diff --git a/source/docs/software/commandbased/command-scheduler.rst b/source/docs/software/commandbased/command-scheduler.rst index 2b1047e251..6a2949dfde 100644 --- a/source/docs/software/commandbased/command-scheduler.rst +++ b/source/docs/software/commandbased/command-scheduler.rst @@ -24,6 +24,7 @@ This method walks through the following steps: #. Verifies that the command isn't in a composition. #. :term:`No-op` if scheduler is disabled, command is already scheduled, or robot is disabled and command doesn't . #. If requirements are in use: + * If all conflicting commands are interruptible, cancel them. * If not, don't schedule the new command. #. Call ``initialize()``.