AutoCommandΒΆ

The AutoCommand class is used to create the inline command stackup for autonomous routines. To learn more about inline command stackups have a look at the Auto Basics section.

Java

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package frc.robot.commands.auto;

//WPI imports
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;

/**
 * AutoCommand Class
 * <p>
 * This class is used to create the inline command stackup for autonomous routines
 */
public abstract class AutoCommand extends SequentialCommandGroup
{
    /**
     * Base Constructor
     */
    public AutoCommand()
    {
        super();
    }

    /**
     * Overloaded Constructor to create inline commands
     * <p>
     * @param cmd The cmd to be executed
     */
    public AutoCommand(Command ... cmd)
    {
        super(cmd);
    }
}

  • Lines 4 & 5 are the required imports for Command and SequentialCommandGroup.

  • Lines 17 - 20 are the base constructor with no parameters.

  • Lines 27 - 30 is the constructor that will be used for most if not all autonomous routines. The parameter will be the inline string of commands to be run.