Package edu.wpi.first.wpilibj2.command
Class StartEndCommand
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- edu.wpi.first.wpilibj2.command.CommandBase
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- edu.wpi.first.wpilibj2.command.StartEndCommand
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public class StartEndCommand extends CommandBase
A command that runs a given runnable when it is initialized, and another runnable when it ends. Useful for running and then stopping a motor, or extending and then retracting a solenoid. Has no end condition as-is; either subclass it or useCommand.withTimeout(double)
orCommand.withInterrupt(java.util.function.BooleanSupplier)
to give it one.
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Field Summary
Fields Modifier and Type Field Description protected Runnable
m_onEnd
protected Runnable
m_onInit
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Fields inherited from class edu.wpi.first.wpilibj2.command.CommandBase
m_requirements
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Constructor Summary
Constructors Constructor Description StartEndCommand(Runnable onInit, Runnable onEnd, Subsystem... requirements)
Creates a new StartEndCommand.
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Method Summary
All Methods Instance Methods Concrete Methods Modifier and Type Method Description void
end(boolean interrupted)
The action to take when the command ends.void
initialize()
The initial subroutine of a command.-
Methods inherited from class edu.wpi.first.wpilibj2.command.CommandBase
addRequirements, getName, getRequirements, getSubsystem, initSendable, setName, setSubsystem, withName
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Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
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Methods inherited from interface edu.wpi.first.wpilibj2.command.Command
alongWith, andThen, andThen, asProxy, beforeStarting, beforeStarting, cancel, deadlineWith, execute, hasRequirement, isFinished, isScheduled, perpetually, raceWith, runsWhenDisabled, schedule, schedule, withInterrupt, withTimeout
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Constructor Detail
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StartEndCommand
public StartEndCommand(Runnable onInit, Runnable onEnd, Subsystem... requirements)
Creates a new StartEndCommand. Will run the given runnables when the command starts and when it ends.- Parameters:
onInit
- the Runnable to run on command initonEnd
- the Runnable to run on command endrequirements
- the subsystems required by this command
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Method Detail
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initialize
public void initialize()
Description copied from interface:Command
The initial subroutine of a command. Called once when the command is initially scheduled.
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end
public void end(boolean interrupted)
Description copied from interface: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.- Parameters:
interrupted
- whether the command was interrupted/canceled
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