edu.wpi.first.wpilibj2.command.CommandBase

edu.wpi.first.wpilibj2.command.FunctionalCommand

All Implemented Interfaces:: Sendable, Command

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.

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`

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

m_requirements

Constructor Summary

Constructors
Constructor	Description
`FunctionalCommand(Runnable onInit, Runnable onExecute, Consumer<Boolean> onEnd, BooleanSupplier isFinished, Subsystem... requirements)`	Creates a new FunctionalCommand.

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.

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, runsWhenDisabled, schedule, schedule, withInterrupt, withTimeout

Field Details
- m_onInit
  
  protected final Runnable m_onInit
- m_onExecute
  
  protected final Runnable m_onExecute
- m_onEnd
  
  protected final Consumer<Boolean> m_onEnd
- m_isFinished
  
  protected final BooleanSupplier m_isFinished
Constructor Details
- 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 initialization
  
  onExecute - the function to run on command execution
  
  onEnd - the function to run on command end
  
  isFinished - the function that determines whether the command has finished
  
  requirements - the subsystems required by this command
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.

Class FunctionalCommand