ConditionalConsumerCommand<T>

java.lang.Object
edu.wpi.first.wpilibj2.command.CommandBase
org.chsrobotics.lib.commands.ConditionalConsumerCommand<T>
Type Parameters:
T - Data type of the method parameter or parameters.
All Implemented Interfaces:
edu.wpi.first.util.sendable.Sendable, edu.wpi.first.wpilibj2.command.Command
public class ConditionalConsumerCommand<T> extends edu.wpi.first.wpilibj2.command.CommandBase
Class to allow calling methods with one or two parameters (of the same type), in the command-based structure, upon state change of a boolean conditional.

  • Nested Class Summary

    Nested classes/interfaces inherited from interface edu.wpi.first.wpilibj2.command.Command

    edu.wpi.first.wpilibj2.command.Command.InterruptionBehavior

  • Field Summary

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

    m_requirements

  • Constructor Summary

    Constructors
    Constructor
    Description
    ConditionalConsumerCommand(BiConsumer<T,T> biConsumer, Tuple2<T> onTrue, Tuple2<T> onFalse, double durationSeconds, Supplier<Boolean> conditional, edu.wpi.first.wpilibj2.command.Subsystem... toRequire)
    Constructs a ConditionalConsumerCommand for a method with two parameter.
    ConditionalConsumerCommand(BiConsumer<T,T> consumer, Tuple2<T> onTrue, Tuple2<T> onFalse, Supplier<Boolean> conditional, edu.wpi.first.wpilibj2.command.Subsystem... toRequire)
    Constructs a ConditionalConsumerCommand for a method with two parameter which never ends.
    ConditionalConsumerCommand(Consumer<T> consumer, T onTrue, T onFalse, Supplier<Boolean> conditional, double durationSeconds, edu.wpi.first.wpilibj2.command.Subsystem... toRequire)
    Constructs a ConditionalConsumerCommand for a method with one parameter.
    ConditionalConsumerCommand(Consumer<T> consumer, T onTrue, T onFalse, Supplier<Boolean> conditional, edu.wpi.first.wpilibj2.command.Subsystem... toRequire)
    Constructs a ConditionalConsumerCommand for a method with one parameter which never ends.

  • Method Summary

    Modifier and Type
    Method
    Description
    void
    execute()
     
    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

    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, end, finallyDo, getInterruptionBehavior, handleInterrupt, hasRequirement, ignoringDisable, isScheduled, perpetually, raceWith, repeatedly, schedule, unless, until, withInterrupt, withInterruptBehavior, withName, withTimeout

  • Constructor Details

    • ConditionalConsumerCommand

      public ConditionalConsumerCommand(Consumer<T> consumer, T onTrue, T onFalse, Supplier<Boolean> conditional, double durationSeconds, 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.
      onTrue - A value of T to feed to the consumer upon conditional change from false to true.
      onFalse - A value of T to feed to the consumer upon conditional change from true to false.
      conditional - A lambda of a boolean.
      durationSeconds - Time that this command should expire after.
      toRequire - Any subsystems required to be freed for method execution.

    • ConditionalConsumerCommand

      public ConditionalConsumerCommand(Consumer<T> consumer, T onTrue, T onFalse, Supplier<Boolean> conditional, edu.wpi.first.wpilibj2.command.Subsystem... toRequire)
      Constructs a ConditionalConsumerCommand for a method with one parameter which never ends.
      Parameters:
      consumer - A method which takes one parameter of type T.
      onTrue - A value of T to feed to the consumer upon conditional change from false to true.
      onFalse - A value of T to feed to the consumer upon conditional change from true to false.
      conditional - A lambda of a boolean.
      toRequire - Any subsystems required to be freed for method execution.

    • ConditionalConsumerCommand

      public ConditionalConsumerCommand(BiConsumer<T,T> biConsumer, Tuple2<T> onTrue, Tuple2<T> onFalse, double durationSeconds, Supplier<Boolean> conditional, edu.wpi.first.wpilibj2.command.Subsystem... toRequire)
      Constructs a ConditionalConsumerCommand for a method with two parameter.
      Parameters:
      biConsumer - A method which takes two parameters of type T.
      onTrue - A Tuple2 of Ts to feed to the consumer upon conditional change from false to true. Should be in the same order as in the actual method.
      onFalse - A Tuple2 of Ts to feed to the consumer upon conditional change from true to false. Should be in the same order as in the actual method.
      durationSeconds - Time that this command should expire after.
      conditional - A lambda of a boolean.
      toRequire - Any subsystems required to be freed for method execution.

    • ConditionalConsumerCommand

      public ConditionalConsumerCommand(BiConsumer<T,T> consumer, Tuple2<T> onTrue, Tuple2<T> onFalse, Supplier<Boolean> conditional, edu.wpi.first.wpilibj2.command.Subsystem... toRequire)
      Constructs a ConditionalConsumerCommand for a method with two parameter which never ends.
      Parameters:
      consumer - A method which takes one parameters of type T.
      onTrue - A Tuple2 of T to feed to the consumer upon conditional change from false to true.
      onFalse - A Tuple2 of T to feed to the consumer upon conditional change from true to false.
      conditional - A lambda of a boolean.
      toRequire - Any subsystems required to be freed for method execution.

  • Method Details

    • 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()

    • execute

      public void execute()

    • initialize

      public void initialize()

    • isFinished

      public boolean isFinished()