Package com.uniforge.origin.command

Class ProxyCommand

java.lang.Object

com.uniforge.origin.command.Command

com.uniforge.origin.command.ProxyCommand

All Implemented Interfaces:

edu.wpi.first.util.sendable.Sendable

public class ProxyCommand
extends Command

Schedules the given command when this command is initialized, and ends when it ends. Useful for forking off from CommandGroups. If this command is interrupted, it will cancel the command.

This class is provided by the NewCommands VendorDep

Nested Class Summary

Nested classes/interfaces inherited from class com.uniforge.origin.command.Command

Command.InterruptionBehavior

Field Summary

Fields inherited from class com.uniforge.origin.command.Command

m_requirements

Constructor Summary

Constructors

Constructor	Description
ProxyCommand(Command command)	Creates a new ProxyCommand that schedules the given command when initialized, and ends when it is no longer scheduled.
ProxyCommand(Supplier<Command> supplier)	Creates a new ProxyCommand that schedules the supplied command when initialized, and ends when it is no longer scheduled.

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.
void	initSendable(edu.wpi.first.util.sendable.SendableBuilder builder)
boolean	isFinished()	Whether the command has finished.
boolean	runsWhenDisabled()	Whether the given command should run when the robot is disabled.

Methods inherited from class com.uniforge.origin.command.Command

addRequirements, alongWith, andThen, andThen, asProxy, beforeStarting, beforeStarting, cancel, deadlineWith, errorDetected, finallyDo, finallyDo, getInterruptionBehavior, getName, getRequirements, getSubsystem, handleInterrupt, hasRequirement, ignoringDisable, isScheduled, onlyIf, onlyWhile, raceWith, repeatedly, schedule, setErrorDetected, setName, setSubsystem, unless, until, withInterruptBehavior, withName, withTimeout

Methods inherited from class java.lang.Object

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

Constructor Details

ProxyCommand

public ProxyCommand(Supplier<Command> supplier)

Creates a new ProxyCommand that schedules the supplied command when initialized, and ends when it is no longer scheduled. Useful for lazily creating commands at runtime.

Parameters:

supplier - the command supplier

ProxyCommand

public ProxyCommand(Command command)

Creates a new ProxyCommand that schedules the given command when initialized, and ends when it is no longer scheduled.

Parameters:

command - the command to run by proxy

Method Details

initialize

public void initialize()

Description copied from class: Command

The initial subroutine of a command. Called once when the command is initially scheduled.

Overrides:

initialize in class Command

end

public void end(boolean interrupted)

Description copied from class: 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.

Overrides:

end in class Command

Parameters:

interrupted - whether the command was interrupted/canceled

execute

public void execute()

Description copied from class: Command

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

Overrides:

execute in class Command

isFinished

public boolean isFinished()

Description copied from class: Command

Whether the command has finished. Once a command finishes, the scheduler will call its end() method and un-schedule it.

Overrides:

isFinished in class Command

Returns:

whether the command has finished.

runsWhenDisabled

public boolean runsWhenDisabled()

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

Overrides:

runsWhenDisabled in class Command

Returns:

true. Otherwise, this proxy would cancel commands that do run when disabled.

initSendable

public void initSendable(edu.wpi.first.util.sendable.SendableBuilder builder)

Specified by:

initSendable in interface edu.wpi.first.util.sendable.Sendable

Overrides:

initSendable in class Command