Package edu.wpi.first.wpilibj2.command

Class NotifierCommand

java.lang.Object

edu.wpi.first.wpilibj2.command.CommandBase

edu.wpi.first.wpilibj2.command.NotifierCommand

All Implemented Interfaces:

Sendable, Command

public class NotifierCommand
extends CommandBase

A command that starts a notifier to run the given runnable periodically in a separate thread. 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.

WARNING: Do not use this class unless you are confident in your ability to make the executed code thread-safe. If you do not know what "thread-safe" means, that is a good sign that you should not use this class.

Field Summary

Fields

Modifier and Type	Field	Description
protected Notifier	m_notifier
protected double	m_period

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

m_requirements

Constructor Summary

Constructors

Constructor	Description
NotifierCommand(Runnable toRun, double period, Subsystem... requirements)	Creates a new NotifierCommand.

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_notifier

protected final Notifier m_notifier

m_period

protected final double m_period

Constructor Details

NotifierCommand

public NotifierCommand(Runnable toRun, double period, Subsystem... requirements)

Creates a new NotifierCommand.

Parameters:

toRun - the runnable for the notifier to run

period - the period at which the notifier should run, in seconds

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