Package frc.robot.commands

Class WaitUntilInterrupt

java.lang.Object

edu.wpi.first.wpilibj2.command.Command

frc.robot.commands.WaitUntilInterrupt

All Implemented Interfaces:

Sendable

public class WaitUntilInterrupt
extends Command

Command that creates an AsynchronousInterrupt and uses it to trigger a callback, waiting until the callback happens before finishing.

Nested Class Summary

Nested classes/interfaces inherited from class edu.wpi.first.wpilibj2.command.Command

Command.InterruptionBehavior

Constructor Summary

Constructors

Constructor	Description
WaitUntilInterrupt(DigitalSource source, BiConsumer<Boolean,Boolean> callback)	Creates a new WaitUntilInterrupt command that finishes when the interrupt is triggered.
WaitUntilInterrupt(DigitalSource source, BiConsumer<Boolean,Boolean> callback, boolean risingEdge, boolean fallingEdge)	Creates a new WaitUntilInterrupt command that finishes when the interrupt is triggered.

Method Summary

Modifier and Type	Method	Description
void	end(boolean interrupted)
void	initialize()
boolean	isFinished()

Methods inherited from class edu.wpi.first.wpilibj2.command.Command

addRequirements, addRequirements, alongWith, andThen, andThen, asProxy, beforeStarting, beforeStarting, cancel, deadlineFor, deadlineWith, execute, finallyDo, finallyDo, getInterruptionBehavior, getName, getRequirements, getSubsystem, handleInterrupt, hasRequirement, ignoringDisable, initSendable, isScheduled, onlyIf, onlyWhile, raceWith, repeatedly, runsWhenDisabled, schedule, setName, setSubsystem, unless, until, withDeadline, withInterruptBehavior, withName, withTimeout, withTimeout

Methods inherited from class java.lang.Object

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

Constructor Details

WaitUntilInterrupt

public WaitUntilInterrupt(DigitalSource source,
 BiConsumer<Boolean,Boolean> callback,
 boolean risingEdge,
 boolean fallingEdge)

Creates a new WaitUntilInterrupt command that finishes when the interrupt is triggered.

First bool in callback indicates trigger on rising edge, second bool indicates falling edge.

Parameters:

source - Digital source to await an interrupt on.

callback - Callback to call on interrupt.

risingEdge - Trigger on the rising edge.

fallingEdge - Trigger on the falling edge.

WaitUntilInterrupt

public WaitUntilInterrupt(DigitalSource source,
 BiConsumer<Boolean,Boolean> callback)

Creates a new WaitUntilInterrupt command that finishes when the interrupt is triggered. Triggers on both the rising and falling edges.

First bool in callback indicates trigger on rising edge, second bool indicates falling edge.

Parameters:

source - Digital source to await an interrupt on.

callback - Callback to call on interrupt.

Method Details

initialize

public void initialize()

Overrides:

initialize in class Command

end

public void end(boolean interrupted)

Overrides:

end in class Command

isFinished

public boolean isFinished()

Overrides:

isFinished in class Command