botlin/gay.zharel.botlin.commands/CoroutineCommand

CoroutineCommand

class CoroutineCommand(requirements: Set<Subsystem> = setOf(), runsWhileDisabled: Boolean = false, block: suspend CoroutineCommandIteratorScope.() -> Unit) : Command

A command that executes in a coroutine-styled fashion. It executes until reaching a yield().

To create a delegated CoroutineCommand, use coroutineCommandDelegate.

Parameters

requirements

(optional) The command subsystem requirements

runsWhileDisabled

(optional) A flag to run the command while the robot is disabled

block

The code block used for execution

Constructors

CoroutineCommand

constructor(requirements: Set<Subsystem> = setOf(), runsWhileDisabled: Boolean = false, block: suspend CoroutineCommandIteratorScope.() -> Unit)

Properties

interruptionBehavior

open val interruptionBehavior: Command.InterruptionBehavior?

isFinished

open override val isFinished: Boolean

isScheduled

open val isScheduled: Boolean

name

open var name: String?

requirements

open val requirements: Set<Subsystem?>?

subsystem

open var subsystem: String?

Functions

addRequirements

fun addRequirements(vararg requirements: Subsystem?)

fun addRequirements(requirements: Collection<Subsystem?>?)

alongWith

open fun alongWith(vararg parallel: Command?): ParallelCommandGroup?

andThen

open fun andThen(vararg next: Command?): SequentialCommandGroup?

open fun andThen(toRun: Runnable?, vararg requirements: Subsystem?): SequentialCommandGroup?

asProxy

open fun asProxy(): ProxyCommand?

beforeStarting

open fun beforeStarting(before: Command?): SequentialCommandGroup?

open fun beforeStarting(toRun: Runnable?, vararg requirements: Subsystem?): SequentialCommandGroup?

cancel

open fun cancel()

deadlineFor

open fun deadlineFor(vararg parallel: Command?): ParallelDeadlineGroup?

deadlineWith

open fun ~~deadlineWith~~(vararg parallel: Command?): ParallelDeadlineGroup?

end

open fun end(interrupted: Boolean)

execute

open override fun execute()

Command execution function

finallyDo

open fun finallyDo(end: BooleanConsumer?): WrapperCommand?

open fun finallyDo(end: Runnable?): WrapperCommand?

handleInterrupt

open fun handleInterrupt(handler: Runnable?): WrapperCommand?

hasRequirement

open fun hasRequirement(requirement: Subsystem?): Boolean

ignoringDisable

open fun ignoringDisable(doesRunWhenDisabled: Boolean): WrapperCommand?

initialize

open override fun initialize()

Command initialization function

initSendable

open fun initSendable(builder: SendableBuilder?)

invoke

operator fun Command.invoke()

Operator function to schedule a command.

isFinished

open override fun isFinished(): Boolean

Command finishing condition

named

infix fun Command.named(name: String): Command

Infix function to set the name of a command.

onlyIf

open fun onlyIf(condition: BooleanSupplier?): ConditionalCommand?

onlyWhile

open fun onlyWhile(condition: BooleanSupplier?): ParallelRaceGroup?

raceWith

open fun raceWith(vararg parallel: Command?): ParallelRaceGroup?

repeatedly

open fun repeatedly(): RepeatCommand?

runsWhenDisabled

open override fun runsWhenDisabled(): Boolean

Command runs when disabled

schedule

open fun schedule()

unless

open fun unless(condition: BooleanSupplier?): ConditionalCommand?

until

open fun until(condition: BooleanSupplier?): ParallelRaceGroup?

withDeadline

open fun withDeadline(deadline: Command?): ParallelDeadlineGroup?

withInterruptBehavior

open fun withInterruptBehavior(interruptBehavior: Command.InterruptionBehavior?): WrapperCommand?

withName

open fun withName(name: String?): WrapperCommand?

withTimeout

open fun withTimeout(time: Time?): ParallelRaceGroup?

open fun withTimeout(seconds: Double): ParallelRaceGroup?