wpilib18/java/current/javadoc/edu/wpi/first/wpilibj/command/ConditionalCommand.html
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<div class="subTitle">edu.wpi.first.wpilibj.command</div>
<h2 title="Class ConditionalCommand" class="title">Class ConditionalCommand</h2>
</div>
<div class="contentContainer">
<ul class="inheritance">
<li>java.lang.Object</li>
<li>
<ul class="inheritance">
<li><a href="../../../../../edu/wpi/first/wpilibj/command/Command.html" title="class in edu.wpi.first.wpilibj.command">edu.wpi.first.wpilibj.command.Command</a></li>
<li>
<ul class="inheritance">
<li>edu.wpi.first.wpilibj.command.ConditionalCommand</li>
</ul>
</li>
</ul>
</li>
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<div class="description">
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<dl>
<dt>All Implemented Interfaces:</dt>
<dd><a href="../../../../../edu/wpi/first/wpilibj/NamedSendable.html" title="interface in edu.wpi.first.wpilibj">NamedSendable</a>, <a href="../../../../../edu/wpi/first/wpilibj/Sendable.html" title="interface in edu.wpi.first.wpilibj">Sendable</a></dd>
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<pre>public abstract class <span class="typeNameLabel">ConditionalCommand</span>
extends <a href="../../../../../edu/wpi/first/wpilibj/command/Command.html" title="class in edu.wpi.first.wpilibj.command">Command</a></pre>
<div class="block">A <a href="../../../../../edu/wpi/first/wpilibj/command/ConditionalCommand.html" title="class in edu.wpi.first.wpilibj.command"><code>ConditionalCommand</code></a> is a <a href="../../../../../edu/wpi/first/wpilibj/command/Command.html" title="class in edu.wpi.first.wpilibj.command"><code>Command</code></a> that starts one of two commands.
<p>
A <a href="../../../../../edu/wpi/first/wpilibj/command/ConditionalCommand.html" title="class in edu.wpi.first.wpilibj.command"><code>ConditionalCommand</code></a> uses m_condition to determine whether it should run m_onTrue or
m_onFalse.
</p>
<p>
A <a href="../../../../../edu/wpi/first/wpilibj/command/ConditionalCommand.html" title="class in edu.wpi.first.wpilibj.command"><code>ConditionalCommand</code></a> adds the proper <a href="../../../../../edu/wpi/first/wpilibj/command/Command.html" title="class in edu.wpi.first.wpilibj.command"><code>Command</code></a> to the <a href="../../../../../edu/wpi/first/wpilibj/command/Scheduler.html" title="class in edu.wpi.first.wpilibj.command"><code>Scheduler</code></a> during
<a href="../../../../../edu/wpi/first/wpilibj/command/Command.html#initialize--"><code>Command.initialize()</code></a> and then <a href="../../../../../edu/wpi/first/wpilibj/command/ConditionalCommand.html#isFinished--"><code>isFinished()</code></a> will
return true once that <a href="../../../../../edu/wpi/first/wpilibj/command/Command.html" title="class in edu.wpi.first.wpilibj.command"><code>Command</code></a> has finished executing.
</p>
<p>
If no <a href="../../../../../edu/wpi/first/wpilibj/command/Command.html" title="class in edu.wpi.first.wpilibj.command"><code>Command</code></a> is specified for m_onFalse, the occurrence of that condition will be a
no-op.
</p></div>
<dl>
<dt><span class="seeLabel">See Also:</span></dt>
<dd><a href="../../../../../edu/wpi/first/wpilibj/command/Command.html" title="class in edu.wpi.first.wpilibj.command"><code>Command</code></a>,
<a href="../../../../../edu/wpi/first/wpilibj/command/Scheduler.html" title="class in edu.wpi.first.wpilibj.command"><code>Scheduler</code></a></dd>
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<h3>Constructor Summary</h3>
<table class="memberSummary" border="0" cellpadding="3" cellspacing="0" summary="Constructor Summary table, listing constructors, and an explanation">
<caption><span>Constructors</span><span class="tabEnd"> </span></caption>
<tr>
<th class="colOne" scope="col">Constructor and Description</th>
</tr>
<tr class="altColor">
<td class="colOne"><code><span class="memberNameLink"><a href="../../../../../edu/wpi/first/wpilibj/command/ConditionalCommand.html#ConditionalCommand-edu.wpi.first.wpilibj.command.Command-">ConditionalCommand</a></span>(<a href="../../../../../edu/wpi/first/wpilibj/command/Command.html" title="class in edu.wpi.first.wpilibj.command">Command</a> onTrue)</code>
<div class="block">Creates a new ConditionalCommand with given onTrue and onFalse Commands.</div>
</td>
</tr>
<tr class="rowColor">
<td class="colOne"><code><span class="memberNameLink"><a href="../../../../../edu/wpi/first/wpilibj/command/ConditionalCommand.html#ConditionalCommand-edu.wpi.first.wpilibj.command.Command-edu.wpi.first.wpilibj.command.Command-">ConditionalCommand</a></span>(<a href="../../../../../edu/wpi/first/wpilibj/command/Command.html" title="class in edu.wpi.first.wpilibj.command">Command</a> onTrue,
<a href="../../../../../edu/wpi/first/wpilibj/command/Command.html" title="class in edu.wpi.first.wpilibj.command">Command</a> onFalse)</code>
<div class="block">Creates a new ConditionalCommand with given onTrue and onFalse Commands.</div>
</td>
</tr>
<tr class="altColor">
<td class="colOne"><code><span class="memberNameLink"><a href="../../../../../edu/wpi/first/wpilibj/command/ConditionalCommand.html#ConditionalCommand-java.lang.String-edu.wpi.first.wpilibj.command.Command-">ConditionalCommand</a></span>(java.lang.String name,
<a href="../../../../../edu/wpi/first/wpilibj/command/Command.html" title="class in edu.wpi.first.wpilibj.command">Command</a> onTrue)</code>
<div class="block">Creates a new ConditionalCommand with given name and onTrue and onFalse Commands.</div>
</td>
</tr>
<tr class="rowColor">
<td class="colOne"><code><span class="memberNameLink"><a href="../../../../../edu/wpi/first/wpilibj/command/ConditionalCommand.html#ConditionalCommand-java.lang.String-edu.wpi.first.wpilibj.command.Command-edu.wpi.first.wpilibj.command.Command-">ConditionalCommand</a></span>(java.lang.String name,
<a href="../../../../../edu/wpi/first/wpilibj/command/Command.html" title="class in edu.wpi.first.wpilibj.command">Command</a> onTrue,
<a href="../../../../../edu/wpi/first/wpilibj/command/Command.html" title="class in edu.wpi.first.wpilibj.command">Command</a> onFalse)</code>
<div class="block">Creates a new ConditionalCommand with given name and onTrue and onFalse Commands.</div>
</td>
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</li>
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<h3>Method Summary</h3>
<table class="memberSummary" border="0" cellpadding="3" cellspacing="0" summary="Method Summary table, listing methods, and an explanation">
<caption><span id="t0" class="activeTableTab"><span>All Methods</span><span class="tabEnd"> </span></span><span id="t2" class="tableTab"><span><a href="javascript:show(2);">Instance Methods</a></span><span class="tabEnd"> </span></span><span id="t3" class="tableTab"><span><a href="javascript:show(4);">Abstract Methods</a></span><span class="tabEnd"> </span></span><span id="t4" class="tableTab"><span><a href="javascript:show(8);">Concrete Methods</a></span><span class="tabEnd"> </span></span></caption>
<tr>
<th class="colFirst" scope="col">Modifier and Type</th>
<th class="colLast" scope="col">Method and Description</th>
</tr>
<tr id="i0" class="altColor">
<td class="colFirst"><code>protected void</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../../edu/wpi/first/wpilibj/command/ConditionalCommand.html#Z:Z_cancel--">_cancel</a></span>()</code>
<div class="block">This works like cancel(), except that it doesn't throw an exception if it is a part of a
command group.</div>
</td>
</tr>
<tr id="i1" class="rowColor">
<td class="colFirst"><code>protected void</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../../edu/wpi/first/wpilibj/command/ConditionalCommand.html#Z:Z_initialize--">_initialize</a></span>()</code>
<div class="block">Calls <a href="../../../../../edu/wpi/first/wpilibj/command/ConditionalCommand.html#condition--"><code>condition()</code></a> and runs the proper command.</div>
</td>
</tr>
<tr id="i2" class="altColor">
<td class="colFirst"><code>protected abstract boolean</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../../edu/wpi/first/wpilibj/command/ConditionalCommand.html#condition--">condition</a></span>()</code>
<div class="block">The Condition to test to determine which Command to run.</div>
</td>
</tr>
<tr id="i3" class="rowColor">
<td class="colFirst"><code>protected void</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../../edu/wpi/first/wpilibj/command/ConditionalCommand.html#interrupted--">interrupted</a></span>()</code>
<div class="block">Called when the command ends because somebody called <a href="../../../../../edu/wpi/first/wpilibj/command/Command.html#cancel--"><code>cancel()</code></a> or
another command shared the same requirements as this one, and booted it out.</div>
</td>
</tr>
<tr id="i4" class="altColor">
<td class="colFirst"><code>protected boolean</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../../edu/wpi/first/wpilibj/command/ConditionalCommand.html#isFinished--">isFinished</a></span>()</code>
<div class="block">Returns whether this command is finished.</div>
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<h3>Methods inherited from class edu.wpi.first.wpilibj.command.<a href="../../../../../edu/wpi/first/wpilibj/command/Command.html" title="class in edu.wpi.first.wpilibj.command">Command</a></h3>
<code><a href="../../../../../edu/wpi/first/wpilibj/command/Command.html#cancel--">cancel</a>, <a href="../../../../../edu/wpi/first/wpilibj/command/Command.html#clearRequirements--">clearRequirements</a>, <a href="../../../../../edu/wpi/first/wpilibj/command/Command.html#doesRequire-edu.wpi.first.wpilibj.command.Subsystem-">doesRequire</a>, <a href="../../../../../edu/wpi/first/wpilibj/command/Command.html#end--">end</a>, <a href="../../../../../edu/wpi/first/wpilibj/command/Command.html#execute--">execute</a>, <a href="../../../../../edu/wpi/first/wpilibj/command/Command.html#getGroup--">getGroup</a>, <a href="../../../../../edu/wpi/first/wpilibj/command/Command.html#getName--">getName</a>, <a href="../../../../../edu/wpi/first/wpilibj/command/Command.html#getSmartDashboardType--">getSmartDashboardType</a>, <a href="../../../../../edu/wpi/first/wpilibj/command/Command.html#initialize--">initialize</a>, <a href="../../../../../edu/wpi/first/wpilibj/command/Command.html#initTable-edu.wpi.first.networktables.NetworkTable-">initTable</a>, <a href="../../../../../edu/wpi/first/wpilibj/command/Command.html#isCanceled--">isCanceled</a>, <a href="../../../../../edu/wpi/first/wpilibj/command/Command.html#isInterruptible--">isInterruptible</a>, <a href="../../../../../edu/wpi/first/wpilibj/command/Command.html#isRunning--">isRunning</a>, <a href="../../../../../edu/wpi/first/wpilibj/command/Command.html#isTimedOut--">isTimedOut</a>, <a href="../../../../../edu/wpi/first/wpilibj/command/Command.html#requires-edu.wpi.first.wpilibj.command.Subsystem-">requires</a>, <a href="../../../../../edu/wpi/first/wpilibj/command/Command.html#setInterruptible-boolean-">setInterruptible</a>, <a href="../../../../../edu/wpi/first/wpilibj/command/Command.html#setRunWhenDisabled-boolean-">setRunWhenDisabled</a>, <a href="../../../../../edu/wpi/first/wpilibj/command/Command.html#setTimeout-double-">setTimeout</a>, <a href="../../../../../edu/wpi/first/wpilibj/command/Command.html#start--">start</a>, <a href="../../../../../edu/wpi/first/wpilibj/command/Command.html#timeSinceInitialized--">timeSinceInitialized</a>, <a href="../../../../../edu/wpi/first/wpilibj/command/Command.html#toString--">toString</a>, <a href="../../../../../edu/wpi/first/wpilibj/command/Command.html#willRunWhenDisabled--">willRunWhenDisabled</a></code></li>
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<h3>Methods inherited from class java.lang.Object</h3>
<code>clone, equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait</code></li>
</ul>
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<h4>ConditionalCommand</h4>
<pre>public ConditionalCommand(<a href="../../../../../edu/wpi/first/wpilibj/command/Command.html" title="class in edu.wpi.first.wpilibj.command">Command</a> onTrue)</pre>
<div class="block">Creates a new ConditionalCommand with given onTrue and onFalse Commands.
<p>Users of this constructor should also override condition().</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>onTrue</code> - The Command to execute if <a href="../../../../../edu/wpi/first/wpilibj/command/ConditionalCommand.html#condition--"><code>condition()</code></a> returns true</dd>
</dl>
</li>
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<h4>ConditionalCommand</h4>
<pre>public ConditionalCommand(<a href="../../../../../edu/wpi/first/wpilibj/command/Command.html" title="class in edu.wpi.first.wpilibj.command">Command</a> onTrue,
<a href="../../../../../edu/wpi/first/wpilibj/command/Command.html" title="class in edu.wpi.first.wpilibj.command">Command</a> onFalse)</pre>
<div class="block">Creates a new ConditionalCommand with given onTrue and onFalse Commands.
<p>Users of this constructor should also override condition().</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>onTrue</code> - The Command to execute if <a href="../../../../../edu/wpi/first/wpilibj/command/ConditionalCommand.html#condition--"><code>condition()</code></a> returns true</dd>
<dd><code>onFalse</code> - The Command to execute if <a href="../../../../../edu/wpi/first/wpilibj/command/ConditionalCommand.html#condition--"><code>condition()</code></a> returns false</dd>
</dl>
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<h4>ConditionalCommand</h4>
<pre>public ConditionalCommand(java.lang.String name,
<a href="../../../../../edu/wpi/first/wpilibj/command/Command.html" title="class in edu.wpi.first.wpilibj.command">Command</a> onTrue)</pre>
<div class="block">Creates a new ConditionalCommand with given name and onTrue and onFalse Commands.
<p>Users of this constructor should also override condition().</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>name</code> - the name for this command group</dd>
<dd><code>onTrue</code> - The Command to execute if <a href="../../../../../edu/wpi/first/wpilibj/command/ConditionalCommand.html#condition--"><code>condition()</code></a> returns true</dd>
</dl>
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<h4>ConditionalCommand</h4>
<pre>public ConditionalCommand(java.lang.String name,
<a href="../../../../../edu/wpi/first/wpilibj/command/Command.html" title="class in edu.wpi.first.wpilibj.command">Command</a> onTrue,
<a href="../../../../../edu/wpi/first/wpilibj/command/Command.html" title="class in edu.wpi.first.wpilibj.command">Command</a> onFalse)</pre>
<div class="block">Creates a new ConditionalCommand with given name and onTrue and onFalse Commands.
<p>Users of this constructor should also override condition().</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>name</code> - the name for this command group</dd>
<dd><code>onTrue</code> - The Command to execute if <a href="../../../../../edu/wpi/first/wpilibj/command/ConditionalCommand.html#condition--"><code>condition()</code></a> returns true</dd>
<dd><code>onFalse</code> - The Command to execute if <a href="../../../../../edu/wpi/first/wpilibj/command/ConditionalCommand.html#condition--"><code>condition()</code></a> returns false</dd>
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<h4>condition</h4>
<pre>protected abstract boolean condition()</pre>
<div class="block">The Condition to test to determine which Command to run.</div>
<dl>
<dt><span class="returnLabel">Returns:</span></dt>
<dd>true if m_onTrue should be run or false if m_onFalse should be run.</dd>
</dl>
</li>
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<h4>_initialize</h4>
<pre>protected void _initialize()</pre>
<div class="block">Calls <a href="../../../../../edu/wpi/first/wpilibj/command/ConditionalCommand.html#condition--"><code>condition()</code></a> and runs the proper command.</div>
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<h4>_cancel</h4>
<pre>protected void _cancel()</pre>
<div class="block"><span class="descfrmTypeLabel">Description copied from class: <code><a href="../../../../../edu/wpi/first/wpilibj/command/Command.html#Z:Z_cancel--">Command</a></code></span></div>
<div class="block">This works like cancel(), except that it doesn't throw an exception if it is a part of a
command group. Should only be called by the parent command group.</div>
</li>
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<h4>isFinished</h4>
<pre>protected boolean isFinished()</pre>
<div class="block"><span class="descfrmTypeLabel">Description copied from class: <code><a href="../../../../../edu/wpi/first/wpilibj/command/Command.html#isFinished--">Command</a></code></span></div>
<div class="block">Returns whether this command is finished. If it is, then the command will be removed and <a href="../../../../../edu/wpi/first/wpilibj/command/Command.html#end--"><code>end()</code></a> will be called.
<p>It may be useful for a team to reference the <a href="../../../../../edu/wpi/first/wpilibj/command/Command.html#isTimedOut--"><code>isTimedOut()</code></a>
method for time-sensitive commands.
<p>Returning false will result in the command never ending automatically. It may still be
cancelled manually or interrupted by another command. Returning true will result in the
command executing once and finishing immediately. We recommend using <a href="../../../../../edu/wpi/first/wpilibj/command/InstantCommand.html" title="class in edu.wpi.first.wpilibj.command"><code>InstantCommand</code></a>
for this.</div>
<dl>
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
<dd><code><a href="../../../../../edu/wpi/first/wpilibj/command/Command.html#isFinished--">isFinished</a></code> in class <code><a href="../../../../../edu/wpi/first/wpilibj/command/Command.html" title="class in edu.wpi.first.wpilibj.command">Command</a></code></dd>
<dt><span class="returnLabel">Returns:</span></dt>
<dd>whether this command is finished.</dd>
<dt><span class="seeLabel">See Also:</span></dt>
<dd><a href="../../../../../edu/wpi/first/wpilibj/command/Command.html#isTimedOut--"><code>isTimedOut()</code></a></dd>
</dl>
</li>
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<h4>interrupted</h4>
<pre>protected void interrupted()</pre>
<div class="block"><span class="descfrmTypeLabel">Description copied from class: <code><a href="../../../../../edu/wpi/first/wpilibj/command/Command.html#interrupted--">Command</a></code></span></div>
<div class="block">Called when the command ends because somebody called <a href="../../../../../edu/wpi/first/wpilibj/command/Command.html#cancel--"><code>cancel()</code></a> or
another command shared the same requirements as this one, and booted it out.
<p>This is where you may want to wrap up loose ends, like shutting off a motor that was being
used in the command.
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