Package frc.lib.util

Class LazySelectCommand<K>

java.lang.Object

edu.wpi.first.wpilibj2.command.Command

frc.lib.util.LazySelectCommand<K>

All Implemented Interfaces:

Sendable

public class LazySelectCommand<K>
extends Command

Similar to SelectCommand but allows commands for all variants of an enum instead. Also doesn't require all subsystems of all commands, only the selected command on run time.

Nested Class Summary

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

Command.InterruptionBehavior

Constructor Summary

Constructors

Constructor	Description
LazySelectCommand(Map<K,Command> commands, Supplier<? extends K> selector)	Create new LazySelectCommand.

Method Summary

Modifier and Type	Method	Description
void	end(boolean interrupted)
void	execute()
void	initialize()
void	initSendable(SendableBuilder builder)
boolean	isFinished()
boolean	runsWhenDisabled()	Whether the given command should run when the robot is disabled.

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

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

Methods inherited from class java.lang.Object

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

Constructor Details

LazySelectCommand

public LazySelectCommand(Map<K,Command> commands,
 Supplier<? extends K> selector)

Create new LazySelectCommand. Note that the length of enumValues and commandValues must be the same.

Throws:

IllegalArgumentException - when enumValues and commandValues have different lengths.

Method Details

initialize

public void initialize()

Overrides:

initialize in class Command

end

public void end(boolean interrupted)

Overrides:

end in class Command

execute

public void execute()

Overrides:

execute in class Command

isFinished

public boolean isFinished()

Overrides:

isFinished in class Command

runsWhenDisabled

public boolean runsWhenDisabled()

Whether the given command should run when the robot is disabled. Override to return true if the command should run when disabled.

Overrides:

runsWhenDisabled in class Command

Returns:

true. Otherwise, this proxy would cancel commands that do run when disabled.

initSendable

public void initSendable(SendableBuilder builder)

Specified by:

initSendable in interface Sendable

Overrides:

initSendable in class Command