Package frc.lib.util

Class DisabledInstantCommand

java.lang.Object

edu.wpi.first.wpilibj2.command.Command

edu.wpi.first.wpilibj2.command.FunctionalCommand

edu.wpi.first.wpilibj2.command.InstantCommand

frc.lib.util.DisabledInstantCommand

All Implemented Interfaces:

Sendable

public class DisabledInstantCommand
extends InstantCommand

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.

This command works while the robot is disabled.

Nested Class Summary

Nested classes/interfaces inherited from class edu.wpi.first.wpilibj2.command.Command

Command.InterruptionBehavior

Field Summary

Fields inherited from class edu.wpi.first.wpilibj2.command.Command

m_requirements

Constructor Summary

Constructors

Constructor	Description
DisabledInstantCommand(Runnable toRun, Subsystem... requirements)	Creates a new InstantCommand that runs the given Runnable with the given requirements.

Method Summary

Modifier and Type	Method	Description
boolean	runsWhenDisabled()

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

end, execute, initialize, isFinished

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

addRequirements, alongWith, andThen, andThen, asProxy, beforeStarting, beforeStarting, cancel, deadlineWith, finallyDo, finallyDo, getInterruptionBehavior, getName, getRequirements, getSubsystem, handleInterrupt, hasRequirement, ignoringDisable, initSendable, isScheduled, onlyIf, onlyWhile, raceWith, repeatedly, schedule, setName, setSubsystem, unless, until, withInterruptBehavior, withName, withTimeout

Methods inherited from class java.lang.Object

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

Constructor Details

DisabledInstantCommand

public DisabledInstantCommand(Runnable toRun,
 Subsystem... requirements)

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

This command works while the robot is disabled.

Parameters:

toRun - the Runnable to run

requirements - the subsystems required by this command

Method Details

runsWhenDisabled

public boolean runsWhenDisabled()

Overrides:

runsWhenDisabled in class Command