Package edu.wpi.first.wpilibj2.command
Class PerpetualCommand
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- edu.wpi.first.wpilibj2.command.CommandBase
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- edu.wpi.first.wpilibj2.command.PerpetualCommand
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public class PerpetualCommand extends CommandBase
A command that runs another command in perpetuity, ignoring that command's end conditions. While this class does not extendCommandGroupBase
, it is still considered a CommandGroup, as it allows one to compose another command within it; the command instances that are passed to it cannot be added to any other groups, or scheduled individually.As a rule, CommandGroups require the union of the requirements of their component commands.
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Field Summary
Fields Modifier and Type Field Description protected Command
m_command
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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 PerpetualCommand(Command command)
Creates a new PerpetualCommand.
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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
execute()
The main body of a command.void
initialize()
The initial subroutine of a command.PerpetualCommand
perpetually()
Decorates this command to run perpetually, ignoring its ordinary end conditions.boolean
runsWhenDisabled()
Whether the given command should run when the robot is disabled.-
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, hasRequirement, isFinished, isScheduled, raceWith, schedule, schedule, withInterrupt, withTimeout
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Constructor Detail
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PerpetualCommand
public PerpetualCommand(Command command)
Creates a new PerpetualCommand. Will run another command in perpetuity, ignoring that command's end conditions, unless this command itself is interrupted.- Parameters:
command
- the command to run perpetually
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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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execute
public void execute()
Description copied from interface:Command
The main body of a command. Called repeatedly while the command is 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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runsWhenDisabled
public boolean runsWhenDisabled()
Description copied from interface:Command
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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perpetually
public PerpetualCommand perpetually()
Description copied from interface:Command
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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