Package edu.wpi.first.wpilibj2.command
Class ConditionalCommand
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- edu.wpi.first.wpilibj2.command.CommandBase
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- edu.wpi.first.wpilibj2.command.ConditionalCommand
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public class ConditionalCommand extends CommandBase
Runs one of two commands, depending on the value of the given condition when this command is initialized. Does not actually schedule the selected command - rather, the command is run through this command; this ensures that the command will behave as expected if used as part of a CommandGroup. Requires the requirements of both commands, again to ensure proper functioning when used in a CommandGroup. If this is undesired, consider usingScheduleCommand
.As this command contains multiple component commands within it, it is technically a command group; 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
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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 ConditionalCommand(Command onTrue, Command onFalse, BooleanSupplier condition)
Creates a new ConditionalCommand.
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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.boolean
isFinished()
Whether the command has finished.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, isScheduled, perpetually, raceWith, schedule, schedule, withInterrupt, withTimeout
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Constructor Detail
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ConditionalCommand
public ConditionalCommand(Command onTrue, Command onFalse, BooleanSupplier condition)
Creates a new ConditionalCommand.- Parameters:
onTrue
- the command to run if the condition is trueonFalse
- the command to run if the condition is falsecondition
- the condition to determine which command to run
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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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isFinished
public boolean isFinished()
Description copied from interface:Command
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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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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