Package edu.wpi.first.wpilibj2.command

Class StartEndCommand

java.lang.Object

edu.wpi.first.wpilibj2.command.CommandBase

edu.wpi.first.wpilibj2.command.StartEndCommand

All Implemented Interfaces:

Sendable, Command

public class StartEndCommand
extends CommandBase

A command that runs a given runnable when it is initialized, and another runnable when it ends. Useful for running and then stopping a motor, or extending and then retracting a solenoid. Has no end condition as-is; either subclass it or use Command.withTimeout(double) or Command.withInterrupt(java.util.function.BooleanSupplier) to give it one.

Field Summary

Fields

Modifier and Type	Field	Description
protected Runnable	m_onEnd
protected Runnable	m_onInit

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

m_requirements

Constructor Summary

Constructors

Constructor	Description
StartEndCommand(Runnable onInit, Runnable onEnd, Subsystem... requirements)	Creates a new StartEndCommand.

Method Summary

Modifier and Type	Method	Description
void	end(boolean interrupted)	The action to take when the command ends.
void	initialize()	The initial subroutine 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, execute, hasRequirement, isFinished, isScheduled, perpetually, raceWith, runsWhenDisabled, schedule, schedule, withInterrupt, withTimeout

Field Details

m_onInit

protected final Runnable m_onInit

m_onEnd

protected final Runnable m_onEnd

Constructor Details

StartEndCommand

public StartEndCommand(Runnable onInit, Runnable onEnd, Subsystem... requirements)

Creates a new StartEndCommand. Will run the given runnables when the command starts and when it ends.

Parameters:

onInit - the Runnable to run on command init

onEnd - the Runnable to run on command end

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.

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