ConditionalCommand

class commands2.ConditionalCommand(*args, **kwargs)

Bases: Command

A command composition that runs one of two commands, depending on the value of the given condition when this command is initialized.

The rules for command compositions apply: command instances that are passed to it cannot be added to any other composition or scheduled individually, and the composition requires all subsystems its components require.

Creates a new ConditionalCommand.

Parameters:

• onTrue – the command to run if the condition is true

• onFalse – the command to run if the condition is false

• condition – the condition to determine which command to run

end(interrupted: bool)

The action to take when the command ends. Called when either the command finishes normally, or when it interrupted/canceled.

Do not schedule commands here that share requirements with this command. Use andThen() instead.

Parameters:

interrupted – whether the command was interrupted/canceled

execute()

The main body of a command. Called repeatedly while the command is scheduled.

getInterruptionBehavior() → InterruptionBehavior

How the command behaves when another command with a shared requirement is scheduled.

Returns:

a variant of InterruptionBehavior, defaulting to {@link InterruptionBehavior#kCancelSelf kCancelSelf}.

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

Initializes this Sendable object.

Parameters:

builder – sendable builder

initialize()

The initial subroutine of a command. Called once when the command is initially scheduled.

isFinished() → bool

Whether the command has finished. Once a command finishes, the scheduler will call its commands2.Command.end() method and un-schedule it.

Returns:

whether the command has finished.

runsWhenDisabled() → bool

Whether the given command should run when the robot is disabled. Override to return true if the command should run when disabled.

Returns:

whether the command should run when the robot is disabled

selectedCommand: Command | None