Package edu.wpi.first.wpilibj2.command

Class FunctionalCommand

java.lang.Object

edu.wpi.first.wpilibj2.command.CommandBase

edu.wpi.first.wpilibj2.command.FunctionalCommand

All Implemented Interfaces:

Command

public class FunctionalCommand
extends CommandBase

A command that allows the user to pass in functions for each of the basic command methods through the constructor. Useful for inline definitions of complex commands - note, however, that if a command is beyond a certain complexity it is usually better practice to write a proper class for it than to inline it.

Constructor Summary

Constructors

Constructor	Description
FunctionalCommand(java.lang.Runnable onInit, java.lang.Runnable onExecute, java.util.function.Consumer<java.lang.Boolean> onEnd, java.util.function.BooleanSupplier isFinished, Subsystem... requirements)	Creates a new FunctionalCommand.

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.
boolean	isFinished()	Whether the command has finished.

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

addRequirements, getRequirements

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, getName, hasRequirement, interruptOn, isScheduled, perpetually, raceWith, runsWhenDisabled, schedule, schedule, whenFinished, withTimeout

Constructor Details

FunctionalCommand

public FunctionalCommand(java.lang.Runnable onInit, java.lang.Runnable onExecute, java.util.function.Consumer<java.lang.Boolean> onEnd, java.util.function.BooleanSupplier isFinished, Subsystem... requirements)

Creates a new FunctionalCommand.

Parameters:

onInit - the function to run on command initialization

onExecute - the function to run on command execution

onEnd - the function to run on command end

isFinished - the function that determines whether the command has finished

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.

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.

Parameters:

interrupted - whether the command was interrupted/canceled

isFinished

public boolean isFinished()

Description copied from interface: Command

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

Returns:

whether the command has finished.