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Command

The Command class represents a command; that is, a block of code that can be scheduled to run at a specific time.

Commands are one of the core features of CFLib, and something that the developers worked very hard on perfecting.

Every command should represent one or more "action".

Commands are different from methods in that they are scheduled by the CommandScheduler, and run at a specific time or when triggered by specific events.

The same instance of a Command should not be scheduled more than once at the same time.

Command is an abstract class; it is meant to be extended.

Root​

  • Extends: N/A
  • Declaration: abstract class
  • Package: com.atomicrobotics.cflib

Variables​

isDone​

  • Default value: false
  • Type: property for _isDone
  • Declaration: private

_isDone​

  • Default value: false
  • Type: Boolean
  • Declaration: open

isStarted​

  • Default value: false
  • Type: Boolean
  • Declaration: private

requirements​

  • Default value: arrayListOf()
  • Type: List<Subsystem>
  • Declaration: open

interruptible​

  • Default value: true
  • Type: Boolean
  • Declaration: open

Functions​

execute()​

This function is run repeatedly every loop. isDone is checked before this function is run, and this function will not run if isDone is true.

  • Declaration: open
  • Parameters: none
  • Returns: Unit

start()​

This function is run once at the beginning of the command execution (not when it is scheduled). isDone is checked after this function is run.

  • Declaration: open
  • Parameters: none
  • Returns: Unit

end(interrupted: Boolean)​

This function is run once at the end of the command, either when isDone is true, another command using the same Subsystem is started, or when the OpMode ends.

  • Declaration: open
  • Parameters:
    • interrupted:
      • Type: Boolean
      • Default value: null
  • Returns: Unit

Definition in com.atomicrobotics.cflib/Command.kt