Package edu.wpi.first.wpilibj2.command

Class RunCommand

java.lang.Object

edu.wpi.first.wpilibj2.command.CommandBase

edu.wpi.first.wpilibj2.command.RunCommand

All Implemented Interfaces:

Sendable, Command

public class RunCommand
extends CommandBase

A command that runs a Runnable continuously. Has no end condition as-is; either subclass it or use Command.withTimeout(double) or Command.withInterrupt(BooleanSupplier) to give it one. If you only wish to execute a Runnable once, use InstantCommand.

Field Summary

Fields

Modifier and Type	Field	Description
protected Runnable	m_toRun

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

m_requirements

Constructor Summary

Constructors

Constructor	Description
RunCommand(Runnable toRun, Subsystem... requirements)	Creates a new RunCommand.

Method Summary

Modifier and Type	Method	Description
void	execute()	The main body of a command.

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, end, hasRequirement, initialize, isFinished, isScheduled, perpetually, raceWith, runsWhenDisabled, schedule, schedule, withInterrupt, withTimeout

Field Details

m_toRun

protected final Runnable m_toRun

Constructor Details

RunCommand

public RunCommand(Runnable toRun, Subsystem... requirements)

Creates a new RunCommand. The Runnable will be run continuously until the command ends. Does not run when disabled.

Parameters:

toRun - the Runnable to run

requirements - the subsystems to require

Method Details

execute

public void execute()

Description copied from interface: Command

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