FunctionalCommand

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

Bases: Command

A command that allows the user to pass in functions for each of the basic command methods through the constructor. Useful for inline definitions of complex commands - note, however, that if a command is beyond a certain complexity it is usually better practice to write a proper class for it than to inline it.

Creates a new FunctionalCommand.

Parameters:

• onInit – the function to run on command initialization

• onExecute – the function to run on command execution

• onEnd – the function to run on command end

• isFinished – the function that determines whether the command has finished

• requirements – the subsystems required by this command

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.

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.