Package org.chsrobotics.lib.commands

Class ConditionalRunnableCommand

java.lang.Object
edu.wpi.first.wpilibj2.command.CommandBase
org.chsrobotics.lib.commands.ConditionalRunnableCommand
All Implemented Interfaces:
edu.wpi.first.util.sendable.Sendable, edu.wpi.first.wpilibj2.command.Command
public class ConditionalRunnableCommand extends edu.wpi.first.wpilibj2.command.CommandBase
Class to allow execution of methods (with no parameters) upon boolean state change, in the command-based structure.

  • 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
    ConditionalRunnableCommand(Runnable onTrue, Runnable onFalse, Supplier<Boolean> conditional, double durationSeconds, edu.wpi.first.wpilibj2.command.Subsystem... toRequire)
    Constructs a ConditionalRunnableCommand.
    ConditionalRunnableCommand(Runnable onTrue, Runnable onFalse, Supplier<Boolean> conditional, edu.wpi.first.wpilibj2.command.Subsystem... toRequire)
    Constructs a ConditionalRunnableCommand that does not end.

  • 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

    • ConditionalRunnableCommand

      public ConditionalRunnableCommand(Runnable onTrue, Runnable onFalse, Supplier<Boolean> conditional, double durationSeconds, edu.wpi.first.wpilibj2.command.Subsystem... toRequire)
      Constructs a ConditionalRunnableCommand.
      Parameters:
      onTrue - Method to be called when conditional changes from false to true. If null, will not be called.
      onFalse - Method to be called when conditional changes from true to false. If null, will not be called.
      conditional - Lambda of a boolean state dictating when the runnables should be called.
      durationSeconds - Time that this command should be active for; if less than zero, this command will not end; if zero, this command will start and end in the same command scheduler loop.
      toRequire - Any subsystems required to be freed for the method.

    • ConditionalRunnableCommand

      public ConditionalRunnableCommand(Runnable onTrue, Runnable onFalse, Supplier<Boolean> conditional, edu.wpi.first.wpilibj2.command.Subsystem... toRequire)
      Constructs a ConditionalRunnableCommand that does not end.
      Parameters:
      onTrue - Method to be called when conditional changes from false to true. If null, will not be called.
      onFalse - Method to be called when conditional changes from true to false. If null, will not be called.
      conditional - Lambda of a boolean state dictating when the runnables should be called.
      toRequire - Any subsystems required to be freed for the method.

  • 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()

    • initialize

      public void initialize()

    • execute

      public void execute()

    • isFinished

      public boolean isFinished()