Command¶

class commands1.Command(*args, **kwargs)¶

Bases: wpiutil._wpiutil.Sendable

The Command class is at the very core of the entire command framework.

Every command can be started with a call to Start(). Once a command is started it will call Initialize(), and then will repeatedly call Execute() until the IsFinished() returns true. Once it does,End() will be called.

However, if at any point while it is running Cancel() is called, then the command will be stopped and Interrupted() will be called.

If a command uses a Subsystem, then it should specify that it does so by calling the Requires() method in its constructor. Note that a Command may have multiple requirements, and Requires() should be called for each one.

If a command is running and a new command with shared requirements is started, then one of two things will happen. If the active command is interruptible, then Cancel() will be called and the command will be removed to make way for the new one. If the active command is not interruptible, the other one will not even be started, and the active one will continue functioning.

This class is provided by the OldCommands VendorDep * @see CommandGroup @see Subsystem

Overloaded function.

__init__(self: commands1._impl._commands_v1.command.Command) -> None

Creates a new command.

The name of this command will be default.

__init__(self: commands1._impl._commands_v1.command.Command, name: str) -> None

Creates a new command with the given name and no timeout.

Parameters: name – the name for this command

__init__(self: commands1._impl._commands_v1.command.Command, timeout: seconds) -> None

Creates a new command with the given timeout and a default name.

Parameters: timeout – the time before this command “times out” @see IsTimedOut()

__init__(self: commands1._impl._commands_v1.command.Command, subsystem: commands1._impl._commands_v1.command.Subsystem) -> None

Creates a new command with the given timeout and a default name.

Parameters: subsystem – the subsystem that the command requires

__init__(self: commands1._impl._commands_v1.command.Command, name: str, timeout: seconds) -> None

Creates a new command with the given name and timeout.

Parameters

name – the name of the command
timeout – the time before this command “times out” @see IsTimedOut()

__init__(self: commands1._impl._commands_v1.command.Command, name: str, subsystem: commands1._impl._commands_v1.command.Subsystem) -> None

Creates a new command with the given name and timeout.

Parameters

name – the name of the command
subsystem – the subsystem that the command requires

__init__(self: commands1._impl._commands_v1.command.Command, timeout: seconds, subsystem: commands1._impl._commands_v1.command.Subsystem) -> None

Creates a new command with the given name and timeout.

Parameters

timeout – the time before this command “times out”
subsystem – the subsystem that the command requires @see IsTimedOut()

__init__(self: commands1._impl._commands_v1.command.Command, name: str, timeout: seconds, subsystem: commands1._impl._commands_v1.command.Subsystem) -> None

Creates a new command with the given name and timeout.

Parameters

name – the name of the command
timeout – the time before this command “times out”
subsystem – the subsystem that the command requires @see IsTimedOut()

assertUnlocked(message: str) → bool¶

If changes are locked, then this will generate a CommandIllegalUse error.

Parameters: message – The message to report on error (it is appended by a default message)
Returns: True if assert passed, false if assert failed.

cancel() → None¶

This will cancel the current command.

This will cancel the current command eventually. It can be called multiple times. And it can be called when the command is not running. If the command is running though, then the command will be marked as canceled and eventually removed.

A command can not be canceled if it is a part of a command group, you must cancel the command group instead.

clearRequirements() → None¶

Clears list of subsystem requirements.

This is only used by ConditionalCommand so canceling the chosen command works properly in CommandGroup.

doesRequire(subsystem: commands1._impl._commands_v1.command.Subsystem) → bool¶

Checks if the command requires the given Subsystem.

Parameters: subsystem – the subsystem
Returns: whether or not the subsystem is required (false if given nullptr)

end() → None¶

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.

execute() → None¶: The execute method is called repeatedly until this Command either finishes or is canceled.

getGroup() → commands1._impl._commands_v1.command.CommandGroup¶

Returns the CommandGroup that this command is a part of.

Will return null if this Command is not in a group.

Returns: The CommandGroup that this command is a part of (or null if not in group)

getID() → int¶

Get the ID (sequence number) for this command.

The ID is a unique sequence number that is incremented for each command.

Returns: The ID of this command

getName() → str¶

Gets the name of this Command.

Returns: Name

getRequirements() → set¶

Returns the requirements (as an std::set of Subsystem pointers) of this command.

Returns: The requirements (as an std::set of Subsystem pointers) of this command

getSubsystem() → str¶

Gets the subsystem name of this Command.

Returns: Subsystem name

initSendable(builder: wpiutil._wpiutil.SendableBuilder) → None¶

initialize() → None¶: The initialize method is called the first time this Command is run after being started.

interrupted() → None¶

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, as done here.

isCanceled() → bool¶

Returns whether or not this has been canceled.

Returns: whether or not this has been canceled

isCompleted() → bool¶

Returns whether or not the command has completed running.

Returns: whether or not the command has completed running.

isFinished() → bool¶

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.

Returning false will result in the command never ending automatically. It may still be canceled manually or interrupted by another command. Returning true will result in the command executing once and finishing immediately. We recommend using InstantCommand for this.

Returns: Whether this command is finished. @see IsTimedOut()

isInitialized() → bool¶

Returns whether or not the command has been initialized.

Returns: whether or not the command has been initialized.

isInterruptible() → bool¶

Returns whether or not this command can be interrupted.

Returns: whether or not this command can be interrupted

isParented() → bool¶

Returns whether the command has a parent.

Parameters: True – if the command has a parent.

isRunning() → bool¶

Returns whether or not the command is running.

This may return true even if the command has just been canceled, as it may not have yet called Interrupted().

Returns: whether or not the command is running

isTimedOut() → bool¶

Returns whether or not the TimeSinceInitialized() method returns a number which is greater than or equal to the timeout for the command.

If there is no timeout, this will always return false.

Returns: whether the time has expired

requires(subsystem: commands1._impl._commands_v1.command.Subsystem) → None¶

This method specifies that the given Subsystem is used by this command.

This method is crucial to the functioning of the Command System in general.

Note that the recommended way to call this method is in the constructor.

Parameters: subsystem – The Subsystem required @see Subsystem

run() → bool¶

The run method is used internally to actually run the commands.

Returns: Whether or not the command should stay within the Scheduler.

setInterruptible(interruptible: bool) → None¶

Sets whether or not this command can be interrupted.

Parameters: interruptible – whether or not this command can be interrupted

setName(name: str) → None¶

Sets the name of this Command.

Parameters: name – name

setParent(parent: commands1._impl._commands_v1.command.CommandGroup) → None¶

Sets the parent of this command. No actual change is made to the group.

Parameters: parent – the parent

setRunWhenDisabled(run: bool) → None¶

Sets whether or not this Command should run when the robot is disabled.

By default a command will not run when the robot is disabled, and will in fact be canceled.

Parameters: run – Whether this command should run when the robot is disabled.

setSubsystem(subsystem: str) → None¶

Sets the subsystem name of this Command.

Parameters: subsystem – subsystem name

setTimeout(timeout: seconds) → None¶

Sets the timeout of this command.

Parameters: timeout – the timeout @see IsTimedOut()

start() → None¶

Starts up the command. Gets the command ready to start.

Note that the command will eventually start, however it will not necessarily do so immediately, and may in fact be canceled before initialize is even called.

timeSinceInitialized() → seconds¶

Returns the time since this command was initialized.

This function will work even if there is no specified timeout.

Returns: the time since this command was initialized.

willRunWhenDisabled() → bool¶

Returns whether or not this Command will run when the robot is disabled, or if it will cancel itself.

Returns: Whether this Command will run when the robot is disabled, or if it will cancel itself.