Package edu.wpi.first.wpilibj2.command

Class CommandBase

java.lang.Object

edu.wpi.first.wpilibj2.command.CommandBase

All Implemented Interfaces:

Command

Direct Known Subclasses:

CommandGroupBase, ConditionalCommand, FunctionalCommand, InstantCommand, NotifierCommand, PerpetualCommand, PIDCommand, ProxyScheduleCommand, RunCommand, ScheduleCommand, SelectCommand, StartEndCommand, WaitCommand, WaitUntilCommand

public abstract class CommandBase
extends java.lang.Object
implements Command

A Sendable base class for Commands.

Method Summary

Modifier and Type	Method	Description
void	addRequirements(Subsystem... requirements)	Adds the specified requirements to the command.
java.util.Set<Subsystem>	getRequirements()	Specifies the set of subsystems used by this command.

Methods inherited from class java.lang.Object

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

Methods inherited from interface edu.wpi.first.wpilibj2.command.Command

alongWith, andThen, asProxy, beforeStarting, cancel, deadlineWith, end, execute, getName, hasRequirement, initialize, interruptOn, isFinished, isScheduled, perpetually, raceWith, runsWhenDisabled, schedule, schedule, whenFinished, withTimeout

Method Details

addRequirements

public final void addRequirements(Subsystem... requirements)

Adds the specified requirements to the command.

Parameters:

requirements - the requirements to add

getRequirements

public java.util.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