Package edu.wpi.first.wpilibj2.command

Interface Summary

Interface	Description
Subsystem	A robot subsystem.

Class Summary

Class	Description
Command	A state machine representing a complete action to be performed by the robot.
CommandBase	Deprecated, for removal: This API element is subject to removal in a future version. All functionality provided by CommandBase has been merged into Command.
Commands	Namespace for command factory methods.
CommandScheduler	The scheduler responsible for running Commands.
ConditionalCommand	A command composition that runs one of two commands, depending on the value of the given condition when this command is initialized.
DeferredCommand	Defers Command construction to runtime.
FunctionalCommand	A command that allows the user to pass in functions for each of the basic command methods through the constructor.
InstantCommand	A Command that runs instantly; it will initialize, execute once, and end on the same iteration of the scheduler.
MecanumControllerCommand	A command that uses two PID controllers (PIDController) and a ProfiledPIDController (ProfiledPIDController) to follow a trajectory Trajectory with a mecanum drive.
NotifierCommand	A command that starts a notifier to run the given runnable periodically in a separate thread.
ParallelCommandGroup	A command composition that runs a set of commands in parallel, ending when the last command ends.
ParallelDeadlineGroup	A command composition that runs a set of commands in parallel, ending only when a specific command (the "deadline") ends, interrupting all other commands that are still running at that point.
ParallelRaceGroup	A composition that runs a set of commands in parallel, ending when any one of the commands ends and interrupting all the others.
PIDCommand	A command that controls an output with a PIDController.
PIDSubsystem	A subsystem that uses a PIDController to control an output.
PrintCommand	A command that prints a string when initialized.
ProfiledPIDCommand	A command that controls an output with a ProfiledPIDController.
ProfiledPIDSubsystem	A subsystem that uses a ProfiledPIDController to control an output.
ProxyCommand	Schedules the given command when this command is initialized, and ends when it ends.
RamseteCommand	A command that uses a RAMSETE controller (RamseteController) to follow a trajectory Trajectory with a differential drive.
RepeatCommand	A command that runs another command repeatedly, restarting it when it ends, until this command is interrupted.
RunCommand	A command that runs a Runnable continuously.
ScheduleCommand	Schedules the given commands when this command is initialized.
SelectCommand<K>	A command composition that runs one of a selection of commands using a selector and a key to command mapping.
SequentialCommandGroup	A command composition that runs a list of commands in sequence.
StartEndCommand	A command that runs a given runnable when it is initialized, and another runnable when it ends.
SubsystemBase	A base for subsystems that handles registration in the constructor, and provides a more intuitive method for setting the default command.
SwerveControllerCommand	A command that uses two PID controllers (PIDController) and a ProfiledPIDController (ProfiledPIDController) to follow a trajectory Trajectory with a swerve drive.
TrapezoidProfileCommand	A command that runs a TrapezoidProfile.
TrapezoidProfileSubsystem	A subsystem that generates and runs trapezoidal motion profiles automatically.
WaitCommand	A command that does nothing but takes a specified amount of time to finish.
WaitUntilCommand	A command that does nothing but ends after a specified match time or condition.
WrapperCommand	A class used internally to wrap commands while overriding a specific method; all other methods will call through to the wrapped command.

Enum Summary

Enum	Description
Command.InterruptionBehavior	An enum describing the command's behavior when another command with a shared requirement is scheduled.