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29 lines
1.0 KiB
Python
29 lines
1.0 KiB
Python
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# validated: 2024-01-19 DS 5cf961edb973 RunCommand.java
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from __future__ import annotations
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from typing import Any, Callable
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from .functionalcommand import FunctionalCommand
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from .subsystem import Subsystem
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class RunCommand(FunctionalCommand):
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"""
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A command that runs a Callable continuously. Has no end condition as-is; either subclass it or
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use :func:`commands2.Command.withTimeout` or :func:`commands2.Command.until` to give it one.
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If you only wish to execute a Callable once, use :class:`commands2.InstantCommand`.
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"""
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def __init__(self, toRun: Callable[[], Any], *requirements: Subsystem):
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"""
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Creates a new RunCommand. The Callable will be run continuously until the command ends. Does
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not run when disabled.
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:param toRun: the Callable to run
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:param requirements: the subsystems to require
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"""
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assert callable(toRun)
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super().__init__(
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lambda: None, toRun, lambda interrupted: None, lambda: False, *requirements
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)
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