Package org.hyperonline.hyperlib

Class QuickCommand

java.lang.Object

org.hyperonline.hyperlib.QuickCommand

public class QuickCommand
extends java.lang.Object

The QuickCommand class provides helper methods to make short commands. This removes the need to make a new class for every small command, and thus helps quick development and simplifies code.

If you want to make a command that runs once and finishes instantly, use oneShot. If you want to make a command that runs continuously until it is interrupted, use continuous. If you want to make a command that runs until a specific condition is met, use until or waitFor.

For example, the following code makes a command that will call exampleSubsystem.doSomething() once and then end:

 {
        @code
        Command myCmd = QuickCommand.oneShot(Robot.exampleSubsystem, () -> Robot.exampleSubsystem.doSomething());
 }
 

For more information on the syntax used, look up Java lambda expressions.

Any more advanced features, like custom conditions for isFinished, compound commands, or commands that require multiple or no subsystems, subclass Command in the usual way.

Constructor Summary

Constructors

Constructor	Description
QuickCommand()

Method Summary

Modifier and Type	Method	Description
static edu.wpi.first.wpilibj.command.Command	continuous(edu.wpi.first.wpilibj.command.Subsystem req, java.lang.Runnable body)	Create a command that will run until interrupted.
static edu.wpi.first.wpilibj.command.Command	oneShot(edu.wpi.first.wpilibj.command.Subsystem req, java.lang.Runnable body)	Create a command that will run once and finish instantly.
static edu.wpi.first.wpilibj.command.Command	pidHold(edu.wpi.first.wpilibj.command.Subsystem req, edu.wpi.first.wpilibj.PIDController pid, edu.wpi.first.wpilibj.PIDSource source)	Constructs a Command that holds a PIDController at whatever the current input is.
static edu.wpi.first.wpilibj.command.Command	pidMove(edu.wpi.first.wpilibj.command.Subsystem req, edu.wpi.first.wpilibj.PIDController pid, double setPoint, boolean hold)	Constructs a command that uses a PIDController to control a subsystem.
static edu.wpi.first.wpilibj.command.Command	pidMove(edu.wpi.first.wpilibj.command.Subsystem req, edu.wpi.first.wpilibj.PIDController pid, java.util.function.DoubleSupplier setPoint, boolean hold)	Constructs a command that uses a PIDController to control a subsystem.
static edu.wpi.first.wpilibj.command.Command	pidMoveContinuous(edu.wpi.first.wpilibj.command.Subsystem req, edu.wpi.first.wpilibj.PIDController pid, java.util.function.DoubleSupplier setPoint, boolean hold)	Constructs a command that uses a PIDController to control a subsystem.
static edu.wpi.first.wpilibj.command.Command	pidMoveOver(edu.wpi.first.wpilibj.command.Subsystem req, edu.wpi.first.wpilibj.PIDController pid, edu.wpi.first.wpilibj.PIDSource source, double target, boolean hold)	Constructs a command that moves a PIDController to be over a given target, only if the current position is under that target.
static edu.wpi.first.wpilibj.command.Command	pidMoveUnder(edu.wpi.first.wpilibj.command.Subsystem req, edu.wpi.first.wpilibj.PIDController pid, edu.wpi.first.wpilibj.PIDSource source, double target, boolean hold)	Constructs a command that moves a PIDController to be under a given target, only if the current position is over that target.
static edu.wpi.first.wpilibj.command.Command	release(edu.wpi.first.wpilibj.command.Subsystem subsystem)	Create a command which releases control of a subsystem.
static edu.wpi.first.wpilibj.command.Command	runIf(edu.wpi.first.wpilibj.command.Subsystem req, java.lang.Runnable body, java.util.function.BooleanSupplier finished, java.util.function.BooleanSupplier runnable)	Create a command that will run if the runnable condition is met, and if so until the finished condition is met.
static edu.wpi.first.wpilibj.command.Command	runUntil(edu.wpi.first.wpilibj.command.Subsystem req, java.lang.Runnable body, java.util.function.BooleanSupplier finished)	Create a command that will run until the given condition is met.
static edu.wpi.first.wpilibj.command.Command	waitFor(java.util.function.BooleanSupplier condition)	A command that does not complete until the given condition is met.

Methods inherited from class java.lang.Object

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

Constructor Detail

QuickCommand

public QuickCommand()

Method Detail

oneShot

public static edu.wpi.first.wpilibj.command.Command oneShot(edu.wpi.first.wpilibj.command.Subsystem req,
                                                            java.lang.Runnable body)

Create a command that will run once and finish instantly.

Parameters:

req - The Subsystem that this command requires.

body - The Runnable that will run once.

Returns:

The newly created Command

continuous

public static edu.wpi.first.wpilibj.command.Command continuous(edu.wpi.first.wpilibj.command.Subsystem req,
                                                               java.lang.Runnable body)

Create a command that will run until interrupted.

Parameters:

req - The Subsystem that this command requires.

body - The Runnable that will run repeatedly.

Returns:

The newly created Command

runUntil

public static edu.wpi.first.wpilibj.command.Command runUntil(edu.wpi.first.wpilibj.command.Subsystem req,
                                                             java.lang.Runnable body,
                                                             java.util.function.BooleanSupplier finished)

Create a command that will run until the given condition is met.

Parameters:

req - The Subsystem that this command requires.

body - The Runnable that will run repeatedly.

finished - The condition that signals the end of the command.

Returns:

The newly created Command

runIf

public static edu.wpi.first.wpilibj.command.Command runIf(edu.wpi.first.wpilibj.command.Subsystem req,
                                                          java.lang.Runnable body,
                                                          java.util.function.BooleanSupplier finished,
                                                          java.util.function.BooleanSupplier runnable)

Create a command that will run if the runnable condition is met, and if so until the finished condition is met.

Parameters:

req - The Subsystem that this command requires.

body - The Runnable that will run repeatedly.

finished - The condition that signals the end of the command.

runnable - The condition that signals the command should be run

Returns:

The newly created Command

waitFor

public static edu.wpi.first.wpilibj.command.Command waitFor(java.util.function.BooleanSupplier condition)

A command that does not complete until the given condition is met. This can be useful when combined with CommandGroup.addSequential(Command) and CommandGroup.addParallel(Command)

Parameters:

condition - The condition that indicates the command is over

Returns:

The newly created Command

pidMove

public static edu.wpi.first.wpilibj.command.Command pidMove(edu.wpi.first.wpilibj.command.Subsystem req,
                                                            edu.wpi.first.wpilibj.PIDController pid,
                                                            double setPoint,
                                                            boolean hold)

Constructs a command that uses a PIDController to control a subsystem. The pid controller is enabled when the command starts and disabled when it ends or is interrupted.

Parameters:

req - The subsystem to require

pid - The PID controller to use

setPoint - The point to move the PID controller to

hold - Whether or not to continue running the PID loop after the target setpoint is reached

Returns:

The newly created Command

pidMove

public static edu.wpi.first.wpilibj.command.Command pidMove(edu.wpi.first.wpilibj.command.Subsystem req,
                                                            edu.wpi.first.wpilibj.PIDController pid,
                                                            java.util.function.DoubleSupplier setPoint,
                                                            boolean hold)

Constructs a command that uses a PIDController to control a subsystem. The pid controller is enabled when the command starts and disabled when it ends or is interrupted.

Parameters:

req - The subsystem to require

pid - The PID controller to use

setPoint - The point to move the PID controller to

hold - Whether or not to continue running the PID loop after the target setpoint is reached

Returns:

The newly created Command

pidMoveContinuous

public static edu.wpi.first.wpilibj.command.Command pidMoveContinuous(edu.wpi.first.wpilibj.command.Subsystem req,
                                                                      edu.wpi.first.wpilibj.PIDController pid,
                                                                      java.util.function.DoubleSupplier setPoint,
                                                                      boolean hold)

Constructs a command that uses a PIDController to control a subsystem. The pid controller is enabled when the command starts and disabled when it ends or is interrupted.

Parameters:

req - The subsystem to require

pid - The PID controller to use

setPoint - The point to move the PID controller to

hold - Whether or not to continue running the PID loop after the target setpoint is reached

Returns:

The newly created Command

pidHold

public static edu.wpi.first.wpilibj.command.Command pidHold(edu.wpi.first.wpilibj.command.Subsystem req,
                                                            edu.wpi.first.wpilibj.PIDController pid,
                                                            edu.wpi.first.wpilibj.PIDSource source)

Constructs a Command that holds a PIDController at whatever the current input is. This is useful in combination with a manual control system, where you want to move the system manually but hold it in place using PID.

Parameters:

req - The Subsystem to require

pid - The PIDController to use

source - The PIDSource (encoder, potentiometer, etc.) from which to take the input

Returns:

The newly created command

pidMoveUnder

public static edu.wpi.first.wpilibj.command.Command pidMoveUnder(edu.wpi.first.wpilibj.command.Subsystem req,
                                                                 edu.wpi.first.wpilibj.PIDController pid,
                                                                 edu.wpi.first.wpilibj.PIDSource source,
                                                                 double target,
                                                                 boolean hold)

Constructs a command that moves a PIDController to be under a given target, only if the current position is over that target.

Parameters:

req - The subsystem to require

pid - The PID controller to use

source - The PIDSource (encoder, potentiometer, etc.) from which to take the input

target - The point to move the PID controller under

hold - Whether or not to continue running the PID loop after the target is reached

Returns:

The newly created Command

pidMoveOver

public static edu.wpi.first.wpilibj.command.Command pidMoveOver(edu.wpi.first.wpilibj.command.Subsystem req,
                                                                edu.wpi.first.wpilibj.PIDController pid,
                                                                edu.wpi.first.wpilibj.PIDSource source,
                                                                double target,
                                                                boolean hold)

Constructs a command that moves a PIDController to be over a given target, only if the current position is under that target.

Parameters:

req - The subsystem to require

pid - The PID controller to use

source - The PIDSource (encoder, potentiometer, etc.) from which to take the input

target - The point to move the PID controller over

hold - Whether or not to continue running the PID loop after the target is reached

Returns:

The newly created Command

release

public static edu.wpi.first.wpilibj.command.Command release(edu.wpi.first.wpilibj.command.Subsystem subsystem)

Create a command which releases control of a subsystem. The Command returned by this method will require the given subsystem, and end instantly. This has the effect of stopping any command using the given subsystem, and of starting the default command, if one exists.

Parameters:

subsystem - The subsystem to release

Returns:

A command which releases the subsystem