DeferredCommand

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

Bases: Command

Defers Command construction to runtime. Runs the command returned by a supplier when this command is initialized, and ends when it ends. Useful for performing runtime tasks before creating a new command. If this command is interrupted, it will cancel the command.

Note that the supplier must create a new Command each call. For selecting one of a preallocated set of commands, use commands2.SelectCommand.

Creates a new DeferredCommand that directly runs the supplied command when initialized, and ends when it ends. Useful for lazily creating commands when the DeferredCommand is initialized, such as if the supplied command depends on runtime state. The Supplier will be called each time this command is initialized. The Supplier must create a new Command each call.

Parameters:

• supplier – The command supplier

• requirements – The command requirements.

end(interrupted)

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.

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()

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.