Namespaces
namespace	impl
namespace	sysid

Classes
class	CommandNiDsStadiaController
	A version of `wpi::NiDsStadiaController` with `Trigger` factories for command-based. More...
class	Subsystem
	A robot subsystem. More...
class	RepeatCommand
	A command that runs another command repeatedly, restarting it when it ends, until this command is interrupted. More...
class	PrintCommand
	A command that prints a string when initialized. More...
class	InstantCommand
	A Command that runs instantly; it will initialize, execute once, and end on the same iteration of the scheduler. More...
class	WaitCommand
	A command that does nothing but takes a specified amount of time to finish. More...
class	FunctionalCommand
	A command that allows the user to pass in functions for each of the basic command methods through the constructor. More...
class	CommandNiDsXboxController
	A version of `wpi::NiDsXboxController` with `Trigger` factories for command-based. More...
class	CommandJoystick
	A version of `wpi::Joystick` with `Trigger` factories for command-based. More...
class	CommandHelper
	CRTP implementation to allow polymorphic decorator functions in Command. More...
class	StartEndCommand
	A command that runs a given runnable when it is initialized, and another runnable when it ends. More...
class	ProxyCommand
	Schedules a given command when this command is initialized and ends when it ends, but does not directly run it. More...
class	ParallelDeadlineGroup
	A command composition that runs a set of commands in parallel, ending only when a specific command (the "deadline") ends, interrupting all other commands that are still running at that point. More...
class	CommandNiDsPS5Controller
	A version of `wpi::NiDsPS5Controller` with `Trigger` factories for command-based. More...
class	SubsystemBase
	A base for subsystems that handles registration in the constructor, and provides a more intuitive method for setting the default command. More...
class	SelectCommand
	A command composition that runs one of a selection of commands using a selector and a key to command mapping. More...
class	CommandPtr
	A wrapper around std::unique_ptr<Command> so commands have move-only semantics. More...
class	ParallelCommandGroup
	A command composition that runs a set of commands in parallel, ending when the last command ends. More...
class	POVButton
	A class used to bind command scheduling to joystick POV presses. More...
class	ConditionalCommand
	A command composition that runs one of two commands, depending on the value of the given condition when this command is initialized. More...
class	GamepadButton
	A class used to bind command scheduling to gamepad button presses. More...
class	Trigger
	This class provides an easy way to link commands to conditions. More...
class	Command
	A state machine representing a complete action to be performed by the robot. More...
class	ParallelRaceGroup
	A composition that runs a set of commands in parallel, ending when any one of the commands ends and interrupting all the others. More...
class	JoystickButton
	A class used to bind command scheduling to joystick button presses. More...
class	CommandScheduler
	The scheduler responsible for running Commands. More...
class	CommandGamepad
	A version of `wpi::Gamepad` with `Trigger` factories for command-based. More...
class	NetworkButton
	A Button that uses a NetworkTable boolean field. More...
class	Requirements
	Represents requirements for a command, which is a set of (pointers to) subsystems. More...
class	WaitUntilCommand
	A command that does nothing but ends after a specified match time or condition. More...
class	CommandNiDsPS4Controller
	A version of `wpi::NiDsPS4Controller` with `Trigger` factories for command-based. More...
class	RunCommand
	A command that runs a Runnable continuously. More...
class	DeferredCommand
	Defers Command construction to runtime. More...
class	RobotModeTriggers
	A class containing static Trigger factories for running callbacks when robot mode changes. More...
class	ScheduleCommand
	Schedules the given commands when this command is initialized. More...
class	WrapperCommand
	A class used internally to wrap commands while overriding a specific method; all other methods will call through to the wrapped command. More...
class	NotifierCommand
	A command that starts a notifier to run the given runnable periodically in a separate thread. More...
class	SequentialCommandGroup
	A command composition that runs a list of commands in sequence. More...
class	CommandGenericHID
	A version of `wpi::GenericHID` with `Trigger` factories for command-based. More...

Functions
CommandPtr	None ()
	Constructs a command that does nothing, finishing immediately.
CommandPtr	Idle (Requirements requirements={})
	Constructs a command that does nothing until interrupted.
CommandPtr	RunOnce (std::function< void()> action, Requirements requirements={})
	Constructs a command that runs an action once and finishes.
CommandPtr	Run (std::function< void()> action, Requirements requirements={})
	Constructs a command that runs an action every iteration until interrupted.
CommandPtr	StartEnd (std::function< void()> start, std::function< void()> end, Requirements requirements={})
	Constructs a command that runs an action once and another action when the command is interrupted.
CommandPtr	RunEnd (std::function< void()> run, std::function< void()> end, Requirements requirements={})
	Constructs a command that runs an action every iteration until interrupted, and then runs a second action.
CommandPtr	StartRun (std::function< void()> start, std::function< void()> run, Requirements requirements={})
	Constructs a command that runs an action once, and then runs an action every iteration until interrupted.
CommandPtr	Print (std::string_view msg)
	Constructs a command that prints a message and finishes.
CommandPtr	Wait (wpi::units::second_t duration)
	Constructs a command that does nothing, finishing after a specified duration.
CommandPtr	WaitUntil (std::function< bool()> condition)
	Constructs a command that does nothing, finishing once a condition becomes true.
CommandPtr	Either (CommandPtr &&onTrue, CommandPtr &&onFalse, std::function< bool()> selector)
	Runs one of two commands, based on the boolean selector function.
template<typename Key, std::convertible_to< CommandPtr >... CommandPtrs>
CommandPtr	Select (std::function< Key()> selector, std::pair< Key, CommandPtrs > &&... commands)
	Runs one of several commands, based on the selector function.
CommandPtr	Defer (wpi::util::unique_function< CommandPtr()> supplier, Requirements requirements)
	Runs the command supplied by the supplier.
CommandPtr	DeferredProxy (wpi::util::unique_function< Command *()> supplier)
	Constructs a command that schedules the command returned from the supplier when initialized, and ends when it is no longer scheduled.
CommandPtr	DeferredProxy (wpi::util::unique_function< CommandPtr()> supplier)
	Constructs a command that schedules the command returned from the supplier when initialized, and ends when it is no longer scheduled.
CommandPtr	Sequence (std::vector< CommandPtr > &&commands)
	Runs a group of commands in series, one after the other.
template<std::convertible_to< CommandPtr >... CommandPtrs>
CommandPtr	Sequence (CommandPtrs &&... commands)
	Runs a group of commands in series, one after the other.
CommandPtr	RepeatingSequence (std::vector< CommandPtr > &&commands)
	Runs a group of commands in series, one after the other.
template<std::convertible_to< CommandPtr >... CommandPtrs>
CommandPtr	RepeatingSequence (CommandPtrs &&... commands)
	Runs a group of commands in series, one after the other.
CommandPtr	Parallel (std::vector< CommandPtr > &&commands)
	Runs a group of commands at the same time.
template<std::convertible_to< CommandPtr >... CommandPtrs>
CommandPtr	Parallel (CommandPtrs &&... commands)
	Runs a group of commands at the same time.
CommandPtr	Race (std::vector< CommandPtr > &&commands)
	Runs a group of commands at the same time.
template<std::convertible_to< CommandPtr >... CommandPtrs>
CommandPtr	Race (CommandPtrs &&... commands)
	Runs a group of commands at the same time.
CommandPtr	Deadline (CommandPtr &&deadline, std::vector< CommandPtr > &&others)
	Runs a group of commands at the same time.
template<std::convertible_to< CommandPtr >... CommandPtrs>
CommandPtr	Deadline (CommandPtr &&deadline, CommandPtrs &&... commands)
	Runs a group of commands at the same time.
bool	RequirementsDisjoint (Command first, Command second)
	Checks if two commands have disjoint requirement sets.

Variables
const size_t	invalid_index = std::numeric_limits<size_t>::max()

Function Documentation

◆ Deadline() [1/2]

template<std::convertible_to< CommandPtr >... CommandPtrs>

CommandPtr wpi::cmd::Deadline	(	CommandPtr &&	deadline,
		CommandPtrs &&...	commands )

Runs a group of commands at the same time.

Ends once a specific command finishes, and cancels the others.

◆ Deadline() [2/2]

CommandPtr wpi::cmd::Deadline	(	CommandPtr &&	deadline,
		std::vector< CommandPtr > &&	others )

Runs a group of commands at the same time.

Ends once a specific command finishes, and cancels the others.

◆ Defer()

CommandPtr wpi::cmd::Defer	(	wpi::util::unique_function< CommandPtr()>	supplier,
		Requirements	requirements )

Runs the command supplied by the supplier.

Parameters

supplier	the command supplier
requirements	the set of requirements for this command

◆ DeferredProxy() [1/2]

CommandPtr wpi::cmd::DeferredProxy ( wpi::util::unique_function< Command *()> supplier )

Constructs a command that schedules the command returned from the supplier when initialized, and ends when it is no longer scheduled.

The supplier is called when the command is initialized.

Parameters

supplier the command supplier

◆ DeferredProxy() [2/2]

CommandPtr wpi::cmd::DeferredProxy ( wpi::util::unique_function< CommandPtr()> supplier )

Constructs a command that schedules the command returned from the supplier when initialized, and ends when it is no longer scheduled.

The supplier is called when the command is initialized.

Parameters

supplier the command supplier

◆ Either()

CommandPtr wpi::cmd::Either	(	CommandPtr &&	onTrue,
		CommandPtr &&	onFalse,
		std::function< bool()>	selector )

Runs one of two commands, based on the boolean selector function.

Parameters

onTrue	the command to run if the selector function returns true
onFalse	the command to run if the selector function returns false
selector	the selector function

◆ Idle()

CommandPtr wpi::cmd::Idle ( Requirements requirements = {} )

Constructs a command that does nothing until interrupted.

Parameters

requirements Subsystems to require

Returns: the command

◆ None()

CommandPtr wpi::cmd::None ( )

Constructs a command that does nothing, finishing immediately.

◆ Parallel() [1/2]

template<std::convertible_to< CommandPtr >... CommandPtrs>

CommandPtr wpi::cmd::Parallel ( CommandPtrs &&... commands )

Runs a group of commands at the same time.

Ends once all commands in the group finish.

◆ Parallel() [2/2]

CommandPtr wpi::cmd::Parallel ( std::vector< CommandPtr > && commands )

Runs a group of commands at the same time.

Ends once all commands in the group finish.

◆ Print()

CommandPtr wpi::cmd::Print ( std::string_view msg )

Constructs a command that prints a message and finishes.

Parameters

msg	the message to print

◆ Race() [1/2]

template<std::convertible_to< CommandPtr >... CommandPtrs>

CommandPtr wpi::cmd::Race ( CommandPtrs &&... commands )

Runs a group of commands at the same time.

Ends once any command in the group finishes, and cancels the others.

◆ Race() [2/2]

CommandPtr wpi::cmd::Race ( std::vector< CommandPtr > && commands )

Runs a group of commands at the same time.

Ends once any command in the group finishes, and cancels the others.

◆ RepeatingSequence() [1/2]

template<std::convertible_to< CommandPtr >... CommandPtrs>

CommandPtr wpi::cmd::RepeatingSequence ( CommandPtrs &&... commands )

Runs a group of commands in series, one after the other.

Once the last command ends, the group is restarted.

◆ RepeatingSequence() [2/2]

CommandPtr wpi::cmd::RepeatingSequence ( std::vector< CommandPtr > && commands )

Runs a group of commands in series, one after the other.

Once the last command ends, the group is restarted.

◆ RequirementsDisjoint()

bool wpi::cmd::RequirementsDisjoint	(	Command *	first,
		Command *	second )

Checks if two commands have disjoint requirement sets.

Parameters

first	The first command to check.
second	The second command to check.

Returns: False if first and second share a requirement.

◆ Run()

CommandPtr wpi::cmd::Run	(	std::function< void()>	action,
		Requirements	requirements = {} )

Constructs a command that runs an action every iteration until interrupted.

Parameters

action	the action to run
requirements	subsystems the action requires

◆ RunEnd()

CommandPtr wpi::cmd::RunEnd	(	std::function< void()>	run,
		std::function< void()>	end,
		Requirements	requirements = {} )

Constructs a command that runs an action every iteration until interrupted, and then runs a second action.

Parameters

run	the action to run every iteration
end	the action to run on interrupt
requirements	subsystems the action requires

◆ RunOnce()

CommandPtr wpi::cmd::RunOnce	(	std::function< void()>	action,
		Requirements	requirements = {} )

Constructs a command that runs an action once and finishes.

Parameters

action	the action to run
requirements	subsystems the action requires

◆ Select()

template<typename Key, std::convertible_to< CommandPtr >... CommandPtrs>

CommandPtr wpi::cmd::Select	(	std::function< Key()>	selector,
		std::pair< Key, CommandPtrs > &&...	commands )

Runs one of several commands, based on the selector function.

Parameters

selector	the selector function
commands	map of commands to select from

◆ Sequence() [1/2]

template<std::convertible_to< CommandPtr >... CommandPtrs>

CommandPtr wpi::cmd::Sequence ( CommandPtrs &&... commands )

Runs a group of commands in series, one after the other.

◆ Sequence() [2/2]

CommandPtr wpi::cmd::Sequence ( std::vector< CommandPtr > && commands )

Runs a group of commands in series, one after the other.

◆ StartEnd()

CommandPtr wpi::cmd::StartEnd	(	std::function< void()>	start,
		std::function< void()>	end,
		Requirements	requirements = {} )

Constructs a command that runs an action once and another action when the command is interrupted.

Parameters

start	the action to run on start
end	the action to run on interrupt
requirements	subsystems the action requires

◆ StartRun()

CommandPtr wpi::cmd::StartRun	(	std::function< void()>	start,
		std::function< void()>	run,
		Requirements	requirements = {} )

Constructs a command that runs an action once, and then runs an action every iteration until interrupted.

Parameters

start	the action to run on start
run	the action to run every iteration
requirements	subsystems the action requires

◆ Wait()

CommandPtr wpi::cmd::Wait ( wpi::units::second_t duration )

Constructs a command that does nothing, finishing after a specified duration.

Parameters

duration after how long the command finishes

◆ WaitUntil()

CommandPtr wpi::cmd::WaitUntil ( std::function< bool()> condition )

Constructs a command that does nothing, finishing once a condition becomes true.

Parameters

condition the condition

Variable Documentation

◆ invalid_index

const size_t wpi::cmd::invalid_index = std::numeric_limits<size_t>::max()

Namespaces

Classes

Functions

Variables

Function Documentation

◆ Deadline() [1/2]

◆ Deadline() [2/2]

◆ Defer()

◆ DeferredProxy() [1/2]

◆ DeferredProxy() [2/2]

◆ Either()

◆ Idle()

◆ None()

◆ Parallel() [1/2]

◆ Parallel() [2/2]

◆ Print()

◆ Race() [1/2]

◆ Race() [2/2]

◆ RepeatingSequence() [1/2]

◆ RepeatingSequence() [2/2]

◆ RequirementsDisjoint()

◆ Run()

◆ RunEnd()

◆ RunOnce()

◆ Select()

◆ Sequence() [1/2]

◆ Sequence() [2/2]

◆ StartEnd()

◆ StartRun()

◆ Wait()

◆ WaitUntil()

Variable Documentation

◆ invalid_index