Package edu.wpi.first.wpilibj2.command

Class ProxyCommand

java.lang.Object
edu.wpi.first.wpilibj2.command.Command
edu.wpi.first.wpilibj2.command.ProxyCommand
All Implemented Interfaces:
Sendable
public class ProxyCommand extends Command
Schedules a given command when this command is initialized and ends when it ends, but does not directly run it. Use this for including a command in a composition without adding its requirements, but only if you know what you are doing. If you are unsure, see the WPILib docs for a complete explanation of proxy semantics. Do not proxy a command from a subsystem already required by the composition, or else the composition will cancel itself when the proxy is reached. If this command is interrupted, it will cancel the command.

This class is provided by the NewCommands VendorDep

  • Constructor Details

    • ProxyCommand

      @Deprecated(since="2025", forRemoval=true) public ProxyCommand(Supplier<Command> supplier)
      Deprecated, for removal: This API element is subject to removal in a future version.
      This constructor's similarity to DeferredCommand is confusing and opens potential footguns for users who do not fully understand the semantics and implications of proxying, but who simply want runtime construction. Users who do know what they are doing and need a supplier-constructed proxied command should instead defer a proxy command.
      Creates a new ProxyCommand that schedules the supplied command when initialized, and ends when it is no longer scheduled. Use this for lazily creating proxied commands at runtime. Proxying should only be done to escape from composition requirement semantics, so if only initialization time command construction is needed, use DeferredCommand instead.
      Parameters:
      supplier - the command supplier
      See Also:

    • ProxyCommand

      public ProxyCommand(Command command)
      Creates a new ProxyCommand that schedules the given command when initialized, and ends when it is no longer scheduled.
      Parameters:
      command - the command to run by proxy

  • Method Details

    • initialize

      public void initialize()
      Description copied from class: Command
      The initial subroutine of a command. Called once when the command is initially scheduled.
      Overrides:
      initialize in class Command

    • end

      public void end(boolean interrupted)
      Description copied from class: Command
      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 Command.andThen(Command...) instead.

      Overrides:
      end in class Command
      Parameters:
      interrupted - whether the command was interrupted/canceled

    • execute

      public void execute()
      Description copied from class: Command
      The main body of a command. Called repeatedly while the command is scheduled.
      Overrides:
      execute in class Command

    • isFinished

      public boolean isFinished()
      Description copied from class: Command
      Whether the command has finished. Once a command finishes, the scheduler will call its end() method and un-schedule it.
      Overrides:
      isFinished in class Command
      Returns:
      whether the command has finished.

    • runsWhenDisabled

      public boolean runsWhenDisabled()
      Whether the given command should run when the robot is disabled. Override to return true if the command should run when disabled.
      Overrides:
      runsWhenDisabled in class Command
      Returns:
      true. Otherwise, this proxy would cancel commands that do run when disabled.

    • initSendable

      public void initSendable(SendableBuilder builder)
      Description copied from interface: Sendable
      Initializes this Sendable object.
      Specified by:
      initSendable in interface Sendable
      Overrides:
      initSendable in class Command
      Parameters:
      builder - sendable builder