Command (RoboLibJ - Javadocs)

java.lang.Object
- io.github.robolib.command.Command

All Implemented Interfaces:

NamedSendable, Sendable

Direct Known Subclasses:

CommandGroup, ContinuousCommand, NullCommand, PIDCommand, PrintCommand, SingleActionCommand, StartCommand, WaitCommand, WaitForChildren, WaitUntilCommand
```
public abstract class Command
extends java.lang.Object
implements NamedSendable
```
The Class Command.

Author:

noriah

Field Summary

Fields
Modifier and Type	Field and Description
`private ITableListener`	`listener`
`private boolean`	`m_canceled` The m_canceled.
`private boolean`	`m_cancelOnModeSwitched` The m_cancel on mode switched
`private boolean`	`m_initialized` The m_initialized.
`private boolean`	`m_interruptible` The m_interruptible.
`protected boolean`	`m_locked` The m_locked.
`private java.lang.String`	`m_name` The m_name.
`protected Command`	`m_nextCommand`
`private CommandGroup`	`m_parent` The m_parent.
`protected Command`	`m_previousCommand`
`private java.util.List<Subsystem>`	`m_requirements` The m_requirements.
`protected boolean`	`m_running` The m_running.
`private boolean`	`m_runWhenDisabled` The m_run when disabled.
`private double`	`m_startTime` The m_start time.
`protected byte`	`m_state`
`private ITable`	`m_table` The m_table.
`private double`	`m_timeout` The m_timeout.

Constructor Summary

Constructors
Constructor and Description
`Command()` Instantiates a new command.
`Command(double timeout)` Instantiates a new command.
`Command(java.lang.String name)` Instantiates a new command.
`Command(java.lang.String name, double timeout)` Instantiates a new command.
`Command(Subsystem system)`

Method Summary

All Methods Instance Methods Abstract Methods Concrete Methods
Modifier and Type	Method and Description
`(package private) void`	`_cancel()` Cancel_impl.
`(package private) void`	`_end()` End_impl.
`(package private) void`	`_execute()` Execute_impl.
`(package private) void`	`_initialize()` Initialize_impl.
`(package private) void`	`_interrupted()` Interrupted_impl.
`void`	`cancel()` Cancel.
`boolean`	`doesRequire(Subsystem system)` Does require.
`protected abstract void`	`end()` Called when the command ended peacefully.
`protected abstract void`	`execute()` The execute method is called repeatedly until this Command either finishes or is canceled.
`CommandGroup`	`getGroup()` Returns the `CommandGroup` that this command is a part of.
`java.lang.String`	`getName()` Gets the name.
`(package private) java.util.List<Subsystem>`	`getRequirements()` Gets the requirements.
`java.lang.String`	`getSmartDashboardType()`
`ITable`	`getTable()`
`protected abstract void`	`initialize()` The initialize method is called the first time this Command is run after being started.
`void`	`initTable(ITable table)`
`protected abstract void`	`interrupted()` Called when the command ends because somebody called `cancel()` or another command shared the same requirements as this one, and booted it out.
`boolean`	`isCanceled()` Checks if is canceled.
`protected abstract boolean`	`isFinished()` Returns whether this command is finished.
`boolean`	`isInterruptible()` Checks if is interruptible.
`boolean`	`isRunning()` Checks if is running.
`protected boolean`	`isTimedOut()` Checks if is timed out.
`(package private) void`	`removed()` Removed.
`protected void`	`requires(Subsystem subsys)` Requires.
`(package private) boolean`	`run()` Run.
`void`	`setCancelOnModeSwitch(boolean cancel)` Sets whether or not this `Command` should continue running when the robot switches mode.
`void`	`setInterruptible(boolean interruptible)` Sets the interruptible.
`(package private) void`	`setParent(CommandGroup parent)` Sets the parent.
`void`	`setRunWhenDisabled(boolean run)` Sets whether or not this `Command` should run when the robot is disabled.
`protected void`	`setTimeout(double timeout)` Sets the timeout.
`void`	`start()` Start.
`(package private) void`	`startRunning()` Start running.
`private void`	`startTiming()` Start timing.
`double`	`timeSinceInitialized()` Time since initialized.
`java.lang.String`	`toString()` The string representation for a `Command` is by default its name.
`boolean`	`willCancelOnModeSwitch()` Returns whether or not this `Command` will cancel when the robot switches modes.
`boolean`	`willRunWhenDisabled()` Returns whether or not this `Command` will run when the robot is disabled, or if it will cancel itself.

Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait

- Field Detail
  - m_name
```
private java.lang.String m_name
```
    The m_name.
  - m_startTime
```
private double m_startTime
```
    The m_start time.
  - m_timeout
```
private double m_timeout
```
    The m_timeout.
  - m_initialized
```
private boolean m_initialized
```
    The m_initialized.
  - m_requirements
```
private java.util.List<Subsystem> m_requirements
```
    The m_requirements.
  - m_running
```
protected boolean m_running
```
    The m_running.
  - m_interruptible
```
private boolean m_interruptible
```
    The m_interruptible.
  - m_canceled
```
private boolean m_canceled
```
    The m_canceled.
  - m_locked
```
protected boolean m_locked
```
    The m_locked.
  - m_runWhenDisabled
```
private boolean m_runWhenDisabled
```
    The m_run when disabled.
  - m_cancelOnModeSwitched
```
private boolean m_cancelOnModeSwitched
```
    The m_cancel on mode switched
  - m_previousCommand
```
protected Command m_previousCommand
```
  - m_nextCommand
```
protected Command m_nextCommand
```
  - m_parent
```
private CommandGroup m_parent
```
    The m_parent.
  - m_table
```
private ITable m_table
```
    The m_table.
  - m_state
```
protected byte m_state
```
  - listener
```
private ITableListener listener
```
- Constructor Detail
  - Command
```
public Command()
```
    Instantiates a new command.
  - Command
```
public Command(Subsystem system)
```
  - Command
```
public Command(java.lang.String name)
```
    Instantiates a new command.
    
    Parameters:
    
    name - the name
  - Command
```
public Command(double timeout)
```
    Instantiates a new command.
    
    Parameters:
    
    timeout - the timeout
  - Command
```
public Command(java.lang.String name,
               double timeout)
```
    Instantiates a new command.
    
    Parameters:
    
    name - the name
    
    timeout - the timeout
- Method Detail
  - getName
```
public java.lang.String getName()
```
    Gets the name.
    
    Specified by:
    
    getName in interface NamedSendable
    
    Returns:
    
    the name
  - setTimeout
```
protected final void setTimeout(double timeout)
```
    Sets the timeout. A value of -1 means no time out
    
    Parameters:
    
    timeout - the new timeout
  - timeSinceInitialized
```
public final double timeSinceInitialized()
```
    Time since initialized.
    
    Returns:
    
    the double
  - requires
```
protected void requires(Subsystem subsys)
```
    Requires.
    
    Parameters:
    
    subsys - the subsys
  - removed
```
void removed()
```
    Removed.
  - run
```
boolean run()
```
    Run.
    
    Returns:
    
    true, if successful
  - initialize
```
protected abstract void initialize()
```
    The initialize method is called the first time this Command is run after being started.
  - _initialize
```
void _initialize()
```
    Initialize_impl.
  - execute
```
protected abstract void execute()
```
    The execute method is called repeatedly until this Command either finishes or is canceled.
  - _execute
```
void _execute()
```
    Execute_impl.
  - isFinished
```
protected abstract boolean isFinished()
```
    Returns whether this command is finished. If it is, then the command will be removed and end() will be called.
    It may be useful for a team to reference the isTimedOut() method for time-sensitive commands.
    
    Returns:
    
    whether this command is finished.
    
    See Also:
    
    isTimedOut()
  - end
```
protected abstract void end()
```
    Called when the command ended peacefully. This is where you may want to wrap up loose ends, like shutting off a motor that was being used in the command.
  - _end
```
void _end()
```
    End_impl.
  - interrupted
```
protected abstract void interrupted()
```
    Called when the command ends because somebody called cancel() or another command shared the same requirements as this one, and booted it out.
    This is where you may want to wrap up loose ends, like shutting off a motor that was being used in the command.
    
    Generally, it is useful to simply call the end() method within this method
  - _interrupted
```
void _interrupted()
```
    Interrupted_impl.
  - startTiming
```
private void startTiming()
```
    Start timing.
  - isTimedOut
```
protected boolean isTimedOut()
```
    Checks if is timed out.
    
    Returns:
    
    true, if is timed out
  - getRequirements
```
java.util.List<Subsystem> getRequirements()
```
    Gets the requirements.
    
    Returns:
    
    the requirements
  - setParent
```
void setParent(CommandGroup parent)
```
    Sets the parent.
    
    Parameters:
    
    parent - the new parent
  - start
```
public void start()
```
    Start.
  - startRunning
```
void startRunning()
```
    Start running.
  - isRunning
```
public boolean isRunning()
```
    Checks if is running.
    
    Returns:
    
    true, if is running
  - cancel
```
public void cancel()
```
    Cancel.
  - _cancel
```
void _cancel()
```
    Cancel_impl.
  - isCanceled
```
public boolean isCanceled()
```
    Checks if is canceled.
    
    Returns:
    
    true, if is canceled
  - isInterruptible
```
public boolean isInterruptible()
```
    Checks if is interruptible.
    
    Returns:
    
    true, if is interruptible
  - setInterruptible
```
public void setInterruptible(boolean interruptible)
```
    Sets the interruptible.
    
    Parameters:
    
    interruptible - the new interruptible
  - doesRequire
```
public boolean doesRequire(Subsystem system)
```
    Does require.
    
    Parameters:
    
    system - the system
    
    Returns:
    
    true, if successful
  - getGroup
```
public CommandGroup getGroup()
```
    Returns the CommandGroup that this command is a part of. Will return null if this Command is not in a group.
    
    Returns:
    
    the CommandGroup that this command is a part of (or null if not in group)
  - setRunWhenDisabled
```
public void setRunWhenDisabled(boolean run)
```
    Sets whether or not this Command should run when the robot is disabled.
    By default a command will not run when the robot is disabled, and will in fact be canceled.
    
    Parameters:
    
    run - whether or not this command should run when the robot is disabled
  - willRunWhenDisabled
```
public boolean willRunWhenDisabled()
```
    Returns whether or not this Command will run when the robot is disabled, or if it will cancel itself.
    
    Returns:
    
    whether or not this Command will run when the robot is disabled, or if it will cancel itself
  - setCancelOnModeSwitch
```
public void setCancelOnModeSwitch(boolean cancel)
```
    Sets whether or not this Command should continue running when the robot switches mode.
    By default a command will cancel when the mode is switched
    
    Parameters:
    
    cancel - whether or not this command should cancel when the robot switches mode.
  - willCancelOnModeSwitch
```
public boolean willCancelOnModeSwitch()
```
    Returns whether or not this Command will cancel when the robot switches modes.
    
    Returns:
    
    whether or not this Command will cancel when the robot switches modes.
  - toString
```
public java.lang.String toString()
```
    The string representation for a Command is by default its name.
    
    Overrides:
    
    toString in class java.lang.Object
    
    Returns:
    
    the string representation of this object
  - getSmartDashboardType
```
public java.lang.String getSmartDashboardType()
```
    Specified by:
    
    getSmartDashboardType in interface Sendable
  - initTable
```
public void initTable(ITable table)
```
    Specified by:
    
    initTable in interface Sendable
  - getTable
```
public ITable getTable()
```
    Specified by:
    
    getTable in interface Sendable

Class Command

Field Summary

Constructor Summary

Method Summary

Methods inherited from class java.lang.Object

Field Detail

m_name

m_startTime

m_timeout

m_initialized

m_requirements

m_running

m_interruptible

m_canceled

m_locked

m_runWhenDisabled

m_cancelOnModeSwitched

m_previousCommand

m_nextCommand

m_parent

m_table

m_state

listener

Constructor Detail

Command

Command

Command

Command

Command

Method Detail

getName

setTimeout

timeSinceInitialized

requires

removed

run

initialize

_initialize

execute

_execute

isFinished

end

_end

interrupted

_interrupted

startTiming

isTimedOut

getRequirements

setParent

start

startRunning

isRunning

cancel

_cancel

isCanceled

isInterruptible

setInterruptible

doesRequire

getGroup

setRunWhenDisabled

willRunWhenDisabled

setCancelOnModeSwitch

willCancelOnModeSwitch

toString

getSmartDashboardType

initTable

getTable