Package edu.wpi.first.wpilibj2.command

Class CommandBase

java.lang.Object

edu.wpi.first.wpilibj2.command.CommandBase

All Implemented Interfaces:

Sendable, Command

Direct Known Subclasses:

CommandGroupBase, ConditionalCommand, FunctionalCommand, InstantCommand, MecanumControllerCommand, NotifierCommand, PerpetualCommand, PIDCommand, ProfiledPIDCommand, ProxyScheduleCommand, RamseteCommand, RunCommand, ScheduleCommand, SelectCommand, StartEndCommand, SwerveControllerCommand, TrapezoidProfileCommand, WaitCommand, WaitUntilCommand

public abstract class CommandBase
extends Object
implements Sendable, Command

A Sendable base class for Commands.

Field Summary

Fields

Modifier and Type	Field	Description
protected Set<Subsystem>	m_requirements

Constructor Summary

Constructors

Modifier	Constructor	Description
protected	CommandBase()

Method Summary

Modifier and Type	Method	Description
void	addRequirements(Subsystem... requirements)	Adds the specified requirements to the command.
String	getName()	Gets the name of this Command.
Set<Subsystem>	getRequirements()	Specifies the set of subsystems used by this command.
String	getSubsystem()	Gets the subsystem name of this Command.
void	initSendable(SendableBuilder builder)	Initializes this sendable.
void	setName(String name)	Sets the name of this Command.
void	setSubsystem(String subsystem)	Sets the subsystem name of this Command.
CommandBase	withName(String name)	Decorates this Command with a name.

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

Field Details

m_requirements

protected Set<Subsystem> m_requirements

Constructor Details

CommandBase

protected CommandBase()

Method Details

addRequirements

public final void addRequirements(Subsystem... requirements)

Adds the specified requirements to the command.

Parameters:

requirements - the requirements to add

getRequirements

public Set<Subsystem> getRequirements()

Description copied from interface: Command

Specifies the set of subsystems used by this command. Two commands cannot use the same subsystem at the same time. If the command is scheduled as interruptible and another command is scheduled that shares a requirement, the command will be interrupted. Else, the command will not be scheduled. If no subsystems are required, return an empty set.

Note: it is recommended that user implementations contain the requirements as a field, and return that field here, rather than allocating a new set every time this is called.

Specified by:

getRequirements in interface Command

Returns:

the set of subsystems that are required

getName

public String getName()

Description copied from interface: Command

Gets the name of this Command.

Specified by:

getName in interface Command

Returns:

Name

setName

public void setName(String name)

Sets the name of this Command.

Parameters:

name - name

withName

public CommandBase withName(String name)

Decorates this Command with a name. Is an inline function for #setName(String);

Parameters:

name - name

Returns:

the decorated Command

getSubsystem

public String getSubsystem()

Gets the subsystem name of this Command.

Returns:

Subsystem name

setSubsystem

public void setSubsystem(String subsystem)

Sets the subsystem name of this Command.

Parameters:

subsystem - subsystem name

initSendable

public void initSendable(SendableBuilder builder)

Initializes this sendable. Useful for allowing implementations to easily extend SendableBase.

Specified by:

initSendable in interface Sendable

Parameters:

builder - the builder used to construct this sendable