public abstract class WrapperCommand extends CommandBase
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.
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 Modifier Constructor Description
WrapperCommand(Command command)Wrap a command.
Modifier and Type Method Description
end(boolean interrupted)The action to take when the command ends.
execute()The main body of a command.
getInterruptionBehavior()How the command behaves when another command with a shared requirement is scheduled.
getRequirements()Specifies the set of subsystems used by this command.
initialize()The initial subroutine of a command.
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, 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, handleInterrupt, hasRequirement, ignoringDisable, isScheduled, perpetually, raceWith, repeatedly, schedule, unless, until, withInterrupt, withInterruptBehavior, withName, withTimeout
WrapperCommandprotected WrapperCommand(Command command)Wrap a command.
command- the command being wrapped. Trying to directly schedule this command or add it to a composition will throw an exception.
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.
getRequirementspublic 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.
- Specified by:
- the set of subsystems that are required
- See Also:
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
getInterruptionBehaviorDescription copied from interface:
CommandHow the command behaves when another command with a shared requirement is scheduled.
- a variant of
Command.InterruptionBehavior, defaulting to