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<title>AutoBalanceCommand (YAGSL-Example API)</title>
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<!-- ======== START OF CLASS DATA ======== -->
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<div class="sub-title"><span class="package-label-in-type">Package</span> <a href="package-summary.html">frc.robot.commands.swervedrive.auto</a></div>
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<h1 title="Class AutoBalanceCommand" class="title">Class AutoBalanceCommand</h1>
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</div>
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<div class="inheritance" title="Inheritance Tree"><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">java.lang.Object</a>
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<div class="inheritance">edu.wpi.first.wpilibj2.command.Command
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<div class="inheritance">frc.robot.commands.swervedrive.auto.AutoBalanceCommand</div>
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</div>
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</div>
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<section class="class-description" id="class-description">
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<dl class="notes">
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<dt>All Implemented Interfaces:</dt>
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<dd><code>edu.wpi.first.util.sendable.Sendable</code></dd>
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</dl>
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<hr>
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<div class="type-signature"><span class="modifiers">public class </span><span class="element-name type-name-label">AutoBalanceCommand</span>
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<span class="extends-implements">extends edu.wpi.first.wpilibj2.command.Command</span></div>
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<div class="block">Auto Balance command using a simple PID controller. Created by Team 3512
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<a href="https://github.com/frc3512/Robot-2023/blob/main/src/main/java/frc3512/robot/commands/AutoBalance.java">...</a></div>
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</section>
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<section class="summary">
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<ul class="summary-list">
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<!-- ======== NESTED CLASS SUMMARY ======== -->
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<li>
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<section class="nested-class-summary" id="nested-class-summary">
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<h2>Nested Class Summary</h2>
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<div class="inherited-list">
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<h2 id="nested-classes-inherited-from-class-edu.wpi.first.wpilibj2.command.Command">Nested classes/interfaces inherited from class edu.wpi.first.wpilibj2.command.Command</h2>
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<code>edu.wpi.first.wpilibj2.command.Command.InterruptionBehavior</code></div>
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</section>
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</li>
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<!-- =========== FIELD SUMMARY =========== -->
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<li>
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<section class="field-summary" id="field-summary">
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<h2>Field Summary</h2>
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<div class="inherited-list">
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<h3 id="fields-inherited-from-class-edu.wpi.first.wpilibj2.command.Command">Fields inherited from class edu.wpi.first.wpilibj2.command.Command</h3>
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<code>m_requirements</code></div>
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</section>
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</li>
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<!-- ======== CONSTRUCTOR SUMMARY ======== -->
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<li>
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<section class="constructor-summary" id="constructor-summary">
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<h2>Constructor Summary</h2>
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<div class="caption"><span>Constructors</span></div>
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<div class="summary-table two-column-summary">
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<div class="table-header col-first">Constructor</div>
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<div class="table-header col-last">Description</div>
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<div class="col-constructor-name even-row-color"><code><a href="#%3Cinit%3E(frc.robot.subsystems.swervedrive.SwerveSubsystem)" class="member-name-link">AutoBalanceCommand</a><wbr>(<a href="../../../subsystems/swervedrive/SwerveSubsystem.html" title="class in frc.robot.subsystems.swervedrive">SwerveSubsystem</a> swerveSubsystem)</code></div>
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<div class="col-last even-row-color"> </div>
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</div>
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</section>
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</li>
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<!-- ========== METHOD SUMMARY =========== -->
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<li>
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<section class="method-summary" id="method-summary">
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<h2>Method Summary</h2>
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<div id="method-summary-table">
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<div class="table-tabs" role="tablist" aria-orientation="horizontal"><button id="method-summary-table-tab0" role="tab" aria-selected="true" aria-controls="method-summary-table.tabpanel" tabindex="0" onkeydown="switchTab(event)" onclick="show('method-summary-table', 'method-summary-table', 3)" class="active-table-tab">All Methods</button><button id="method-summary-table-tab2" role="tab" aria-selected="false" aria-controls="method-summary-table.tabpanel" tabindex="-1" onkeydown="switchTab(event)" onclick="show('method-summary-table', 'method-summary-table-tab2', 3)" class="table-tab">Instance Methods</button><button id="method-summary-table-tab4" role="tab" aria-selected="false" aria-controls="method-summary-table.tabpanel" tabindex="-1" onkeydown="switchTab(event)" onclick="show('method-summary-table', 'method-summary-table-tab4', 3)" class="table-tab">Concrete Methods</button></div>
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<div id="method-summary-table.tabpanel" role="tabpanel">
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<div class="summary-table three-column-summary" aria-labelledby="method-summary-table-tab0">
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<div class="table-header col-first">Modifier and Type</div>
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<div class="table-header col-second">Method</div>
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<div class="table-header col-last">Description</div>
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<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
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<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#end(boolean)" class="member-name-link">end</a><wbr>(boolean interrupted)</code></div>
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<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
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<div class="block">The action to take when the command ends.</div>
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</div>
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<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
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<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#execute()" class="member-name-link">execute</a>()</code></div>
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<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
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<div class="block">The main body of a command.</div>
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</div>
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<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
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<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#initialize()" class="member-name-link">initialize</a>()</code></div>
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<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
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<div class="block">The initial subroutine of a command.</div>
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</div>
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<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>boolean</code></div>
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<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#isFinished()" class="member-name-link">isFinished</a>()</code></div>
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<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
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<div class="block">
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Returns whether this command has finished.</div>
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</div>
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</div>
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</div>
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</div>
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<div class="inherited-list">
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<h3 id="methods-inherited-from-class-edu.wpi.first.wpilibj2.command.Command">Methods inherited from class edu.wpi.first.wpilibj2.command.Command</h3>
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<code>addRequirements, alongWith, andThen, andThen, asProxy, beforeStarting, beforeStarting, cancel, deadlineWith, finallyDo, finallyDo, getInterruptionBehavior, getName, getRequirements, getSubsystem, handleInterrupt, hasRequirement, ignoringDisable, initSendable, isScheduled, onlyIf, onlyWhile, raceWith, repeatedly, runsWhenDisabled, schedule, setName, setSubsystem, unless, until, withInterruptBehavior, withName, withTimeout</code></div>
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<div class="inherited-list">
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<h3 id="methods-inherited-from-class-java.lang.Object">Methods inherited from class java.lang.<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">Object</a></h3>
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<code><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#clone()" title="class or interface in java.lang" class="external-link">clone</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#equals(java.lang.Object)" title="class or interface in java.lang" class="external-link">equals</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#finalize()" title="class or interface in java.lang" class="external-link">finalize</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#getClass()" title="class or interface in java.lang" class="external-link">getClass</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#hashCode()" title="class or interface in java.lang" class="external-link">hashCode</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#notify()" title="class or interface in java.lang" class="external-link">notify</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#notifyAll()" title="class or interface in java.lang" class="external-link">notifyAll</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#toString()" title="class or interface in java.lang" class="external-link">toString</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#wait()" title="class or interface in java.lang" class="external-link">wait</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#wait(long)" title="class or interface in java.lang" class="external-link">wait</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#wait(long,int)" title="class or interface in java.lang" class="external-link">wait</a></code></div>
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</section>
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</li>
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</ul>
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</section>
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<section class="details">
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<ul class="details-list">
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<!-- ========= CONSTRUCTOR DETAIL ======== -->
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<li>
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<section class="constructor-details" id="constructor-detail">
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<h2>Constructor Details</h2>
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<ul class="member-list">
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<li>
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<section class="detail" id="<init>(frc.robot.subsystems.swervedrive.SwerveSubsystem)">
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<h3>AutoBalanceCommand</h3>
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<div class="member-signature"><span class="modifiers">public</span> <span class="element-name">AutoBalanceCommand</span><wbr><span class="parameters">(<a href="../../../subsystems/swervedrive/SwerveSubsystem.html" title="class in frc.robot.subsystems.swervedrive">SwerveSubsystem</a> swerveSubsystem)</span></div>
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</section>
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</li>
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</ul>
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</section>
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</li>
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<!-- ============ METHOD DETAIL ========== -->
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<li>
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<section class="method-details" id="method-detail">
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<h2>Method Details</h2>
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<ul class="member-list">
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<li>
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<section class="detail" id="initialize()">
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<h3>initialize</h3>
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<div class="member-signature"><span class="modifiers">public</span> <span class="return-type">void</span> <span class="element-name">initialize</span>()</div>
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<div class="block">The initial subroutine of a command. Called once when the command is initially scheduled.</div>
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<dl class="notes">
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<dt>Overrides:</dt>
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<dd><code>initialize</code> in class <code>edu.wpi.first.wpilibj2.command.Command</code></dd>
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</dl>
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</section>
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</li>
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<li>
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<section class="detail" id="execute()">
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<h3>execute</h3>
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<div class="member-signature"><span class="modifiers">public</span> <span class="return-type">void</span> <span class="element-name">execute</span>()</div>
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<div class="block">The main body of a command. Called repeatedly while the command is scheduled. (That is, it is called repeatedly
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until <a href="#isFinished()"><code>isFinished()</code></a>) returns true.)</div>
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<dl class="notes">
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<dt>Overrides:</dt>
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<dd><code>execute</code> in class <code>edu.wpi.first.wpilibj2.command.Command</code></dd>
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</dl>
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</section>
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</li>
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<li>
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<section class="detail" id="isFinished()">
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<h3>isFinished</h3>
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<div class="member-signature"><span class="modifiers">public</span> <span class="return-type">boolean</span> <span class="element-name">isFinished</span>()</div>
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<div class="block"><p>
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Returns whether this command has finished. Once a command finishes -- indicated by this method returning true --
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the scheduler will call its <a href="#end(boolean)"><code>end(boolean)</code></a> method.
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</p><p>
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Returning false will result in the command never ending automatically. It may still be cancelled manually or
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interrupted by another command. Hard coding this command to always return true will result in the command executing
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once and finishing immediately. It is recommended to use *
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<code>InstantCommand</code> for such an operation.
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</p></div>
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<dl class="notes">
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<dt>Overrides:</dt>
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<dd><code>isFinished</code> in class <code>edu.wpi.first.wpilibj2.command.Command</code></dd>
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<dt>Returns:</dt>
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<dd>whether this command has finished.</dd>
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</dl>
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</section>
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</li>
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<li>
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<section class="detail" id="end(boolean)">
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<h3>end</h3>
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<div class="member-signature"><span class="modifiers">public</span> <span class="return-type">void</span> <span class="element-name">end</span><wbr><span class="parameters">(boolean interrupted)</span></div>
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<div class="block">The action to take when the command ends. Called when either the command finishes normally -- that is it is called
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when <a href="#isFinished()"><code>isFinished()</code></a> returns true -- or when it is interrupted/canceled. This is where you may want to wrap
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up loose ends, like shutting off a motor that was being used in the command.</div>
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<dl class="notes">
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<dt>Overrides:</dt>
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<dd><code>end</code> in class <code>edu.wpi.first.wpilibj2.command.Command</code></dd>
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<dt>Parameters:</dt>
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<dd><code>interrupted</code> - whether the command was interrupted/canceled</dd>
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</dl>
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</section>
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</li>
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</ul>
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</section>
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</li>
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</ul>
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</section>
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<!-- ========= END OF CLASS DATA ========= -->
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</main>
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</div>
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</div>
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</body>
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