Package edu.wpi.first.wpilibj.command

Class InstantCommand

java.lang.Object

edu.wpi.first.wpilibj.command.Command

edu.wpi.first.wpilibj.command.InstantCommand

All Implemented Interfaces:

Sendable, AutoCloseable

Direct Known Subclasses:

PrintCommand, StartCommand

public class InstantCommand
extends Command

This command will execute once, then finish immediately afterward.

Subclassing InstantCommand is shorthand for returning true from isFinished.

Constructor Summary

Constructors

Constructor	Description
InstantCommand()
InstantCommand(Subsystem subsystem)	Creates a new InstantCommand with the given requirement.
InstantCommand(Subsystem requirement, Runnable func)	Creates a new InstantCommand.
InstantCommand(Runnable func)	Creates a new InstantCommand.
InstantCommand(String name)	Creates a new InstantCommand with the given name.
InstantCommand(String name, Subsystem subsystem)	Creates a new InstantCommand with the given name and requirement.
InstantCommand(String name, Subsystem requirement, Runnable func)	Creates a new InstantCommand.
InstantCommand(String name, Runnable func)	Creates a new InstantCommand.

Method Summary

Modifier and Type	Method	Description
protected void	_initialize()	Trigger the stored function.
protected boolean	isFinished()	Returns whether this command is finished.

Methods inherited from class edu.wpi.first.wpilibj.command.Command

cancel, clearRequirements, close, doesRequire, end, execute, getGroup, getName, getSubsystem, initialize, initSendable, interrupted, isCanceled, isCompleted, isInterruptible, isRunning, isTimedOut, requires, setInterruptible, setName, setRunWhenDisabled, setSubsystem, setTimeout, start, timeSinceInitialized, toString, willRunWhenDisabled

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait

Constructor Details

InstantCommand

public InstantCommand()

InstantCommand

public InstantCommand(String name)

Creates a new InstantCommand with the given name.

Parameters:

name - the name for this command

InstantCommand

public InstantCommand(Subsystem subsystem)

Creates a new InstantCommand with the given requirement.

Parameters:

subsystem - the subsystem this command requires

InstantCommand

public InstantCommand(String name, Subsystem subsystem)

Creates a new InstantCommand with the given name and requirement.

Parameters:

name - the name for this command

subsystem - the subsystem this command requires

InstantCommand

public InstantCommand(Runnable func)

Creates a new InstantCommand.

Parameters:

func - the function to run when initialize() is run

InstantCommand

public InstantCommand(String name, Runnable func)

Creates a new InstantCommand.

Parameters:

name - the name for this command

func - the function to run when initialize() is run

InstantCommand

public InstantCommand(Subsystem requirement, Runnable func)

Creates a new InstantCommand.

Parameters:

requirement - the subsystem this command requires

func - the function to run when initialize() is run

InstantCommand

public InstantCommand(String name, Subsystem requirement, Runnable func)

Creates a new InstantCommand.

Parameters:

name - the name for this command

requirement - the subsystem this command requires

func - the function to run when initialize() is run

Method Details

isFinished

protected boolean isFinished()

Description copied from class: Command

Returns whether this command is finished. If it is, then the command will be removed and end() will be called.

It may be useful for a team to reference the isTimedOut() method for time-sensitive commands.

Returning false will result in the command never ending automatically. It may still be canceled manually or interrupted by another command. Returning true will result in the command executing once and finishing immediately. We recommend using InstantCommand for this.

Specified by:

isFinished in class Command

Returns:

whether this command is finished.

See Also:

isTimedOut()

_initialize

protected void _initialize()

Trigger the stored function.

Called just before this Command runs the first time.