frc2::cmd Namespace Reference

Namespace for command factories. More...

Namespaces
namespace	impl

Functions
CommandPtr	None ()
	Constructs a command that does nothing, finishing immediately. More...
CommandPtr	Idle (Requirements requirements={})
	Constructs a command that does nothing until interrupted. More...
CommandPtr	RunOnce (std::function< void()> action, Requirements requirements={})
	Constructs a command that runs an action once and finishes. More...
CommandPtr	Run (std::function< void()> action, Requirements requirements={})
	Constructs a command that runs an action every iteration until interrupted. More...
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. More...
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. More...
CommandPtr	Print (std::string_view msg)
	Constructs a command that prints a message and finishes. More...
CommandPtr	Wait (units::second_t duration)
	Constructs a command that does nothing, finishing after a specified duration. More...
CommandPtr	WaitUntil (std::function< bool()> condition)
	Constructs a command that does nothing, finishing once a condition becomes true. More...
CommandPtr	Either (CommandPtr &&onTrue, CommandPtr &&onFalse, std::function< bool()> selector)
	Runs one of two commands, based on the boolean selector function. More...
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. More...
CommandPtr	Defer (wpi::unique_function< CommandPtr()> supplier, Requirements requirements)
	Runs the command supplied by the supplier. More...
CommandPtr	DeferredProxy (wpi::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. More...
CommandPtr	DeferredProxy (wpi::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. More...
CommandPtr	Sequence (std::vector< CommandPtr > &&commands)
	Runs a group of commands in series, one after the other. More...
template<std::convertible_to< CommandPtr >... CommandPtrs>
CommandPtr	Sequence (CommandPtrs &&... commands)
	Runs a group of commands in series, one after the other. More...
CommandPtr	RepeatingSequence (std::vector< CommandPtr > &&commands)
	Runs a group of commands in series, one after the other. More...
template<std::convertible_to< CommandPtr >... CommandPtrs>
CommandPtr	RepeatingSequence (CommandPtrs &&... commands)
	Runs a group of commands in series, one after the other. More...
CommandPtr	Parallel (std::vector< CommandPtr > &&commands)
	Runs a group of commands at the same time. More...
template<std::convertible_to< CommandPtr >... CommandPtrs>
CommandPtr	Parallel (CommandPtrs &&... commands)
	Runs a group of commands at the same time. More...
CommandPtr	Race (std::vector< CommandPtr > &&commands)
	Runs a group of commands at the same time. More...
template<std::convertible_to< CommandPtr >... CommandPtrs>
CommandPtr	Race (CommandPtrs &&... commands)
	Runs a group of commands at the same time. More...
CommandPtr	Deadline (CommandPtr &&deadline, std::vector< CommandPtr > &&others)
	Runs a group of commands at the same time. More...
template<std::convertible_to< CommandPtr >... CommandPtrs>
CommandPtr	Deadline (CommandPtr &&deadline, CommandPtrs &&... commands)
	Runs a group of commands at the same time. More...

Detailed Description

Namespace for command factories.

Function Documentation

Deadline() [1/2]

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

CommandPtr frc2::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 frc2::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 frc2::cmd::Defer	(	wpi::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 frc2::cmd::DeferredProxy

(

wpi::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 frc2::cmd::DeferredProxy

(

wpi::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 frc2::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 frc2::cmd::Idle

(

Requirements

requirements = {}

)

Constructs a command that does nothing until interrupted.

Parameters

requirements

Subsystems to require

Returns

the command

None()

CommandPtr frc2::cmd::None

(

)

Constructs a command that does nothing, finishing immediately.

Parallel() [1/2]

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

CommandPtr frc2::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 frc2::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 frc2::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 frc2::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 frc2::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 frc2::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 frc2::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.

Run()

CommandPtr frc2::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 frc2::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 frc2::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 frc2::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 frc2::cmd::Sequence

(

CommandPtrs &&...

commands

)

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

Sequence() [2/2]

CommandPtr frc2::cmd::Sequence

(

std::vector< CommandPtr > &&

commands

)

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

StartEnd()

CommandPtr frc2::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

Wait()

CommandPtr frc2::cmd::Wait

(

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 frc2::cmd::WaitUntil

(

std::function< bool()>

condition

)

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

Parameters

condition

the condition