edu.wpi.first.wpilibj.command

Class StartCommand

java.lang.Object

edu.wpi.first.wpilibj.command.Command

edu.wpi.first.wpilibj.command.StartCommand

All Implemented Interfaces:

NamedSendable, Sendable

public class StartCommand
extends Command

A StartCommand will call the start() method of another command when it is initialized and will finish immediately.

Author:

Joe Grinstead

Constructor Summary

Constructors

Constructor and Description
StartCommand(Command commandToStart) Instantiates a StartCommand which will start the given command whenever its initialize() is called.

Method Summary

Modifier and Type	Method and Description
protected void	end() Called when the command ended peacefully.
protected void	execute() The execute method is called repeatedly until this Command either finishes or is canceled.
protected void	initialize() The initialize method is called the first time this Command is run after being started.
protected void	interrupted() Called when the command ends because somebody called cancel() or another command shared the same requirements as this one, and booted it out.
protected boolean	isFinished() Returns whether this command is finished.

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

cancel, doesRequire, getGroup, getName, getSmartDashboardType, getTable, initTable, isCanceled, isInterruptible, isRunning, isTimedOut, requires, setInterruptible, setRunWhenDisabled, setTimeout, start, timeSinceInitialized, toString, willRunWhenDisabled

Methods inherited from class java.lang.Object

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

Constructor Detail

StartCommand

public StartCommand(Command commandToStart)

Instantiates a StartCommand which will start the given command whenever its initialize() is called.

Parameters:

commandToStart - the Command to start

Method Detail

initialize

protected void initialize()

Description copied from class: Command

The initialize method is called the first time this Command is run after being started.

Specified by:

initialize in class Command

execute

protected void execute()

Description copied from class: Command

The execute method is called repeatedly until this Command either finishes or is canceled.

Specified by:

execute in class Command

isFinished

protected boolean isFinished()

Description copied from class: Command

Returns whether this command is finished. If it is, then the command will be removed and end() will be called.

It may be useful for a team to reference the isTimedOut() method for time-sensitive commands.

Specified by:

isFinished in class Command

Returns:

whether this command is finished.

See Also:

isTimedOut()

end

protected void end()

Description copied from class: Command

Called when the command ended peacefully. This is where you may want to wrap up loose ends, like shutting off a motor that was being used in the command.

Specified by:

end in class Command

interrupted

protected void interrupted()

Description copied from class: Command

Called when the command ends because somebody called cancel() or another command shared the same requirements as this one, and booted it out.

This is where you may want to wrap up loose ends, like shutting off a motor that was being used in the command.

Generally, it is useful to simply call the end() method within this method

Specified by:

interrupted in class Command