com.arcrobotics.ftclib.command

Class CommandBase

java.lang.Object

com.arcrobotics.ftclib.command.CommandBase

All Implemented Interfaces:

Command

Direct Known Subclasses:

CommandGroupBase, ConditionalCommand, FunctionalCommand, InstantCommand, MecanumControllerCommand, PerpetualCommand, ProfiledPIDCommand, ProxyScheduleCommand, PurePursuitCommand, RamseteCommand, ScheduleCommand, WaitCommand, WaitUntilCommand

public abstract class CommandBase
extends java.lang.Object
implements Command

A base class for Commands.

Field Summary

Fields

Modifier and Type	Field and Description
protected java.lang.String	m_name
protected java.util.Set<Subsystem>	m_requirements
protected java.lang.String	m_subsystem

Constructor Summary

Constructors

Constructor and Description
CommandBase()

Method Summary

Modifier and Type	Method and Description
void	addRequirements(Subsystem... requirements) Adds the specified requirements to the command.
java.lang.String	getName()
java.util.Set<Subsystem>	getRequirements() Specifies the set of subsystems used by this command.
java.lang.String	getSubsystem()
void	setName(java.lang.String name)
void	setSubsystem(java.lang.String subsystem)

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Methods inherited from interface com.arcrobotics.ftclib.command.Command

alongWith, andThen, asProxy, beforeStarting, cancel, deadlineWith, end, execute, hasRequirement, initialize, interruptOn, isFinished, isScheduled, perpetually, raceWith, runsWhenDisabled, schedule, schedule, whenFinished, withTimeout

Field Detail

m_name

protected java.lang.String m_name

m_subsystem

protected java.lang.String m_subsystem

m_requirements

protected java.util.Set<Subsystem> m_requirements

Constructor Detail

CommandBase

public CommandBase()

Method Detail

addRequirements

public final void addRequirements(Subsystem... requirements)

Adds the specified requirements to the command.

Parameters:

requirements - the requirements to add

getRequirements

public java.util.Set<Subsystem> getRequirements()

Description copied from interface: Command

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.

Specified by:

getRequirements in interface Command

Returns:

the set of subsystems that are required

getName

public java.lang.String getName()

Specified by:

getName in interface Command

setName

public void setName(java.lang.String name)

getSubsystem

public java.lang.String getSubsystem()

setSubsystem

public void setSubsystem(java.lang.String subsystem)