Package edu.wpi.first.wpilibj2.command
Class FunctionalCommand
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- edu.wpi.first.wpilibj2.command.CommandBase
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- edu.wpi.first.wpilibj2.command.FunctionalCommand
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public class FunctionalCommand extends CommandBase
A command that allows the user to pass in functions for each of the basic command methods through the constructor. Useful for inline definitions of complex commands - note, however, that if a command is beyond a certain complexity it is usually better practice to write a proper class for it than to inline it.
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Field Summary
Fields Modifier and Type Field Description protected BooleanSupplier
m_isFinished
protected Consumer<Boolean>
m_onEnd
protected Runnable
m_onExecute
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 FunctionalCommand(Runnable onInit, Runnable onExecute, Consumer<Boolean> onEnd, BooleanSupplier isFinished, Subsystem... requirements)
Creates a new FunctionalCommand.
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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.-
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, runsWhenDisabled, schedule, schedule, withInterrupt, withTimeout
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Field Detail
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m_onExecute
protected final Runnable m_onExecute
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m_isFinished
protected final BooleanSupplier m_isFinished
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Constructor Detail
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FunctionalCommand
public FunctionalCommand(Runnable onInit, Runnable onExecute, Consumer<Boolean> onEnd, BooleanSupplier isFinished, Subsystem... requirements)
Creates a new FunctionalCommand.- Parameters:
onInit
- the function to run on command initializationonExecute
- the function to run on command executiononEnd
- the function to run on command endisFinished
- the function that determines whether the command has finishedrequirements
- 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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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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