Package xbot.common.command

Class BaseCommand

java.lang.Object

edu.wpi.first.wpilibj2.command.Command

xbot.common.command.BaseCommand

All Implemented Interfaces:

Sendable, IPropertySupport

Direct Known Subclasses:

BaseMaintainerCommand, BaseSequentialCommandGroup, BaseSetpointCommand, BaseWaitForMaintainerCommand, ChangeActiveSwerveModuleCommand, ConfigurePropertiesCommand, DelayViaSupplierCommand, PurePursuitCommand, ResetDistanceCommand, ResetSimulatorPositionCommand, SetAutonomousCommand, SetRobotHeadingCommand, SimpleWaitForMaintainerCommand, SwerveSimpleBezierCommand, SwerveSimpleTrajectoryCommand

public abstract class BaseCommand
extends Command
implements IPropertySupport

Enhanced version of WPILib's Command that allows for extension of existing functionality.

Nested Class Summary

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

Command.InterruptionBehavior

Field Summary

Fields

Modifier and Type	Field	Description
protected final AKitLogger	aKitLog
protected final org.apache.logging.log4j.Logger	log
protected final TimeLogger	monitor
protected final Alert	runningAlert

Constructor Summary

Constructors

Constructor	Description
BaseCommand()

Method Summary

Modifier and Type	Method	Description
void	end(boolean isInterrupted)
String	getPrefix()
void	includeOnSmartDashboard()
void	includeOnSmartDashboard(String label)
void	initialize()
void	requires(BaseSubsystem subsystem)	Deprecated. Suggest use Command.addRequirements(edu.wpi.first.wpilibj2.command.Subsystem...) instead.
boolean	runsWhenDisabled()
void	setRunsWhenDisabled(boolean value)

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

addRequirements, addRequirements, alongWith, andThen, andThen, asProxy, beforeStarting, beforeStarting, cancel, deadlineFor, deadlineWith, execute, finallyDo, finallyDo, getInterruptionBehavior, getName, getRequirements, getSubsystem, handleInterrupt, hasRequirement, ignoringDisable, initSendable, isFinished, 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

Field Details

runningAlert

protected final Alert runningAlert

log

protected final org.apache.logging.log4j.Logger log

aKitLog

protected final AKitLogger aKitLog

monitor

protected final TimeLogger monitor

Constructor Details

BaseCommand

public BaseCommand()

Method Details

runsWhenDisabled

public boolean runsWhenDisabled()

Overrides:

runsWhenDisabled in class Command

setRunsWhenDisabled

public void setRunsWhenDisabled(boolean value)

getPrefix

public String getPrefix()

Specified by:

getPrefix in interface IPropertySupport

initialize

public void initialize()

Overrides:

initialize in class Command

end

public void end(boolean isInterrupted)

Overrides:

end in class Command

includeOnSmartDashboard

public void includeOnSmartDashboard()

includeOnSmartDashboard

public void includeOnSmartDashboard(String label)

requires

@Deprecated
public void requires(BaseSubsystem subsystem)

Deprecated.

Suggest use Command.addRequirements(edu.wpi.first.wpilibj2.command.Subsystem...) instead.

Parameters:

subsystem - Requirement to add