Package edu.wpi.first.wpilibj2.command

Class InstantCommand

java.lang.Object

edu.wpi.first.wpilibj2.command.CommandBase

edu.wpi.first.wpilibj2.command.InstantCommand

All Implemented Interfaces:

Command

Direct Known Subclasses:

PrintCommand

public class InstantCommand
extends CommandBase

A Command that runs instantly; it will initialize, execute once, and end on the same iteration of the scheduler. Users can either pass in a Runnable and a set of requirements, or else subclass this command if desired.

Constructor Summary

Constructors

Constructor	Description
InstantCommand()	Creates a new InstantCommand with a Runnable that does nothing.
InstantCommand(java.lang.Runnable toRun, Subsystem... requirements)	Creates a new InstantCommand that runs the given Runnable with the given requirements.

Method Summary

Modifier and Type	Method	Description
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, end, execute, getName, hasRequirement, interruptOn, isScheduled, perpetually, raceWith, runsWhenDisabled, schedule, schedule, whenFinished, withTimeout

Constructor Details

InstantCommand

public InstantCommand(java.lang.Runnable toRun, Subsystem... requirements)

Creates a new InstantCommand that runs the given Runnable with the given requirements.

Parameters:

toRun - the Runnable to run

requirements - the subsystems required by this command

InstantCommand

public InstantCommand()

Creates a new InstantCommand with a Runnable that does nothing. Useful only as a no-arg constructor to call implicitly from subclass constructors.

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.

isFinished

public final 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.