Command/com.amarcolini.joos.command/Command

Command

public abstract class Command

A state machine representing a complete action to be performed using any number of Components. Commands are usually run from the CommandScheduler, but can be run independently if desired. Commands can be chained together to form complex multi-step actions.

Inheritors

Constructors

Command

public Command Command()

Properties

isInterruptable

private final Boolean isInterruptable

Whether this command can be interrupted by another command.

requirements

private final Set<Component> requirements

The set of components that this command uses.

telem

@JvmField()

protected final SuperTelemetry telem

The global SuperTelemetry instance.

Functions

and

public final ParallelCommand and(Command other)

Adds a command to run in parallel with this one (Both run simultaneously until they finish).

public final ParallelCommand and(Runnable runnable)

Adds a runnable to run in parallel with this one (Both run simultaneously until they finish).

cancel

public final Unit cancel()

Cancels this command.

emptyCommand

public final static InstantCommand emptyCommand()

Creates a command that does nothing.

end

public final FunctionalCommand end(Consumer<Boolean> action)

Overrides this command's end function.

public Unit end(Boolean interrupted)

Runs once when this command finishes or is interrupted.

execute

public Unit execute()

Runs repeatedly until isFinished returns true.

public final FunctionalCommand execute(Runnable action)

Overrides this command's execute function.

getRequirements

public Set<Component> getRequirements()

The set of components that this command uses.

init

public Unit init()

Runs once when first scheduled.

public final FunctionalCommand init(Runnable action)

Overrides this command's init function.

isFinished

public Boolean isFinished()

Returns whether this command is finished.

isInterruptable

public Boolean isInterruptable()

Whether this command can be interrupted by another command.

isScheduled

public final Boolean isScheduled()

Returns whether this command is currently registered with the CommandScheduler.

public final static BasicCommand of(Runnable runnable)

Creates a BasicCommand out of the provided runnable.

onEnd

public final ListenerCommand onEnd(Consumer<Boolean> action)

Returns a ListenerCommand that runs the specified action when this command is ended.

onExecute

public final ListenerCommand onExecute(Runnable action)

Returns a ListenerCommand that runs the specified action whenever this command updates.

onInit

public final ListenerCommand onInit(Runnable action)

Returns a ListenerCommand that runs the specified action when this command initializes.

race

public final RaceCommand race(Command other)

Adds a command to run in parallel with this one (Both run simultaneously until one finishes).

public final RaceCommand race(Runnable runnable)

Adds a runnable to run in parallel with this one (Both run simultaneously until one finishes).

repeat

public final RepeatCommand repeat(Integer times)

Repeats this command times times.

repeatForever

public final RepeatCommand repeatForever()

Repeats this command indefinitely.

requires

public final FunctionalCommand requires(Component requirements)

public final FunctionalCommand requires(Set<Component> requirements)

Adds requirements to this command's list of required components.

runBlocking

public final Unit runBlocking()

Runs this command independently of the CommandScheduler. Initializes, executes and ends this command synchronously while also updating all of its required components and updating CommandScheduler.telem.

runForever

public final FunctionalCommand runForever()

Overrides this command's isFinished function to run until it is cancelled.

runOnce

public final FunctionalCommand runOnce()

Overrides this command's isFinished function to run only once.

runUntil

public final FunctionalCommand runUntil(BooleanSupplier condition)

Overrides this command's isFinished function to finish when condition returns true.

schedule

public final Boolean schedule()

Schedules this command.

select

public final static SelectCommand select(Component requirements, Supplier<Command> command)

Creates a SelectCommand out of the provided command. Note that requirements must be explicitly specified, as the SelectCommand is uncertain of what requirements it will have before being scheduled.

setInterruptable