Commands

Command State Machine

When a command is kicked off (for example, by a controller button, or being run in a command group, etc.), the scheduler runs through the command's methods, using the following state machine:

flowchart TD
    s([start])--> i["Run command.initialize()"]
    i --> isfinished{"Check boolean command.isFinished()"}
    isfinished -->|false| execute["Run command.execute()"]
    execute --> isdying["Is another command needing to use a subsystem required by this command?"] -->|no| isfinished
    isfinished --> |true| endNoInterrupt["Run command.end(isInterrupted=false)"]
    isdying --> |yes 😢| endWithInterrupt["Run command.end(isInterrupted=true)"]
    endNoInterrupt & endWithInterrupt --> done([Command done])

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Command Groups

TODO