Command

Command Design Pattern

The Command Design Pattern is a behavioral design pattern that turns a request into a stand-alone object that contains all information about the request. This transformation lets you pass requests as a method arguments, delay or queue a request’s execution, and support undoable operations.

WPI implements the Command Design Pattern in the WPILib library. The Command class is the base class for all commands in WPILib. A command is an object that represents an action to be taken. It is used to encapsulate the code that implements the action, and to provide a way to undo the action if necessary.

To use the Command Design Pattern in WPILib, you can create a new class that extends the Command class. You can then override the initialize(), execute(), and end() methods to define the behavior of the command. Once you have defined your command, you can add it to a CommandGroup to create more complex behavior.

Using Command Class Provided

public class MyCommand extends CommandBase { // Sendable and Command
    public MyCommand() {
        super("MyCommand");
    }

    @Override
    protected void initialize() {
        // TODO: Add initialization code here
    }

    @Override
    protected void execute() {
        // TODO: Add execution code here
    }

    @Override
    protected void end() {
        // TODO: Add end code here
    }

    @Override
    protected void interrupted() {
        // TODO: Add interrupted code here
    }
}