RunCommand

java.lang.Object

edu.wpi.first.wpilibj2.command.CommandBase

edu.wpi.first.wpilibj2.command.RunCommand

All Implemented Interfaces:: Command

public class RunCommand
extends CommandBase

A command that runs a Runnable continuously. Has no end condition as-is; either subclass it or use Command.withTimeout(double) or Command.interruptOn(BooleanSupplier) to give it one. If you only wish to execute a Runnable once, use InstantCommand.

Constructor Summary

Constructors

Constructor Description

RunCommand(java.lang.Runnable toRun, Subsystem... requirements)
Creates a new RunCommand.
Method Summary

Modifier and Type Method Description

void execute()
The main body of a command.

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

Constructor Details
- RunCommand
  
  public RunCommand(java.lang.Runnable toRun, Subsystem... requirements)
  
  Creates a new RunCommand. The Runnable will be run continuously until the command ends. Does not run when disabled.
  
  Parameters:
  
  toRun - the Runnable to run
  
  requirements - the subsystems to require
Method Details
- execute
  
  public void execute()
  
  Description copied from interface: Command
  
  The main body of a command. Called repeatedly while the command is scheduled.