Package edu.wpi.first.wpilibj2.command

Class ProxyScheduleCommand

java.lang.Object

edu.wpi.first.wpilibj2.command.CommandBase

edu.wpi.first.wpilibj2.command.ProxyScheduleCommand

All Implemented Interfaces:

Sendable, Command

public class ProxyScheduleCommand
extends CommandBase

Schedules the given commands when this command is initialized, and ends when all the commands are no longer scheduled. Useful for forking off from CommandGroups. If this command is interrupted, it will cancel all of the commands.

Field Summary

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

m_requirements

Constructor Summary

Constructors

Constructor	Description
ProxyScheduleCommand(Command... toSchedule)	Creates a new ProxyScheduleCommand that schedules the given commands when initialized, and ends when they are all no longer scheduled.

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

Constructor Details

ProxyScheduleCommand

public ProxyScheduleCommand(Command... toSchedule)

Creates a new ProxyScheduleCommand that schedules the given commands when initialized, and ends when they are all no longer scheduled.

Parameters:

toSchedule - the commands to schedule

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.

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

execute

public void execute()

Description copied from interface: Command

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

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.