- Direct Known Subclasses:
public class FunctionalCommand extends CommandBase
A command that allows the user to pass in functions for each of the basic command methods through the constructor. Useful for inline definitions of complex commands - note, however, that if a command is beyond a certain complexity it is usually better practice to write a proper class for it than to inline it.
This class is provided by the NewCommands VendorDep
Nested Class Summary
Nested classes/interfaces inherited from interface edu.wpi.first.wpilibj2.command.Command
Fields Modifier and Type Field Description
Fields inherited from class edu.wpi.first.wpilibj2.command.CommandBase
Constructors Constructor Description
FunctionalCommand(Runnable onInit, Runnable onExecute, Consumer<Boolean> onEnd, BooleanSupplier isFinished, Subsystem... requirements)Creates a new FunctionalCommand.
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.
isFinished()Whether the command has finished.
Methods inherited from class edu.wpi.first.wpilibj2.command.CommandBase
addRequirements, getName, getRequirements, getSubsystem, initSendable, 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, runsWhenDisabled, schedule, unless, until, withInterrupt, withInterruptBehavior, withName, withTimeout
m_onExecuteprotected final Runnable m_onExecute
m_isFinishedprotected final BooleanSupplier m_isFinished
FunctionalCommandpublic FunctionalCommand(Runnable onInit, Runnable onExecute, Consumer<Boolean> onEnd, BooleanSupplier isFinished, Subsystem... requirements)Creates a new FunctionalCommand.
onInit- the function to run on command initialization
onExecute- the function to run on command execution
onEnd- the function to run on command end
isFinished- the function that determines whether the command has finished
requirements- the subsystems required by this command
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.