Package edu.wpi.first.wpilibj2.command

Class WrapperCommand

java.lang.Object
edu.wpi.first.wpilibj2.command.Command
edu.wpi.first.wpilibj2.command.WrapperCommand
All Implemented Interfaces:
Sendable
public abstract class WrapperCommand
extends Command
A class used internally to wrap commands while overriding a specific method; all other methods will call through to the wrapped command.

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.

  • Field Details

  • Constructor Details

    • WrapperCommand

      protected WrapperCommand​(Command command)
      Wrap a command.
      Parameters:
      command - the command being wrapped. Trying to directly schedule this command or add it to a composition will throw an exception.

  • Method Details

    • initialize

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

    • execute

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

    • end

      public 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 Command.andThen(Command...) instead.

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

    • isFinished

      public boolean isFinished()
      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.

    • getRequirements

      public Set<Subsystem> getRequirements()
      Specifies the set of subsystems used by this command. Two commands cannot use the same subsystem at the same time. If the command is scheduled as interruptible and another command is scheduled that shares a requirement, the command will be interrupted. Else, the command will not be scheduled. If no subsystems are required, return an empty set.

      Note: it is recommended that user implementations contain the requirements as a field, and return that field here, rather than allocating a new set every time this is called.

      Overrides:
      getRequirements in class Command
      Returns:
      the set of subsystems that are required
      See Also:
      Command.InterruptionBehavior

    • 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:
      whether the command should run when the robot is disabled

    • getInterruptionBehavior

      public Command.InterruptionBehavior getInterruptionBehavior()
      Description copied from class: Command
      How the command behaves when another command with a shared requirement is scheduled.
      Overrides:
      getInterruptionBehavior in class Command
      Returns:
      a variant of Command.InterruptionBehavior, defaulting to kCancelSelf.