edu.wpi.first.wpilibj.command

Class Scheduler

java.lang.Object

edu.wpi.first.wpilibj.command.Scheduler

All Implemented Interfaces:

NamedSendable, Sendable

public class Scheduler
extends Object
implements NamedSendable

The Scheduler is a singleton which holds the top-level running commands. It is in charge of both calling the command's run() method and to make sure that there are no two commands with conflicting requirements running.

It is fine if teams wish to take control of the Scheduler themselves, all that needs to be done is to call Scheduler.getInstance().run() often to have Commands function correctly. However, this is already done for you if you use the CommandBased Robot template.

Author:

Joe Grinstead

See Also:

Command

Method Summary

Modifier and Type	Method and Description
void	add(Command command) Adds the command to the Scheduler.
void	addButton(Trigger.ButtonScheduler button) Adds a button to the Scheduler.
void	disable() Disable the command scheduler.
void	enable() Enable the command scheduler.
static Scheduler	getInstance() Returns the Scheduler, creating it if one does not exist.
String	getName()
String	getSmartDashboardType()
edu.wpi.first.wpilibj.tables.ITable	getTable()
String	getType()
void	initTable(edu.wpi.first.wpilibj.tables.ITable subtable) Initializes a table for this sendable object.
void	removeAll() Removes all commands
void	run() Runs a single iteration of the loop.

Methods inherited from class java.lang.Object

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

Method Detail

getInstance

public static Scheduler getInstance()

Returns the Scheduler, creating it if one does not exist.

Returns:

the Scheduler

add

public void add(Command command)

Adds the command to the Scheduler. This will not add the Command immediately, but will instead wait for the proper time in the run() loop before doing so. The command returns immediately and does nothing if given null.

Adding a Command to the Scheduler involves the Scheduler removing any Command which has shared requirements.

Parameters:

command - the command to add

addButton

public void addButton(Trigger.ButtonScheduler button)

Adds a button to the Scheduler. The Scheduler will poll the button during its run().

Parameters:

button - the button to add

run

public void run()

Runs a single iteration of the loop. This method should be called often in order to have a functioning Command system. The loop has five stages:

1. Poll the Buttons
2. Execute/Remove the Commands
3. Send values to SmartDashboard
4. Add Commands
5. Add Defaults

removeAll

public void removeAll()

Removes all commands

disable

public void disable()

Disable the command scheduler.

enable

public void enable()

Enable the command scheduler.

getName

public String getName()

Specified by:

getName in interface NamedSendable

Returns:

the name of the subtable of SmartDashboard that the Sendable object will use

getType

public String getType()

initTable

public void initTable(edu.wpi.first.wpilibj.tables.ITable subtable)

Initializes a table for this sendable object.

Specified by:

initTable in interface Sendable

Parameters:

subtable - The table to put the values in.

getTable

public edu.wpi.first.wpilibj.tables.ITable getTable()

Specified by:

getTable in interface Sendable

Returns:

the table that is currently associated with the sendable

getSmartDashboardType

public String getSmartDashboardType()

Specified by:

getSmartDashboardType in interface Sendable

Returns:

the string representation of the named data type that will be used by the smart dashboard for this sendable