edu.wpi.first.wpilibj.command

Class ConditionalCommand

java.lang.Object

edu.wpi.first.wpilibj.command.Command

edu.wpi.first.wpilibj.command.ConditionalCommand

All Implemented Interfaces:

NamedSendable, Sendable

public abstract class ConditionalCommand
extends Command

A ConditionalCommand is a Command that starts one of two commands.

A ConditionalCommand uses m_condition to determine whether it should run m_onTrue or m_onFalse.

A ConditionalCommand adds the proper Command to the Scheduler during Command.initialize() and then isFinished() will return true once that Command has finished executing.

If no Command is specified for m_onFalse, the occurrence of that condition will be a no-op.

See Also:

Command, Scheduler

Constructor Summary

Constructors

Constructor and Description
ConditionalCommand(Command onTrue) Creates a new ConditionalCommand with given onTrue and onFalse Commands.
ConditionalCommand(Command onTrue, Command onFalse) Creates a new ConditionalCommand with given onTrue and onFalse Commands.
ConditionalCommand(java.lang.String name, Command onTrue) Creates a new ConditionalCommand with given name and onTrue and onFalse Commands.
ConditionalCommand(java.lang.String name, Command onTrue, Command onFalse) Creates a new ConditionalCommand with given name and onTrue and onFalse Commands.

Method Summary

Modifier and Type	Method and Description
protected void	_cancel() This works like cancel(), except that it doesn't throw an exception if it is a part of a command group.
protected void	_initialize() Calls condition() and runs the proper command.
protected abstract boolean	condition() The Condition to test to determine which Command to run.
protected void	interrupted() Called when the command ends because somebody called cancel() or another command shared the same requirements as this one, and booted it out.
protected boolean	isFinished() Returns whether this command is finished.

Methods inherited from class edu.wpi.first.wpilibj.command.Command

cancel, clearRequirements, doesRequire, end, execute, getGroup, getName, getSmartDashboardType, getTable, initialize, initTable, isCanceled, isInterruptible, isRunning, isTimedOut, requires, setInterruptible, setRunWhenDisabled, setTimeout, start, timeSinceInitialized, toString, willRunWhenDisabled

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait

Constructor Detail

ConditionalCommand

public ConditionalCommand(Command onTrue)

Creates a new ConditionalCommand with given onTrue and onFalse Commands.

Users of this constructor should also override condition().

Parameters:

onTrue - The Command to execute if condition() returns true

ConditionalCommand

public ConditionalCommand(Command onTrue,
                          Command onFalse)

Creates a new ConditionalCommand with given onTrue and onFalse Commands.

Users of this constructor should also override condition().

Parameters:

onTrue - The Command to execute if condition() returns true

onFalse - The Command to execute if condition() returns false

ConditionalCommand

public ConditionalCommand(java.lang.String name,
                          Command onTrue)

Creates a new ConditionalCommand with given name and onTrue and onFalse Commands.

Users of this constructor should also override condition().

Parameters:

name - the name for this command group

onTrue - The Command to execute if condition() returns true

ConditionalCommand

public ConditionalCommand(java.lang.String name,
                          Command onTrue,
                          Command onFalse)

Creates a new ConditionalCommand with given name and onTrue and onFalse Commands.

Users of this constructor should also override condition().

Parameters:

name - the name for this command group

onTrue - The Command to execute if condition() returns true

onFalse - The Command to execute if condition() returns false

Method Detail

condition

protected abstract boolean condition()

The Condition to test to determine which Command to run.

Returns:

true if m_onTrue should be run or false if m_onFalse should be run.

_initialize

protected void _initialize()

Calls condition() and runs the proper command.

_cancel

protected void _cancel()

Description copied from class: Command

This works like cancel(), except that it doesn't throw an exception if it is a part of a command group. Should only be called by the parent command group.

isFinished

protected boolean isFinished()

Description copied from class: Command

Returns whether this command is finished. If it is, then the command will be removed and end() will be called.

It may be useful for a team to reference the isTimedOut() method for time-sensitive commands.

Returning false will result in the command never ending automatically. It may still be cancelled manually or interrupted by another command. Returning true will result in the command executing once and finishing immediately. We recommend using InstantCommand for this.

Specified by:

isFinished in class Command

Returns:

whether this command is finished.

See Also:

isTimedOut()

interrupted

protected void interrupted()

Description copied from class: Command

Called when the command ends because somebody called cancel() or another command shared the same requirements as this one, and booted it out.

This is where you may want to wrap up loose ends, like shutting off a motor that was being used in the command.

Generally, it is useful to simply call the end() method within this method, as done here.

Overrides:

interrupted in class Command