Package edu.wpi.first.wpilibj2.command

Class RunCommand

java.lang.Object

edu.wpi.first.wpilibj2.command.Command

edu.wpi.first.wpilibj2.command.FunctionalCommand

edu.wpi.first.wpilibj2.command.RunCommand

All Implemented Interfaces:

Sendable

public class RunCommand
extends FunctionalCommand

A command that runs a Runnable continuously. Has no end condition as-is; either subclass it or use Command.withTimeout(double) or Command.until(BooleanSupplier) to give it one. If you only wish to execute a Runnable once, use InstantCommand.

This class is provided by the NewCommands VendorDep

Nested Class Summary

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

Command.InterruptionBehavior

Field Summary

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

m_requirements

Constructor Summary

Constructors

Constructor	Description
RunCommand(Runnable toRun, Subsystem... requirements)	Creates a new RunCommand.

Method Summary

Methods inherited from class edu.wpi.first.wpilibj2.command.FunctionalCommand

end, execute, initialize, isFinished

Methods inherited from class edu.wpi.first.wpilibj2.command.Command

addRequirements, alongWith, andThen, andThen, asProxy, beforeStarting, beforeStarting, cancel, deadlineWith, finallyDo, finallyDo, getInterruptionBehavior, getName, getRequirements, getSubsystem, handleInterrupt, hasRequirement, ignoringDisable, initSendable, isScheduled, onlyIf, onlyWhile, raceWith, repeatedly, runsWhenDisabled, schedule, setName, setSubsystem, unless, until, withInterruptBehavior, withName, withTimeout, withTimeout

Methods inherited from class java.lang.Object

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

Constructor Details

RunCommand

public RunCommand(Runnable toRun, Subsystem... requirements)

Creates a new RunCommand. The Runnable will be run continuously until the command ends. Does not run when disabled.

Parameters:

toRun - the Runnable to run

requirements - the subsystems to require