WrapperCommand

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

Bases: Command

A class used internally to wrap commands while overriding a specific method; all other methods will call through to the wrapped command.

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.

Wrap a command.

Parameters:

command – the command being wrapped. Trying to directly schedule this command or add it to a composition will throw an exception.

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 commands2.Command.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}.

getRequirements() → Set

Specifies the set of subsystems used by this command. Two commands cannot use the same subsystem at the same time. If the command is scheduled as interruptible and another command is scheduled that shares a requirement, the command will be interrupted. Else, the command will not be scheduled. If no subsystems are required, return an empty set.

Note: it is recommended that user implementations contain the requirements as a field, and return that field here, rather than allocating a new set every time this is called.

Returns:

the set of subsystems that are required

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 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