core/com.rowanmcalpin.nextftc.core.command/Command

Command

abstract class Command

A discrete unit of functionality that runs simultaneous to all other commands.

Inheritors

ForcedParallelCommand

PerpetualCommand

SingleFunctionCommand

BlockingConditionalCommand

BlockingSwitchCommand

PassiveConditionalCommand

PassiveSwitchCommand

StateMachineCommand

Constructors

constructor()

Properties

open val interruptible: Boolean = true

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

abstract 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 val subsystems: Set<Subsystem>

A set of all Subsystems this command implements.

Functions

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

open fun start()

Called once when the command is first started

open 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 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