Package edu.wpi.first.wpilibj2.command

Class PerpetualCommand

java.lang.Object

edu.wpi.first.wpilibj2.command.CommandBase

edu.wpi.first.wpilibj2.command.PerpetualCommand

All Implemented Interfaces:

Sendable, Command

public class PerpetualCommand
extends CommandBase

A command that runs another command in perpetuity, ignoring that command's end conditions. While this class does not extend CommandGroupBase, it is still considered a CommandGroup, as it allows one to compose another command within it; the command instances that are passed to it cannot be added to any other groups, or scheduled individually.

As a rule, CommandGroups require the union of the requirements of their component commands.

Field Summary

Fields

Modifier and Type	Field	Description
protected Command	m_command

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

m_requirements

Constructor Summary

Constructors

Constructor	Description
PerpetualCommand(Command command)	Creates a new PerpetualCommand.

Method Summary

Modifier and Type	Method	Description
void	end(boolean interrupted)	The action to take when the command ends.
void	execute()	The main body of a command.
void	initialize()	The initial subroutine of a command.
PerpetualCommand	perpetually()	Decorates this command to run perpetually, ignoring its ordinary end conditions.
boolean	runsWhenDisabled()	Whether the given command should run when the robot is disabled.

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, hasRequirement, isFinished, isScheduled, raceWith, schedule, schedule, withInterrupt, withTimeout

Field Details

m_command

protected final Command m_command

Constructor Details

PerpetualCommand

public PerpetualCommand(Command command)

Creates a new PerpetualCommand. Will run another command in perpetuity, ignoring that command's end conditions, unless this command itself is interrupted.

Parameters:

command - the command to run perpetually

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.

execute

public void execute()

Description copied from interface: Command

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

runsWhenDisabled

public boolean runsWhenDisabled()

Description copied from interface: Command

Whether the given command should run when the robot is disabled. Override to return true if the command should run when disabled.

Returns:

whether the command should run when the robot is disabled

perpetually

public PerpetualCommand perpetually()

Description copied from interface: Command

Decorates this command to run perpetually, ignoring its ordinary end conditions. The decorated command can still be interrupted or canceled.

Note: This decorator works by composing this command within a CommandGroup. The command cannot be used independently after being decorated, or be re-decorated with a different decorator, unless it is manually cleared from the list of grouped commands with CommandGroupBase.clearGroupedCommand(Command). The decorated command can, however, be further decorated without issue.

Returns:

the decorated command