core/com.rowanmcalpin.nextftc.core.command.utility/LambdaCommand

LambdaCommand

open class LambdaCommand : Command

A Command that is created using lambdas to define each function instead of manually overriding the functions.

Author

BeepBot99

Inheritors

Constructors

constructor()

Properties

open override var interruptible: Boolean

Whether this command can be stopped due to a conflict of Subsystems.

open override val isDone: Boolean

Whether this command has completed running. Often implemented using a getter function, although it can be set directly for commands that stop instantly or never stop. Please note that in certain circumstances the command will be stopped before this evaluates to true, most notably during subsystem conflicts or when the OpMode has been stopped.

open override var subsystems: Set<Subsystem>

A set of all Subsystems this command implements.

Functions

fun addSubsystem(subsystem: Subsystem): LambdaCommand

Adds a subsystem to the set of subsystems that the command implements

fun addSubsystems(vararg subsystemsArr: Subsystem): LambdaCommand

fun addSubsystems(subsystemsSet: Set<Subsystem>): LambdaCommand

Adds subsystems to the set of subsystems that the command implements

fun afterTime(time: TimeSpan): SequentialGroup

fun afterTime(time: Double): SequentialGroup

fun afterTime(time: Int): SequentialGroup

Returns a SequentialGroup with a Delay and then this command

fun and(vararg commands: Command): ParallelGroup

Returns a ParallelGroup with this command and an arbitrary number of other commands

fun asDeadline(vararg commands: Command): ParallelDeadlineGroup

Returns a ParallelDeadlineGroup with this command as the deadline

fun endAfter(time: TimeSpan): ParallelRaceGroup

fun endAfter(time: Double): ParallelRaceGroup

fun endAfter(time: Int): ParallelRaceGroup

Returns a ParallelRaceGroup with this command and a Delay of time

operator fun invoke()

Allows you to directly "call" a command

fun perpetually(): PerpetualCommand

Returns a PerpetualCommand that wraps this command

fun raceWith(vararg commands: Command): ParallelRaceGroup

Returns a ParallelRaceGroup with this command and an arbitrary number of other commands

setInterruptible

fun setInterruptible(isInterruptible: Boolean): LambdaCommand

Sets whether the command can be stopped due to an overlap of subsystems

fun setIsDone(done: Supplier<Boolean>): LambdaCommand

Sets the function that returns whether the command has finished running

fun setStart(start: Runnable): LambdaCommand

Sets the function that is called when the command is first scheduled

fun setStop(stop: Consumer<Boolean>): LambdaCommand

Sets the function that is called when the command is finished Receives a boolean that is whether the command has been interrupted

fun setSubsystem(subsystem: Subsystem): LambdaCommand

Sets the subsystem that the command implements

fun setSubsystems(vararg subsystemsArr: Subsystem): LambdaCommand

fun setSubsystems(subsystemsSet: Set<Subsystem>): LambdaCommand

Sets the subsystems that the command implements

fun setUpdate(update: Runnable): LambdaCommand

Sets the function that is called repeatedly while the command is running

open override fun start()

Called once when the command is first started

open override fun stop(interrupted: Boolean)

Called once when the command is stopped.

fun then(vararg commands: Command): SequentialGroup

Returns a SequentialGroup with this command and an arbitrary number of other commands

fun thenWait(time: TimeSpan): SequentialGroup

fun thenWait(time: Double): SequentialGroup

fun thenWait(time: Int): SequentialGroup

Returns a SequentialGroup with this command and then a Delay

open override fun update()

Called repeatedly while the command is running.

fun withDeadline(deadline: Command): ParallelDeadlineGroup

Returns a ParallelDeadlineGroup with this command and the passed command as the deadline