public class ConditionalCommand extends CommandBase
A command composition that runs one of two commands, depending on the value of the given condition when this command is initialized.
The rules for command compositions apply: command instances that are passed to it cannot be added to any other composition or scheduled individually, and the composition requires all subsystems its components require.
This class is provided by the NewCommands VendorDep
Nested Class Summary
Nested classes/interfaces inherited from interface edu.wpi.first.wpilibj2.command.Command
Fields inherited from class edu.wpi.first.wpilibj2.command.CommandBase
Constructors Constructor Description
ConditionalCommand(Command onTrue, Command onFalse, BooleanSupplier condition)Creates a new ConditionalCommand.
Modifier and Type Method Description
end(boolean interrupted)The action to take when the command ends.
execute()The main body of a command.
initialize()The initial subroutine of a command.
initSendable(SendableBuilder builder)Initializes this sendable.
isFinished()Whether the command has finished.
runsWhenDisabled()Whether the given command should run when the robot is disabled.
Methods inherited from class edu.wpi.first.wpilibj2.command.CommandBase
addRequirements, getName, getRequirements, getSubsystem, 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, finallyDo, getInterruptionBehavior, handleInterrupt, hasRequirement, ignoringDisable, isScheduled, perpetually, raceWith, repeatedly, schedule, unless, until, withInterrupt, withInterruptBehavior, withName, withTimeout
ConditionalCommandpublic ConditionalCommand(Command onTrue, Command onFalse, BooleanSupplier condition)Creates a new ConditionalCommand.
onTrue- the command to run if the condition is true
onFalse- the command to run if the condition is false
condition- the condition to determine which command to run
initializepublic void initialize()The initial subroutine of a command. Called once when the command is initially scheduled.
executepublic void execute()The main body of a command. Called repeatedly while the command is scheduled.
endpublic void end(boolean interrupted)The action to take when the command ends. Called when either the command finishes normally, or when it interrupted/canceled.
Do not schedule commands here that share requirements with this command. Use
interrupted- whether the command was interrupted/canceled
isFinishedpublic boolean isFinished()Whether the command has finished. Once a command finishes, the scheduler will call its end() method and un-schedule it.
- whether the command has finished.
runsWhenDisabledpublic boolean runsWhenDisabled()Whether the given command should run when the robot is disabled. Override to return true if the command should run when disabled.
- whether the command should run when the robot is disabled
initSendablepublic void initSendable(SendableBuilder builder)Description copied from class:
CommandBaseInitializes this sendable. Useful for allowing implementations to easily extend SendableBase.
- Specified by:
builder- the builder used to construct this sendable