Package edu.wpi.first.wpilibj.command

Class WhileCommand

  • All Implemented Interfaces:
    edu.wpi.first.wpilibj.Sendable, java.lang.AutoCloseable
    public class WhileCommand
extends edu.wpi.first.wpilibj.command.Command
    A command which loops repeatedly while checking a condition. Given a command as a body and a condition to check, this command will repeatedly check the condition, and execute the command if it is met. The requirements of the body command are removed, and transferred over to this command at construction. This allows CommandGroups and canceling to work properly. If this command is interrupted (cancelled or booted by another command), then the body command will be cancelled. If the body command is cancelled, then it will start again on the next iteration. Because HyperLib is currently in pre-release, these semantics may change based on what we consider "reasonable defaults".

    • Constructor Summary

      Constructors 
      Constructor Description
      WhileCommand​(java.lang.String name, java.util.function.BooleanSupplier condition, edu.wpi.first.wpilibj.command.Command body)
      Construct a new WhileCommand from a condition and a body, with the given name.
      WhileCommand​(java.util.function.BooleanSupplier condition, edu.wpi.first.wpilibj.command.Command body)
      Construct a new WhileCommand from a condition and a body.

    • Method Summary

      All Methods Instance Methods Concrete Methods 
      Modifier and Type Method Description
      protected void execute()
      If the loop has already ended, do nothing.
      protected void initialize()
      Reset the state as if this command has not yet been run.
      protected void interrupted()
      Cancel the body command.
      protected boolean isFinished()
      Check if the loop has finished.

      • Methods inherited from class edu.wpi.first.wpilibj.command.Command

        cancel, clearRequirements, doesRequire, end, getGroup, initSendable, isCanceled, isCompleted, isInterruptible, isRunning, isTimedOut, requires, setInterruptible, setRunWhenDisabled, setTimeout, start, timeSinceInitialized, toString, willRunWhenDisabled

      • Methods inherited from class edu.wpi.first.wpilibj.SendableBase

        addChild, close, free, getName, getSubsystem, setName, setName, setName, setSubsystem

      • Methods inherited from class java.lang.Object

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

      • Methods inherited from interface edu.wpi.first.wpilibj.Sendable

        setName

    • Constructor Detail

      • WhileCommand

        public WhileCommand​(java.util.function.BooleanSupplier condition,
                    edu.wpi.first.wpilibj.command.Command body)
        Construct a new WhileCommand from a condition and a body. After construction, the body command's requirements are moved to this command. That means you should not re-use the body command after passing it to this method. Instead, create a new one.
        Parameters:
        condition - The condition to check
        body - The command to run as the body

      • WhileCommand

        public WhileCommand​(java.lang.String name,
                    java.util.function.BooleanSupplier condition,
                    edu.wpi.first.wpilibj.command.Command body)
        Construct a new WhileCommand from a condition and a body, with the given name. After construction, the body command's requirements are moved to this command. That means you should not re-use the body command after passing it to this method. Instead, create a new one.
        Parameters:
        name - The name of the command
        condition - The condition to check
        body - The command to run as the body

    • Method Detail

      • initialize

        protected void initialize()
        Reset the state as if this command has not yet been run. We don't call checkCondition() here, because the condition is already checked in execute(), and it makes sense semantically to check the condition once per iteration. This might matter if the condition passed in has side effects.
        Overrides:
        initialize in class edu.wpi.first.wpilibj.command.Command

      • execute

        protected void execute()
        If the loop has already ended, do nothing. Otherwise, check if the body command is running. If it is not, check the condition and start it if necessary.
        Overrides:
        execute in class edu.wpi.first.wpilibj.command.Command

      • interrupted

        protected void interrupted()
        Cancel the body command.
        Overrides:
        interrupted in class edu.wpi.first.wpilibj.command.Command

      • isFinished

        protected boolean isFinished()
        Check if the loop has finished. This is only true if the body command has ended and the condition returned false on most recent check.
        Specified by:
        isFinished in class edu.wpi.first.wpilibj.command.Command