# validated: 2024-01-19 DS 5cf961edb973 RunCommand.java
from __future__ import annotations
from typing import Any, Callable
from .functionalcommand import FunctionalCommand
from .subsystem import Subsystem
[docs]
class RunCommand(FunctionalCommand):
"""
A command that runs a Callable continuously. Has no end condition as-is; either subclass it or
use :func:`commands2.Command.withTimeout` or :func:`commands2.Command.until` to give it one.
If you only wish to execute a Callable once, use :class:`commands2.InstantCommand`.
"""
def __init__(self, toRun: Callable[[], Any], *requirements: Subsystem):
"""
Creates a new RunCommand. The Callable will be run continuously until the command ends. Does
not run when disabled.
:param toRun: the Callable to run
:param requirements: the subsystems to require
"""
assert callable(toRun)
super().__init__(
lambda: None, toRun, lambda interrupted: None, lambda: False, *requirements
)