Package edu.wpi.first.wpilibj2.command

Class ConditionalCommand

java.lang.Object

edu.wpi.first.wpilibj2.command.CommandBase

edu.wpi.first.wpilibj2.command.ConditionalCommand

All Implemented Interfaces:

Sendable, Command

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 using ScheduleCommand.

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.

Field Summary

Fields inherited from class edu.wpi.first.wpilibj2.command.CommandBase

m_requirements

Constructor Summary

Constructors

Constructor	Description
ConditionalCommand(Command onTrue, Command onFalse, BooleanSupplier condition)	Creates a new ConditionalCommand.

Method Summary

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

Methods inherited from class java.lang.Object

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

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

Constructor Details

ConditionalCommand

public ConditionalCommand(Command onTrue, Command onFalse, BooleanSupplier condition)

Creates a new ConditionalCommand.

Parameters:

onTrue - the command to run if the condition is true

onFalse - the command to run if the condition is false

condition - the condition to determine which command to run

Method Details

initialize

public void initialize()

Description copied from interface: Command

The initial subroutine of a command. Called once when the command is initially scheduled.

execute

public void execute()

Description copied from interface: Command

The main body of a command. Called repeatedly while the command is scheduled.

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

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.

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