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Improved kotlin support for Commands static factory #7478

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Improved kotlin support for Commands static factory #7478

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6e0a483
Added no-requirements runOnce and run to allow external lambda syntax
Daniel1464 Dec 2, 2024
6f83b5f
Added extra docstrings
Daniel1464 Dec 2, 2024
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24 changes: 24 additions & 0 deletions wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/Commands.java
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Original file line number Diff line number Diff line change
Expand Up @@ -51,6 +51,18 @@ public static Command runOnce(Runnable action, Subsystem... requirements) {
return new InstantCommand(action, requirements);
}

/**
* Constructs a command that runs an action once and finishes.
*
* @param action the action to run
* @return the command
* @see InstantCommand
* @see Commands#runOnce(Runnable, Subsystem...)
*/
public static Command runOnce(Runnable action) {
return new InstantCommand(action);
}

/**
* Constructs a command that runs an action every iteration until interrupted.
*
Expand All @@ -63,6 +75,18 @@ public static Command run(Runnable action, Subsystem... requirements) {
return new RunCommand(action, requirements);
}

/**
* Constructs a command that runs an action every iteration until interrupted.
*
* @param action the action to run
* @return the command
* @see RunCommand
* @see Commands#run(Runnable, Subsystem...)
*/
public static Command run(Runnable action) {
return new RunCommand(action);
}

/**
* Constructs a command that runs an action once and another action when the command is
* interrupted.
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