Package edu.wpi.first.wpilibj2.command

Class Commands

java.lang.Object

edu.wpi.first.wpilibj2.command.Commands

public final class Commands
extends Object

Namespace for command factory methods.

For convenience, you might want to static import the members of this class.

Method Summary

Modifier and Type	Method	Description
static Command	deadline(Command deadline, Command... otherCommands)	Runs a group of commands at the same time.
static Command	defer(Supplier<Command> supplier, Set<Subsystem> requirements)	Runs the command supplied by the supplier.
static Command	deferredProxy(Supplier<Command> supplier)	Deprecated, for removal: This API element is subject to removal in a future version. The ProxyCommand supplier constructor has been deprecated in favor of directly proxying a DeferredCommand, see ProxyCommand documentaion for more details.
static Command	either(Command onTrue, Command onFalse, BooleanSupplier selector)	Runs one of two commands, based on the boolean selector function.
static Command	idle(Subsystem... requirements)	Constructs a command that does nothing until interrupted.
static Command	none()	Constructs a command that does nothing, finishing immediately.
static Command	parallel(Command... commands)	Runs a group of commands at the same time.
static Command	print(String message)	Constructs a command that prints a message and finishes.
static Command	race(Command... commands)	Runs a group of commands at the same time.
static Command	repeatingSequence(Command... commands)	Runs a group of commands in series, one after the other.
static Command	run(Runnable action, Subsystem... requirements)	Constructs a command that runs an action every iteration until interrupted.
static Command	runEnd(Runnable run, Runnable end, Subsystem... requirements)	Constructs a command that runs an action every iteration until interrupted, and then runs a second action.
static Command	runOnce(Runnable action, Subsystem... requirements)	Constructs a command that runs an action once and finishes.
static <K> Command	select(Map<K,Command> commands, Supplier<? extends K> selector)	Runs one of several commands, based on the selector function.
static Command	sequence(Command... commands)	Runs a group of commands in series, one after the other.
static Command	startEnd(Runnable start, Runnable end, Subsystem... requirements)	Constructs a command that runs an action once and another action when the command is interrupted.
static Command	startRun(Runnable start, Runnable run, Subsystem... requirements)	Constructs a command that runs an action once, and then runs an action every iteration until interrupted.
static Command	waitSeconds(double seconds)	Constructs a command that does nothing, finishing after a specified duration.
static Command	waitTime(Measure<Time> time)	Constructs a command that does nothing, finishing after a specified duration.
static Command	waitUntil(BooleanSupplier condition)	Constructs a command that does nothing, finishing once a condition becomes true.

Methods inherited from class java.lang.Object

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

Method Details

none

public static Command none()

Constructs a command that does nothing, finishing immediately.

Returns:

the command

idle

public static Command idle(Subsystem... requirements)

Constructs a command that does nothing until interrupted.

Parameters:

requirements - Subsystems to require

Returns:

the command

runOnce

public static Command runOnce(Runnable action,
 Subsystem... requirements)

Constructs a command that runs an action once and finishes.

Parameters:

action - the action to run

requirements - subsystems the action requires

Returns:

the command

See Also:

• InstantCommand

run

public static Command run(Runnable action,
 Subsystem... requirements)

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

Parameters:

action - the action to run

requirements - subsystems the action requires

Returns:

the command

See Also:

• RunCommand

startEnd

public static Command startEnd(Runnable start,
 Runnable end,
 Subsystem... 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

Returns:

the command

See Also:

• StartEndCommand

runEnd

public static Command runEnd(Runnable run,
 Runnable end,
 Subsystem... 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

Returns:

the command

startRun

public static Command startRun(Runnable start,
 Runnable run,
 Subsystem... 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

Returns:

the command

print

public static Command print(String message)

Constructs a command that prints a message and finishes.

Parameters:

message - the message to print

Returns:

the command

See Also:

• PrintCommand

waitSeconds

public static Command waitSeconds(double seconds)

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

Parameters:

seconds - after how long the command finishes

Returns:

the command

See Also:

• WaitCommand

waitTime

public static Command waitTime(Measure<Time> time)

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

Parameters:

time - after how long the command finishes

Returns:

the command

See Also:

• WaitCommand

waitUntil

public static Command waitUntil(BooleanSupplier condition)

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

Parameters:

condition - the condition

Returns:

the command

See Also:

• WaitUntilCommand

either

public static Command either(Command onTrue,
 Command onFalse,
 BooleanSupplier 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

Returns:

the command

See Also:

• ConditionalCommand

select

public static <K> Command select(Map<K,Command> commands,
 Supplier<? extends K> selector)

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

Type Parameters:

K - The type of key used to select the command

Parameters:

selector - the selector function

commands - map of commands to select from

Returns:

the command

See Also:

• SelectCommand

defer

public static Command defer(Supplier<Command> supplier,
 Set<Subsystem> requirements)

Runs the command supplied by the supplier.

Parameters:

supplier - the command supplier

requirements - the set of requirements for this command

Returns:

the command

See Also:

• DeferredCommand

deferredProxy

@Deprecated(since="2025",
            forRemoval=true)
public static Command deferredProxy(Supplier<Command> supplier)

Deprecated, for removal: This API element is subject to removal in a future version.

The ProxyCommand supplier constructor has been deprecated in favor of directly proxying a DeferredCommand, see ProxyCommand documentaion for more details. As a replacement, consider using `defer(supplier).asProxy()`.

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

Returns:

the command

See Also:

• ProxyCommand

sequence

public static Command sequence(Command... commands)

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

Parameters:

commands - the commands to include

Returns:

the command group

See Also:

• SequentialCommandGroup

repeatingSequence

public static Command repeatingSequence(Command... commands)

Runs a group of commands in series, one after the other. Once the last command ends, the group is restarted.

Parameters:

commands - the commands to include

Returns:

the command group

See Also:

• SequentialCommandGroup
• Command.repeatedly()

parallel

public static Command parallel(Command... commands)

Runs a group of commands at the same time. Ends once all commands in the group finish.

Parameters:

commands - the commands to include

Returns:

the command

See Also:

• ParallelCommandGroup

race

public static Command race(Command... commands)

Runs a group of commands at the same time. Ends once any command in the group finishes, and cancels the others.

Parameters:

commands - the commands to include

Returns:

the command group

See Also:

• ParallelRaceGroup

deadline

public static Command deadline(Command deadline,
 Command... otherCommands)

Runs a group of commands at the same time. Ends once a specific command finishes, and cancels the others.

Parameters:

deadline - the deadline command

otherCommands - the other commands to include

Returns:

the command group

Throws:

IllegalArgumentException - if the deadline command is also in the otherCommands argument

See Also:

• ParallelDeadlineGroup