Package edu.wpi.first.wpilibj2.command

Class InstantCommand

java.lang.Object
edu.wpi.first.wpilibj2.command.CommandBase
edu.wpi.first.wpilibj2.command.InstantCommand
All Implemented Interfaces:
Sendable, Command
Direct Known Subclasses:
PrintCommand
public class InstantCommand
extends CommandBase
A Command that runs instantly; it will initialize, execute once, and end on the same iteration of the scheduler. Users can either pass in a Runnable and a set of requirements, or else subclass this command if desired.

  • Constructor Details

    • InstantCommand

      public InstantCommand​(Runnable toRun, Subsystem... requirements)
      Creates a new InstantCommand that runs the given Runnable with the given requirements.
      Parameters:
      toRun - the Runnable to run
      requirements - the subsystems required by this command

    • InstantCommand

      public InstantCommand()
      Creates a new InstantCommand with a Runnable that does nothing. Useful only as a no-arg constructor to call implicitly from subclass constructors.

  • 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.

    • isFinished

      public final 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.