# validated: 2024-01-19 DS 5cf961edb973 InstantCommand.java
from __future__ import annotations
from typing import Callable, Optional
from .functionalcommand import FunctionalCommand
from .subsystem import Subsystem
[docs]
class InstantCommand(FunctionalCommand):
"""
A Command that runs instantly; it will initialize, execute once, and end on the same iteration of
the scheduler. Users can either pass in a Callable and a set of requirements, or else subclass
this command if desired.
"""
def __init__(
self, toRun: Optional[Callable[[], None]] = None, *requirements: Subsystem
):
"""
Creates a new InstantCommand that runs the given Callable with the given requirements.
:param toRun: the Runnable to run
:param requirements: the subsystems required by this command
"""
assert toRun is None or callable(toRun)
super().__init__(
toRun or (lambda: None),
lambda: None,
lambda _: None,
lambda: True,
*requirements,
)