Uses of Interface
edu.wpi.first.wpilibj2.command.Command

Packages that use Command

Package	Description
edu.wpi.first.wpilibj2.command
edu.wpi.first.wpilibj2.command.button

Uses of Command in edu.wpi.first.wpilibj2.command

Classes in edu.wpi.first.wpilibj2.command that implement Command

Modifier and Type	Class	Description
class	CommandBase	A Sendable base class for Commands.
class	CommandGroupBase	A base for CommandGroups.
class	ConditionalCommand	Runs one of two commands, depending on the value of the given condition when this command is initialized.
class	FunctionalCommand	A command that allows the user to pass in functions for each of the basic command methods through the constructor.
class	InstantCommand	A Command that runs instantly; it will initialize, execute once, and end on the same iteration of the scheduler.
class	NotifierCommand	A command that starts a notifier to run the given runnable periodically in a separate thread.
class	ParallelCommandGroup	A CommandGroup that runs a set of commands in parallel, ending when the last command ends.
class	ParallelDeadlineGroup	A CommandGroup that runs a set of commands in parallel, ending only when a specific command (the "deadline") ends, interrupting all other commands that are still running at that point.
class	ParallelRaceGroup	A CommandGroup that runs a set of commands in parallel, ending when any one of the commands ends and interrupting all the others.
class	PerpetualCommand	A command that runs another command in perpetuity, ignoring that command's end conditions.
class	PIDCommand	A command that controls an output with a PIDController.
class	PrintCommand	A command that prints a string when initialized.
class	ProxyScheduleCommand	Schedules the given commands when this command is initialized, and ends when all the commands are no longer scheduled.
class	RunCommand	A command that runs a Runnable continuously.
class	ScheduleCommand	Schedules the given commands when this command is initialized.
class	SelectCommand	Runs one of a selection of commands, either using a selector and a key to command mapping, or a supplier that returns the command directly at runtime.
class	SequentialCommandGroup	A CommandGroups that runs a list of commands in sequence.
class	StartEndCommand	A command that runs a given runnable when it is initalized, and another runnable when it ends.
class	WaitCommand	A command that does nothing but takes a specified amount of time to finish.
class	WaitUntilCommand	A command that does nothing but ends after a specified match time or condition.

Methods in edu.wpi.first.wpilibj2.command that return Command

Modifier and Type	Method	Description
default Command	Command.alongWith(Command... parallel)	Decorates this command with a set of commands to run parallel to it, ending when the last command ends.
default Command	Command.andThen(Command... next)	Decorates this command with a set of commands to run after it in sequence.
default Command	Command.asProxy()	Decorates this command to run "by proxy" by wrapping it in a ProxyScheduleCommand.
default Command	Command.beforeStarting(java.lang.Runnable toRun)	Decorates this command with a runnable to run before this command starts.
default Command	Command.deadlineWith(Command... parallel)	Decorates this command with a set of commands to run parallel to it, ending when the calling command ends and interrupting all the others.
default Command	Subsystem.getCurrentCommand()	Returns the command currently running on this subsystem.
Command	CommandScheduler.getDefaultCommand(Subsystem subsystem)	Gets the default command associated with this subsystem.
default Command	Subsystem.getDefaultCommand()	Gets the default command for this subsystem.
default Command	Command.interruptOn(java.util.function.BooleanSupplier condition)	Decorates this command with an interrupt condition.
default Command	Command.perpetually()	Decorates this command to run perpetually, ignoring its ordinary end conditions.
default Command	Command.raceWith(Command... parallel)	Decorates this command with a set of commands to run parallel to it, ending when the first command ends.
Command	CommandScheduler.requiring(Subsystem subsystem)	Returns the command currently requiring a given subsystem.
default Command	Command.whenFinished(java.lang.Runnable toRun)	Decorates this command with a runnable to run after the command finishes.
default Command	Command.withTimeout(double seconds)	Decorates this command with a timeout.

Methods in edu.wpi.first.wpilibj2.command with parameters of type Command

Modifier and Type	Method	Description
abstract void	CommandGroupBase.addCommands(Command... commands)	Adds the given commands to the command group.
void	ParallelCommandGroup.addCommands(Command... commands)
void	ParallelDeadlineGroup.addCommands(Command... commands)
void	ParallelRaceGroup.addCommands(Command... commands)
void	SequentialCommandGroup.addCommands(Command... commands)
default Command	Command.alongWith(Command... parallel)	Decorates this command with a set of commands to run parallel to it, ending when the last command ends.
default Command	Command.andThen(Command... next)	Decorates this command with a set of commands to run after it in sequence.
void	CommandScheduler.cancel(Command... commands)	Cancels commands.
static void	CommandGroupBase.clearGroupedCommand(Command command)	Removes a single command from the list of grouped commands, allowing it to be freely used again.
static CommandGroupBase	CommandGroupBase.deadline(Command deadline, Command... commands)	Factory method for ParallelDeadlineGroup, included for brevity/convenience.
default Command	Command.deadlineWith(Command... parallel)	Decorates this command with a set of commands to run parallel to it, ending when the calling command ends and interrupting all the others.
boolean	CommandScheduler.isScheduled(Command... commands)	Whether the given commands are running.
static CommandGroupBase	CommandGroupBase.parallel(Command... commands)	Factory method for ParallelCommandGroup, included for brevity/convenience.
static CommandGroupBase	CommandGroupBase.race(Command... commands)	Factory method for ParallelRaceGroup, included for brevity/convenience.
default Command	Command.raceWith(Command... parallel)	Decorates this command with a set of commands to run parallel to it, ending when the first command ends.
static void	CommandGroupBase.requireUngrouped(Command... commands)	Requires that the specified commands not have been already allocated to a CommandGroup.
void	CommandScheduler.schedule(boolean interruptible, Command... commands)	Schedules multiple commands for execution.
void	CommandScheduler.schedule(Command... commands)	Schedules multiple commands for execution, with interruptible defaulted to true.
static CommandGroupBase	CommandGroupBase.sequence(Command... commands)	Factory method for SequentialCommandGroup, included for brevity/convenience.
void	ParallelDeadlineGroup.setDeadline(Command deadline)	Sets the deadline to the given command.
void	CommandScheduler.setDefaultCommand(Subsystem subsystem, Command defaultCommand)	Sets the default command for a subsystem.
default void	Subsystem.setDefaultCommand(Command defaultCommand)	Sets the default Command of the subsystem.
double	CommandScheduler.timeSinceScheduled(Command command)	Returns the time since a given command was scheduled.

Method parameters in edu.wpi.first.wpilibj2.command with type arguments of type Command

Modifier and Type	Method	Description
void	CommandScheduler.onCommandExecute(java.util.function.Consumer<Command> action)	Adds an action to perform on the execution of any command by the scheduler.
void	CommandScheduler.onCommandFinish(java.util.function.Consumer<Command> action)	Adds an action to perform on the finishing of any command by the scheduler.
void	CommandScheduler.onCommandInitialize(java.util.function.Consumer<Command> action)	Adds an action to perform on the initialization of any command by the scheduler.
void	CommandScheduler.onCommandInterrupt(java.util.function.Consumer<Command> action)	Adds an action to perform on the interruption of any command by the scheduler.
static void	CommandGroupBase.requireUngrouped(java.util.Collection<Command> commands)	Requires that the specified commands not have been already allocated to a CommandGroup.

Constructors in edu.wpi.first.wpilibj2.command with parameters of type Command

Constructor	Description
ConditionalCommand(Command onTrue, Command onFalse, java.util.function.BooleanSupplier condition)	Creates a new ConditionalCommand.
ParallelCommandGroup(Command... commands)	Creates a new ParallelCommandGroup.
ParallelDeadlineGroup(Command deadline, Command... commands)	Creates a new ParallelDeadlineGroup.
ParallelRaceGroup(Command... commands)	Creates a new ParallelCommandRace.
PerpetualCommand(Command command)	Creates a new PerpetualCommand.
ProxyScheduleCommand(Command... toSchedule)	Creates a new ProxyScheduleCommand that schedules the given commands when initialized, and ends when they are all no longer scheduled.
ScheduleCommand(Command... toSchedule)	Creates a new ScheduleCommand that schedules the given commands when initialized.
SequentialCommandGroup(Command... commands)	Creates a new SequentialCommandGroup.

Constructor parameters in edu.wpi.first.wpilibj2.command with type arguments of type Command

Constructor	Description
SelectCommand(java.util.function.Supplier<Command> toRun)	Creates a new selectcommand.
SelectCommand(java.util.Map<java.lang.Object,Command> commands, java.util.function.Supplier<java.lang.Object> selector)	Creates a new selectcommand.

Uses of Command in edu.wpi.first.wpilibj2.command.button

Methods in edu.wpi.first.wpilibj2.command.button with parameters of type Command

Modifier and Type	Method	Description
Trigger	Trigger.cancelWhenActive(Command command)	Cancels a command when the trigger becomes active.
Button	Button.cancelWhenPressed(Command command)	Cancels the command when the button is pressed.
Trigger	Trigger.toggleWhenActive(Command command)	Toggles a command when the trigger becomes active.
Trigger	Trigger.toggleWhenActive(Command command, boolean interruptible)	Toggles a command when the trigger becomes active.
Button	Button.toggleWhenPressed(Command command)	Toggles the command whenever the button is pressed (on then off then on).
Button	Button.toggleWhenPressed(Command command, boolean interruptible)	Toggles the command whenever the button is pressed (on then off then on).
Trigger	Trigger.whenActive(Command command)	Starts the given command whenever the trigger just becomes active.
Trigger	Trigger.whenActive(Command command, boolean interruptible)	Starts the given command whenever the trigger just becomes active.
Button	Button.whenHeld(Command command)	Starts the given command when the button is first pressed, and cancels it when it is released, but does not start it again if it ends or is otherwise interrupted.
Button	Button.whenHeld(Command command, boolean interruptible)	Starts the given command when the button is first pressed, and cancels it when it is released, but does not start it again if it ends or is otherwise interrupted.
Trigger	Trigger.whenInactive(Command command)	Starts the command when the trigger becomes inactive.
Trigger	Trigger.whenInactive(Command command, boolean interruptible)	Starts the command when the trigger becomes inactive.
Button	Button.whenPressed(Command command)	Starts the given command whenever the button is newly pressed.
Button	Button.whenPressed(Command command, boolean interruptible)	Starts the given command whenever the button is newly pressed.
Button	Button.whenReleased(Command command)	Starts the command when the button is released.
Button	Button.whenReleased(Command command, boolean interruptible)	Starts the command when the button is released.
Trigger	Trigger.whileActiveContinuous(Command command)	Constantly starts the given command while the button is held.
Trigger	Trigger.whileActiveContinuous(Command command, boolean interruptible)	Constantly starts the given command while the button is held.
Trigger	Trigger.whileActiveOnce(Command command)	Starts the given command when the trigger initially becomes active, and ends it when it becomes inactive, but does not re-start it in-between.
Trigger	Trigger.whileActiveOnce(Command command, boolean interruptible)	Starts the given command when the trigger initially becomes active, and ends it when it becomes inactive, but does not re-start it in-between.
Button	Button.whileHeld(Command command)	Constantly starts the given command while the button is held.
Button	Button.whileHeld(Command command, boolean interruptible)	Constantly starts the given command while the button is held.