wpilib18/java/current/javadoc/edu/wpi/first/wpilibj/command/Scheduler.html
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<div class="subTitle">edu.wpi.first.wpilibj.command</div>
<h2 title="Class Scheduler" class="title">Class Scheduler</h2>
</div>
<div class="contentContainer">
<ul class="inheritance">
<li>java.lang.Object</li>
<li>
<ul class="inheritance">
<li>edu.wpi.first.wpilibj.command.Scheduler</li>
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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 class <span class="typeNameLabel">Scheduler</span>
extends java.lang.Object
implements <a href="../../../../../edu/wpi/first/wpilibj/NamedSendable.html" title="interface in edu.wpi.first.wpilibj">NamedSendable</a></pre>
<div class="block">The <a href="../../../../../edu/wpi/first/wpilibj/command/Scheduler.html" title="class in edu.wpi.first.wpilibj.command"><code>Scheduler</code></a> is a singleton which holds the top-level running commands. It is in charge
of both calling the command's <a href="../../../../../edu/wpi/first/wpilibj/command/Command.html#run--"><code>run()</code></a> method and to make sure that there are
no two commands with conflicting requirements running.
<p> It is fine if teams wish to take control of the <a href="../../../../../edu/wpi/first/wpilibj/command/Scheduler.html" title="class in edu.wpi.first.wpilibj.command"><code>Scheduler</code></a> themselves, all that needs
to be done is to call <a href="../../../../../edu/wpi/first/wpilibj/command/Scheduler.html#getInstance--"><code>Scheduler.getInstance()</code></a>.<a href="../../../../../edu/wpi/first/wpilibj/command/Scheduler.html#run--"><code>run()</code></a> often to have <a href="../../../../../edu/wpi/first/wpilibj/command/Command.html" title="class in edu.wpi.first.wpilibj.command"><code>Commands</code></a> function correctly. However, this
is already done for you if you use the CommandBased Robot template. </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></dd>
</dl>
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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="t1" class="tableTab"><span><a href="javascript:show(1);">Static Methods</a></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="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>void</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../../edu/wpi/first/wpilibj/command/Scheduler.html#add-edu.wpi.first.wpilibj.command.Command-">add</a></span>(<a href="../../../../../edu/wpi/first/wpilibj/command/Command.html" title="class in edu.wpi.first.wpilibj.command">Command</a> command)</code>
<div class="block">Adds the command to the <a href="../../../../../edu/wpi/first/wpilibj/command/Scheduler.html" title="class in edu.wpi.first.wpilibj.command"><code>Scheduler</code></a>.</div>
</td>
</tr>
<tr id="i1" class="rowColor">
<td class="colFirst"><code>void</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../../edu/wpi/first/wpilibj/command/Scheduler.html#addButton-edu.wpi.first.wpilibj.buttons.Trigger.ButtonScheduler-">addButton</a></span>(<a href="../../../../../edu/wpi/first/wpilibj/buttons/Trigger.ButtonScheduler.html" title="class in edu.wpi.first.wpilibj.buttons">Trigger.ButtonScheduler</a> button)</code>
<div class="block">Adds a button to the <a href="../../../../../edu/wpi/first/wpilibj/command/Scheduler.html" title="class in edu.wpi.first.wpilibj.command"><code>Scheduler</code></a>.</div>
</td>
</tr>
<tr id="i2" class="altColor">
<td class="colFirst"><code>void</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../../edu/wpi/first/wpilibj/command/Scheduler.html#disable--">disable</a></span>()</code>
<div class="block">Disable the command scheduler.</div>
</td>
</tr>
<tr id="i3" class="rowColor">
<td class="colFirst"><code>void</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../../edu/wpi/first/wpilibj/command/Scheduler.html#enable--">enable</a></span>()</code>
<div class="block">Enable the command scheduler.</div>
</td>
</tr>
<tr id="i4" class="altColor">
<td class="colFirst"><code>static <a href="../../../../../edu/wpi/first/wpilibj/command/Scheduler.html" title="class in edu.wpi.first.wpilibj.command">Scheduler</a></code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../../edu/wpi/first/wpilibj/command/Scheduler.html#getInstance--">getInstance</a></span>()</code>
<div class="block">Returns the <a href="../../../../../edu/wpi/first/wpilibj/command/Scheduler.html" title="class in edu.wpi.first.wpilibj.command"><code>Scheduler</code></a>, creating it if one does not exist.</div>
</td>
</tr>
<tr id="i5" class="rowColor">
<td class="colFirst"><code>java.lang.String</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../../edu/wpi/first/wpilibj/command/Scheduler.html#getName--">getName</a></span>()</code>
<div class="block">The name of the subtable.</div>
</td>
</tr>
<tr id="i6" class="altColor">
<td class="colFirst"><code>java.lang.String</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../../edu/wpi/first/wpilibj/command/Scheduler.html#getSmartDashboardType--">getSmartDashboardType</a></span>()</code>
<div class="block">The string representation of the named data type that will be used by the smart dashboard for
this <a href="../../../../../edu/wpi/first/wpilibj/Sendable.html" title="interface in edu.wpi.first.wpilibj"><code>Sendable</code></a>.</div>
</td>
</tr>
<tr id="i7" class="rowColor">
<td class="colFirst"><code>java.lang.String</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../../edu/wpi/first/wpilibj/command/Scheduler.html#getType--">getType</a></span>()</code> </td>
</tr>
<tr id="i8" class="altColor">
<td class="colFirst"><code>void</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../../edu/wpi/first/wpilibj/command/Scheduler.html#initTable-edu.wpi.first.networktables.NetworkTable-">initTable</a></span>(<a href="../../../../../edu/wpi/first/networktables/NetworkTable.html" title="class in edu.wpi.first.networktables">NetworkTable</a> subtable)</code>
<div class="block">Initializes a table for this <a href="../../../../../edu/wpi/first/wpilibj/Sendable.html" title="interface in edu.wpi.first.wpilibj"><code>Sendable</code></a> object.</div>
</td>
</tr>
<tr id="i9" class="rowColor">
<td class="colFirst"><code>void</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../../edu/wpi/first/wpilibj/command/Scheduler.html#removeAll--">removeAll</a></span>()</code>
<div class="block">Removes all commands.</div>
</td>
</tr>
<tr id="i10" class="altColor">
<td class="colFirst"><code>void</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../../edu/wpi/first/wpilibj/command/Scheduler.html#run--">run</a></span>()</code>
<div class="block">Runs a single iteration of the loop.</div>
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<h3>Methods inherited from class java.lang.Object</h3>
<code>clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait</code></li>
</ul>
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<h3>Method Detail</h3>
<a name="getInstance--">
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<h4>getInstance</h4>
<pre>public static <a href="../../../../../edu/wpi/first/wpilibj/command/Scheduler.html" title="class in edu.wpi.first.wpilibj.command">Scheduler</a> getInstance()</pre>
<div class="block">Returns the <a href="../../../../../edu/wpi/first/wpilibj/command/Scheduler.html" title="class in edu.wpi.first.wpilibj.command"><code>Scheduler</code></a>, creating it if one does not exist.</div>
<dl>
<dt><span class="returnLabel">Returns:</span></dt>
<dd>the <a href="../../../../../edu/wpi/first/wpilibj/command/Scheduler.html" title="class in edu.wpi.first.wpilibj.command"><code>Scheduler</code></a></dd>
</dl>
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<h4>add</h4>
<pre>public void add(<a href="../../../../../edu/wpi/first/wpilibj/command/Command.html" title="class in edu.wpi.first.wpilibj.command">Command</a> command)</pre>
<div class="block">Adds the command to the <a href="../../../../../edu/wpi/first/wpilibj/command/Scheduler.html" title="class in edu.wpi.first.wpilibj.command"><code>Scheduler</code></a>. This will not add the <a href="../../../../../edu/wpi/first/wpilibj/command/Command.html" title="class in edu.wpi.first.wpilibj.command"><code>Command</code></a> immediately,
but will instead wait for the proper time in the <a href="../../../../../edu/wpi/first/wpilibj/command/Scheduler.html#run--"><code>run()</code></a> loop before doing so.
The command returns immediately and does nothing if given null.
<p> Adding a <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> involves the <a href="../../../../../edu/wpi/first/wpilibj/command/Scheduler.html" title="class in edu.wpi.first.wpilibj.command"><code>Scheduler</code></a> removing
any <a href="../../../../../edu/wpi/first/wpilibj/command/Command.html" title="class in edu.wpi.first.wpilibj.command"><code>Command</code></a> which has shared requirements. </p></div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>command</code> - the command to add</dd>
</dl>
</li>
</ul>
<a name="addButton-edu.wpi.first.wpilibj.buttons.Trigger.ButtonScheduler-">
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<h4>addButton</h4>
<pre>public void addButton(<a href="../../../../../edu/wpi/first/wpilibj/buttons/Trigger.ButtonScheduler.html" title="class in edu.wpi.first.wpilibj.buttons">Trigger.ButtonScheduler</a> button)</pre>
<div class="block">Adds a button to the <a href="../../../../../edu/wpi/first/wpilibj/command/Scheduler.html" title="class in edu.wpi.first.wpilibj.command"><code>Scheduler</code></a>. The <a href="../../../../../edu/wpi/first/wpilibj/command/Scheduler.html" title="class in edu.wpi.first.wpilibj.command"><code>Scheduler</code></a> will poll the button during its
<a href="../../../../../edu/wpi/first/wpilibj/command/Scheduler.html#run--"><code>run()</code></a>.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>button</code> - the button to add</dd>
</dl>
</li>
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<h4>run</h4>
<pre>public void run()</pre>
<div class="block">Runs a single iteration of the loop. This method should be called often in order to have a
functioning <a href="../../../../../edu/wpi/first/wpilibj/command/Command.html" title="class in edu.wpi.first.wpilibj.command"><code>Command</code></a> system. The loop has five stages:
<ol> <li>Poll the Buttons</li> <li>Execute/Remove the Commands</li> <li>Send values to
SmartDashboard</li> <li>Add Commands</li> <li>Add Defaults</li> </ol></div>
</li>
</ul>
<a name="removeAll--">
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<h4>removeAll</h4>
<pre>public void removeAll()</pre>
<div class="block">Removes all commands.</div>
</li>
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<a name="disable--">
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<h4>disable</h4>
<pre>public void disable()</pre>
<div class="block">Disable the command scheduler.</div>
</li>
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<a name="enable--">
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<h4>enable</h4>
<pre>public void enable()</pre>
<div class="block">Enable the command scheduler.</div>
</li>
</ul>
<a name="getName--">
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<h4>getName</h4>
<pre>public java.lang.String getName()</pre>
<div class="block"><span class="descfrmTypeLabel">Description copied from interface: <code><a href="../../../../../edu/wpi/first/wpilibj/NamedSendable.html#getName--">NamedSendable</a></code></span></div>
<div class="block">The name of the subtable.</div>
<dl>
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
<dd><code><a href="../../../../../edu/wpi/first/wpilibj/NamedSendable.html#getName--">getName</a></code> in interface <code><a href="../../../../../edu/wpi/first/wpilibj/NamedSendable.html" title="interface in edu.wpi.first.wpilibj">NamedSendable</a></code></dd>
<dt><span class="returnLabel">Returns:</span></dt>
<dd>the name of the subtable of SmartDashboard that the Sendable object will use.</dd>
</dl>
</li>
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<a name="getType--">
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<h4>getType</h4>
<pre>public java.lang.String getType()</pre>
</li>
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<h4>initTable</h4>
<pre>public void initTable(<a href="../../../../../edu/wpi/first/networktables/NetworkTable.html" title="class in edu.wpi.first.networktables">NetworkTable</a> subtable)</pre>
<div class="block"><span class="descfrmTypeLabel">Description copied from interface: <code><a href="../../../../../edu/wpi/first/wpilibj/Sendable.html#initTable-edu.wpi.first.networktables.NetworkTable-">Sendable</a></code></span></div>
<div class="block">Initializes a table for this <a href="../../../../../edu/wpi/first/wpilibj/Sendable.html" title="interface in edu.wpi.first.wpilibj"><code>Sendable</code></a> object.</div>
<dl>
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
<dd><code><a href="../../../../../edu/wpi/first/wpilibj/Sendable.html#initTable-edu.wpi.first.networktables.NetworkTable-">initTable</a></code> in interface <code><a href="../../../../../edu/wpi/first/wpilibj/Sendable.html" title="interface in edu.wpi.first.wpilibj">Sendable</a></code></dd>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>subtable</code> - The table to put the values in.</dd>
</dl>
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<h4>getSmartDashboardType</h4>
<pre>public java.lang.String getSmartDashboardType()</pre>
<div class="block"><span class="descfrmTypeLabel">Description copied from interface: <code><a href="../../../../../edu/wpi/first/wpilibj/Sendable.html#getSmartDashboardType--">Sendable</a></code></span></div>
<div class="block">The string representation of the named data type that will be used by the smart dashboard for
this <a href="../../../../../edu/wpi/first/wpilibj/Sendable.html" title="interface in edu.wpi.first.wpilibj"><code>Sendable</code></a>.</div>
<dl>
<dt><span class="overrideSpecifyLabel">Specified by:</span></dt>
<dd><code><a href="../../../../../edu/wpi/first/wpilibj/Sendable.html#getSmartDashboardType--">getSmartDashboardType</a></code> in interface <code><a href="../../../../../edu/wpi/first/wpilibj/Sendable.html" title="interface in edu.wpi.first.wpilibj">Sendable</a></code></dd>
<dt><span class="returnLabel">Returns:</span></dt>
<dd>The type of this <a href="../../../../../edu/wpi/first/wpilibj/Sendable.html" title="interface in edu.wpi.first.wpilibj"><code>Sendable</code></a>.</dd>
</dl>
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