Interface Command
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- All Known Implementing Classes:
CommandBase,CommandGroupBase,ConditionalCommand,FunctionalCommand,InstantCommand,MecanumControllerCommand,NotifierCommand,ParallelCommandGroup,ParallelDeadlineGroup,ParallelRaceGroup,PerpetualCommand,PIDCommand,PrintCommand,ProfiledPIDCommand,ProxyScheduleCommand,RamseteCommand,RunCommand,ScheduleCommand,SelectCommand,SequentialCommandGroup,StartEndCommand,SwerveControllerCommand,TrapezoidProfileCommand,WaitCommand,WaitUntilCommand
public interface CommandA state machine representing a complete action to be performed by the robot. Commands are run by theCommandScheduler, and can be composed into CommandGroups to allow users to build complicated multi-step actions without the need to roll the state machine logic themselves.Commands are run synchronously from the main robot loop; no multithreading is used, unless specified explicitly from the command implementation.
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Method Summary
All Methods Instance Methods Abstract Methods Default Methods Modifier and Type Method Description default ParallelCommandGroupalongWith(Command... parallel)Decorates this command with a set of commands to run parallel to it, ending when the last command ends.default SequentialCommandGroupandThen(Command... next)Decorates this command with a set of commands to run after it in sequence.default SequentialCommandGroupandThen(Runnable toRun, Subsystem... requirements)Decorates this command with a runnable to run after the command finishes.default ProxyScheduleCommandasProxy()Decorates this command to run "by proxy" by wrapping it in aProxyScheduleCommand.default SequentialCommandGroupbeforeStarting(Runnable toRun, Subsystem... requirements)Decorates this command with a runnable to run before this command starts.default voidcancel()Cancels this command.default ParallelDeadlineGroupdeadlineWith(Command... parallel)Decorates this command with a set of commands to run parallel to it, ending when the calling command ends and interrupting all the others.default voidend(boolean interrupted)The action to take when the command ends.default voidexecute()The main body of a command.default StringgetName()Gets the name of this Command.Set<Subsystem>getRequirements()Specifies the set of subsystems used by this command.default booleanhasRequirement(Subsystem requirement)Whether the command requires a given subsystem.default voidinitialize()The initial subroutine of a command.default booleanisFinished()Whether the command has finished.default booleanisScheduled()Whether or not the command is currently scheduled.default PerpetualCommandperpetually()Decorates this command to run perpetually, ignoring its ordinary end conditions.default ParallelRaceGroupraceWith(Command... parallel)Decorates this command with a set of commands to run parallel to it, ending when the first command ends.default booleanrunsWhenDisabled()Whether the given command should run when the robot is disabled.default voidschedule()Schedules this command, defaulting to interruptible.default voidschedule(boolean interruptible)Schedules this command.default ParallelRaceGroupwithInterrupt(BooleanSupplier condition)Decorates this command with an interrupt condition.default ParallelRaceGroupwithTimeout(double seconds)Decorates this command with a timeout.
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Method Detail
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initialize
default void initialize()
The initial subroutine of a command. Called once when the command is initially scheduled.
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execute
default void execute()
The main body of a command. Called repeatedly while the command is scheduled.
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end
default void end(boolean interrupted)
The action to take when the command ends. Called when either the command finishes normally, or when it interrupted/canceled.- Parameters:
interrupted- whether the command was interrupted/canceled
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isFinished
default boolean isFinished()
Whether the command has finished. Once a command finishes, the scheduler will call its end() method and un-schedule it.- Returns:
- whether the command has finished.
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getRequirements
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.
- Returns:
- the set of subsystems that are required
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withTimeout
default ParallelRaceGroup withTimeout(double seconds)
Decorates this command with a timeout. If the specified timeout is exceeded before the command finishes normally, the command will be interrupted and un-scheduled. Note that the timeout only applies to the command returned by this method; the calling command is not itself changed.Note: This decorator works by composing this command within a CommandGroup. The command cannot be used independently after being decorated, or be re-decorated with a different decorator, unless it is manually cleared from the list of grouped commands with
CommandGroupBase.clearGroupedCommand(Command). The decorated command can, however, be further decorated without issue.- Parameters:
seconds- the timeout duration- Returns:
- the command with the timeout added
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withInterrupt
default ParallelRaceGroup withInterrupt(BooleanSupplier condition)
Decorates this command with an interrupt condition. If the specified condition becomes true before the command finishes normally, the command will be interrupted and un-scheduled. Note that this only applies to the command returned by this method; the calling command is not itself changed.Note: This decorator works by composing this command within a CommandGroup. The command cannot be used independently after being decorated, or be re-decorated with a different decorator, unless it is manually cleared from the list of grouped commands with
CommandGroupBase.clearGroupedCommand(Command). The decorated command can, however, be further decorated without issue.- Parameters:
condition- the interrupt condition- Returns:
- the command with the interrupt condition added
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beforeStarting
default SequentialCommandGroup beforeStarting(Runnable toRun, Subsystem... requirements)
Decorates this command with a runnable to run before this command starts.Note: This decorator works by composing this command within a CommandGroup. The command cannot be used independently after being decorated, or be re-decorated with a different decorator, unless it is manually cleared from the list of grouped commands with
CommandGroupBase.clearGroupedCommand(Command). The decorated command can, however, be further decorated without issue.- Parameters:
toRun- the Runnable to runrequirements- the required subsystems- Returns:
- the decorated command
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andThen
default SequentialCommandGroup andThen(Runnable toRun, Subsystem... requirements)
Decorates this command with a runnable to run after the command finishes.Note: This decorator works by composing this command within a CommandGroup. The command cannot be used independently after being decorated, or be re-decorated with a different decorator, unless it is manually cleared from the list of grouped commands with
CommandGroupBase.clearGroupedCommand(Command). The decorated command can, however, be further decorated without issue.- Parameters:
toRun- the Runnable to runrequirements- the required subsystems- Returns:
- the decorated command
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andThen
default SequentialCommandGroup andThen(Command... next)
Decorates this command with a set of commands to run after it in sequence. Often more convenient/less-verbose than constructing a newSequentialCommandGroupexplicitly.Note: This decorator works by composing this command within a CommandGroup. The command cannot be used independently after being decorated, or be re-decorated with a different decorator, unless it is manually cleared from the list of grouped commands with
CommandGroupBase.clearGroupedCommand(Command). The decorated command can, however, be further decorated without issue.- Parameters:
next- the commands to run next- Returns:
- the decorated command
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deadlineWith
default ParallelDeadlineGroup deadlineWith(Command... parallel)
Decorates this command with a set of commands to run parallel to it, ending when the calling command ends and interrupting all the others. Often more convenient/less-verbose than constructing a newParallelDeadlineGroupexplicitly.Note: This decorator works by composing this command within a CommandGroup. The command cannot be used independently after being decorated, or be re-decorated with a different decorator, unless it is manually cleared from the list of grouped commands with
CommandGroupBase.clearGroupedCommand(Command). The decorated command can, however, be further decorated without issue.- Parameters:
parallel- the commands to run in parallel- Returns:
- the decorated command
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alongWith
default ParallelCommandGroup alongWith(Command... parallel)
Decorates this command with a set of commands to run parallel to it, ending when the last command ends. Often more convenient/less-verbose than constructing a newParallelCommandGroupexplicitly.Note: This decorator works by composing this command within a CommandGroup. The command cannot be used independently after being decorated, or be re-decorated with a different decorator, unless it is manually cleared from the list of grouped commands with
CommandGroupBase.clearGroupedCommand(Command). The decorated command can, however, be further decorated without issue.- Parameters:
parallel- the commands to run in parallel- Returns:
- the decorated command
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raceWith
default ParallelRaceGroup raceWith(Command... parallel)
Decorates this command with a set of commands to run parallel to it, ending when the first command ends. Often more convenient/less-verbose than constructing a newParallelRaceGroupexplicitly.Note: This decorator works by composing this command within a CommandGroup. The command cannot be used independently after being decorated, or be re-decorated with a different decorator, unless it is manually cleared from the list of grouped commands with
CommandGroupBase.clearGroupedCommand(Command). The decorated command can, however, be further decorated without issue.- Parameters:
parallel- the commands to run in parallel- Returns:
- the decorated command
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perpetually
default PerpetualCommand perpetually()
Decorates this command to run perpetually, ignoring its ordinary end conditions. The decorated command can still be interrupted or canceled.Note: This decorator works by composing this command within a CommandGroup. The command cannot be used independently after being decorated, or be re-decorated with a different decorator, unless it is manually cleared from the list of grouped commands with
CommandGroupBase.clearGroupedCommand(Command). The decorated command can, however, be further decorated without issue.- Returns:
- the decorated command
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asProxy
default ProxyScheduleCommand asProxy()
Decorates this command to run "by proxy" by wrapping it in aProxyScheduleCommand. This is useful for "forking off" from command groups when the user does not wish to extend the command's requirements to the entire command group.- Returns:
- the decorated command
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schedule
default void schedule(boolean interruptible)
Schedules this command.- Parameters:
interruptible- whether this command can be interrupted by another command that shares one of its requirements
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schedule
default void schedule()
Schedules this command, defaulting to interruptible.
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cancel
default void cancel()
Cancels this command. Will call the command's interrupted() method. Commands will be canceled even if they are not marked as interruptible.
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isScheduled
default boolean isScheduled()
Whether or not the command is currently scheduled. Note that this does not detect whether the command is being run by a CommandGroup, only whether it is directly being run by the scheduler.- Returns:
- Whether the command is scheduled.
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hasRequirement
default boolean hasRequirement(Subsystem requirement)
Whether the command requires a given subsystem. Named "hasRequirement" rather than "requires" to avoid confusion withCommand.requires(edu.wpi.first.wpilibj.command.Subsystem)- this may be able to be changed in a few years.- Parameters:
requirement- the subsystem to inquire about- Returns:
- whether the subsystem is required
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runsWhenDisabled
default boolean runsWhenDisabled()
Whether the given command should run when the robot is disabled. Override to return true if the command should run when disabled.- Returns:
- whether the command should run when the robot is disabled
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getName
default String getName()
Gets the name of this Command.- Returns:
- Name
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