[cmd3] Change Command.noRequirements to accept a command implementation (#8783)

This is more ergonomic than `Command.noRequirements().executing(...)`
2026-06-19 00:41:43 +00:00 · 2026-04-19 18:40:50 -04:00
parent 3eaeac6150
commit b7df267687
19 changed files with 121 additions and 172 deletions
--- a/commandsv3/src/main/java/org/wpilib/command3/Command.java
+++ b/commandsv3/src/main/java/org/wpilib/command3/Command.java
@@ -85,7 +85,7 @@ import org.wpilib.units.measure.Time;
 *   // to run when not in use. Interrupting one of the inner commands while it's
 *   // running will cancel the entire sequence.
 *   private Command advancedScoringSequence() {
- *     return Command.noRequirements().executing(coroutine -> {
+ *     return Command.noRequirements(coroutine -> {
 *       coroutine.await(drivetrain.driveToScoringLocation());
 *       coroutine.await(elevator.moveToScoringHeight());
 *       coroutine.await(gripper.release());
@@ -226,15 +226,17 @@ public interface Command {
   * Creates a command that does not require any hardware; that is, it does not affect the state of
   * any physical objects. This is useful for commands that do some cleanup or state management,
   * such as resetting odometry or sensors, that you don't want to interrupt a command that's
-   * controlling the mechanisms it affects.
+   * controlling the mechanisms it affects, or for a command composition that you don't want to
+   * inherit the requirements of its child commands.
   *
   * <p>More configuration options are needed after calling this function before the command can be
   * created. See {@link StagedCommandBuilder} for details.
   *
+   * @param body The command's body. Cannot be null.
   * @return a builder that can be used to configure the resulting command
   */
-  static NeedsExecutionBuilderStage noRequirements() {
-    return new StagedCommandBuilder().noRequirements();
+  static NeedsNameBuilderStage noRequirements(Consumer<Coroutine> body) {
+    return new StagedCommandBuilder().noRequirements().executing(body);
  }

  /**
@@ -326,7 +328,7 @@ public interface Command {
  static NeedsNameBuilderStage waitUntil(BooleanSupplier condition) {
    requireNonNullParam(condition, "condition", "Command.waitUntil");

-    return noRequirements().executing(coroutine -> coroutine.waitUntil(condition));
+    return noRequirements(coroutine -> coroutine.waitUntil(condition));
  }

  /**
@@ -339,7 +341,7 @@ public interface Command {
  static NeedsNameBuilderStage waitFor(Time duration) {
    requireNonNullParam(duration, "duration", "Command.waitFor");

-    return noRequirements().executing(coroutine -> coroutine.wait(duration));
+    return noRequirements(coroutine -> coroutine.wait(duration));
  }

  /**
--- a/commandsv3/src/main/java/org/wpilib/command3/Coroutine.java
+++ b/commandsv3/src/main/java/org/wpilib/command3/Coroutine.java
@@ -79,7 +79,7 @@ public final class Coroutine {
   *
   * <pre>{@code
   * Command example() {
-   *   return Command.noRequirements().executing(coroutine -> {
+   *   return Command.noRequirements(coroutine -> {
   *     Command child = ...;
   *     coroutine.fork(child);
   *     // ... do more things
@@ -121,7 +121,7 @@ public final class Coroutine {
   *
   * <pre>{@code
   * Command example() {
-   *   return Command.noRequirements().executing(coroutine -> {
+   *   return Command.noRequirements(coroutine -> {
   *     Collection<Command> innerCommands = ...;
   *     coroutine.fork(innerCommands);
   *     // ... do more things
--- a/commandsv3/src/main/java/org/wpilib/command3/Trigger.java
+++ b/commandsv3/src/main/java/org/wpilib/command3/Trigger.java
@@ -34,7 +34,7 @@ import org.wpilib.units.measure.Time;
 * canceled when the enclosing command exits.
 *
 * <pre>{@code
- * Command shootWhileAiming = Command.noRequirements().executing(co -> {
+ * Command shootWhileAiming = Command.noRequirements(co -> {
 *   turret.atTarget.onTrue(shooter.shootOnce());
 *   co.await(turret.lockOnGoal());
 * }).named("Shoot While Aiming");
--- a/commandsv3/src/test/java/org/wpilib/command3/BindingScopeTest.java
+++ b/commandsv3/src/test/java/org/wpilib/command3/BindingScopeTest.java
@@ -27,8 +27,7 @@ class BindingScopeTest extends SchedulerTest {
    BindingScope[] scopeRef = new BindingScope[1];

    var command =
-        Command.noRequirements()
-            .executing(
+        Command.noRequirements(
                coroutine -> {
                  BindingScope scope = BindingScope.createNarrowestScope(m_scheduler);
                  scopeRef[0] = scope;
@@ -49,8 +48,7 @@ class BindingScopeTest extends SchedulerTest {

    BindingScope[] scopeRef = new BindingScope[1];
    var command =
-        Command.noRequirements()
-            .executing(
+        Command.noRequirements(
                coroutine -> {
                  BindingScope scope = BindingScope.createNarrowestScope(m_scheduler);
                  scopeRef[0] = scope;
--- a/commandsv3/src/test/java/org/wpilib/command3/CoroutineTest.java
+++ b/commandsv3/src/test/java/org/wpilib/command3/CoroutineTest.java
@@ -24,8 +24,7 @@ class CoroutineTest extends CommandTestBase {
    var c = new NullCommand();

    var all =
-        Command.noRequirements()
-            .executing(
+        Command.noRequirements(
                co -> {
                  co.fork(a, b, c);
                  co.park();
@@ -45,8 +44,7 @@ class CoroutineTest extends CommandTestBase {
    AtomicInteger i = new AtomicInteger(0);

    var yieldInSynchronized =
-        Command.noRequirements()
-            .executing(
+        Command.noRequirements(
                co -> {
                  while (true) {
                    synchronized (mutex) {
@@ -68,8 +66,7 @@ class CoroutineTest extends CommandTestBase {
    AtomicInteger i = new AtomicInteger(0);

    var yieldInLock =
-        Command.noRequirements()
-            .executing(
+        Command.noRequirements(
                co -> {
                  while (true) {
                    lock.lock();
@@ -93,8 +90,7 @@ class CoroutineTest extends CommandTestBase {
    AtomicReference<Runnable> escapeeCallback = new AtomicReference<>();

    var badCommand =
-        Command.noRequirements()
-            .executing(
+        Command.noRequirements(
                co -> {
                  escapeeCallback.set(co::yield);
                })
@@ -111,12 +107,10 @@ class CoroutineTest extends CommandTestBase {
  @SuppressWarnings("CoroutineMayNotBeInScope")
  void usingParentCoroutineInChildThrows() {
    var parent =
-        Command.noRequirements()
-            .executing(
+        Command.noRequirements(
                parentCoroutine -> {
                  parentCoroutine.await(
-                      Command.noRequirements()
-                          .executing(
+                      Command.noRequirements(
                              childCoroutine -> {
                                parentCoroutine.yield();
                              })
@@ -135,10 +129,9 @@ class CoroutineTest extends CommandTestBase {
    AtomicBoolean secondRan = new AtomicBoolean(false);
    AtomicBoolean ranAfterAwait = new AtomicBoolean(false);

-    var firstInner = Command.noRequirements().executing(c2 -> firstRan.set(true)).named("First");
+    var firstInner = Command.noRequirements(c2 -> firstRan.set(true)).named("First");
    var secondInner =
-        Command.noRequirements()
-            .executing(
+        Command.noRequirements(
                c2 -> {
                  secondRan.set(true);
                  c2.park();
@@ -146,8 +139,7 @@ class CoroutineTest extends CommandTestBase {
            .named("Second");

    var outer =
-        Command.noRequirements()
-            .executing(
+        Command.noRequirements(
                co -> {
                  co.awaitAny(firstInner, secondInner);

--- a/commandsv3/src/test/java/org/wpilib/command3/ParallelGroupBuilderTest.java
+++ b/commandsv3/src/test/java/org/wpilib/command3/ParallelGroupBuilderTest.java
@@ -26,8 +26,8 @@ class ParallelGroupBuilderTest {

  @Test
  void optionalPopulatesOptionalOnly() {
-    var a = Command.noRequirements().executing(Coroutine::park).named("A");
-    var b = Command.noRequirements().executing(Coroutine::park).named("B");
+    var a = Command.noRequirements(Coroutine::park).named("A");
+    var b = Command.noRequirements(Coroutine::park).named("B");

    var group = new ParallelGroupBuilder().optional(a, b).withAutomaticName();

@@ -50,8 +50,8 @@ class ParallelGroupBuilderTest {

  @Test
  void requiringPopulatesRequiredOnly() {
-    var a = Command.noRequirements().executing(Coroutine::park).named("A");
-    var b = Command.noRequirements().executing(Coroutine::park).named("B");
+    var a = Command.noRequirements(Coroutine::park).named("A");
+    var b = Command.noRequirements(Coroutine::park).named("B");

    var group = new ParallelGroupBuilder().requiring(a, b).withAutomaticName();

@@ -62,10 +62,10 @@ class ParallelGroupBuilderTest {

  @Test
  void mixedRequiredAndOptional() {
-    var reqA = Command.noRequirements().executing(Coroutine::park).named("ReqA");
-    var reqB = Command.noRequirements().executing(Coroutine::park).named("ReqB");
-    var optX = Command.noRequirements().executing(Coroutine::park).named("OptX");
-    var optY = Command.noRequirements().executing(Coroutine::park).named("OptY");
+    var reqA = Command.noRequirements(Coroutine::park).named("ReqA");
+    var reqB = Command.noRequirements(Coroutine::park).named("ReqB");
+    var optX = Command.noRequirements(Coroutine::park).named("OptX");
+    var optY = Command.noRequirements(Coroutine::park).named("OptY");

    var group =
        new ParallelGroupBuilder().requiring(reqA, reqB).optional(optX, optY).withAutomaticName();
--- a/commandsv3/src/test/java/org/wpilib/command3/ParallelGroupTest.java
+++ b/commandsv3/src/test/java/org/wpilib/command3/ParallelGroupTest.java
@@ -183,9 +183,9 @@ class ParallelGroupTest extends CommandTestBase {

  @Test
  void automaticNameRace() {
-    var a = Command.noRequirements().executing(coroutine -> {}).named("A");
-    var b = Command.noRequirements().executing(coroutine -> {}).named("B");
-    var c = Command.noRequirements().executing(coroutine -> {}).named("C");
+    var a = Command.noRequirements(coroutine -> {}).named("A");
+    var b = Command.noRequirements(coroutine -> {}).named("B");
+    var c = Command.noRequirements(coroutine -> {}).named("C");

    var group = new ParallelGroupBuilder().optional(a, b, c).withAutomaticName();
    assertEquals("(A | B | C)", group.name());
@@ -193,9 +193,9 @@ class ParallelGroupTest extends CommandTestBase {

  @Test
  void automaticNameAll() {
-    var a = Command.noRequirements().executing(coroutine -> {}).named("A");
-    var b = Command.noRequirements().executing(coroutine -> {}).named("B");
-    var c = Command.noRequirements().executing(coroutine -> {}).named("C");
+    var a = Command.noRequirements(coroutine -> {}).named("A");
+    var b = Command.noRequirements(coroutine -> {}).named("B");
+    var c = Command.noRequirements(coroutine -> {}).named("C");

    var group = new ParallelGroupBuilder().requiring(a, b, c).withAutomaticName();
    assertEquals("(A & B & C)", group.name());
@@ -203,9 +203,9 @@ class ParallelGroupTest extends CommandTestBase {

  @Test
  void automaticNameDeadline() {
-    var a = Command.noRequirements().executing(coroutine -> {}).named("A");
-    var b = Command.noRequirements().executing(coroutine -> {}).named("B");
-    var c = Command.noRequirements().executing(coroutine -> {}).named("C");
+    var a = Command.noRequirements(coroutine -> {}).named("A");
+    var b = Command.noRequirements(coroutine -> {}).named("B");
+    var c = Command.noRequirements(coroutine -> {}).named("C");

    var group = new ParallelGroupBuilder().requiring(a).optional(b, c).withAutomaticName();
    assertEquals("[(A) * (B | C)]", group.name());
--- a/commandsv3/src/test/java/org/wpilib/command3/SchedulerCancellationTests.java
+++ b/commandsv3/src/test/java/org/wpilib/command3/SchedulerCancellationTests.java
@@ -84,7 +84,7 @@ class SchedulerCancellationTests extends CommandTestBase {

  @Test
  void cancelsEvictsOnDeck() {
-    var command = Command.noRequirements().executing(Coroutine::park).named("Command");
+    var command = Command.noRequirements(Coroutine::park).named("Command");
    m_scheduler.schedule(command);
    m_scheduler.cancel(command);
    assertFalse(m_scheduler.isScheduledOrRunning(command));
@@ -95,8 +95,7 @@ class SchedulerCancellationTests extends CommandTestBase {
    var ranAfterCancel = new AtomicBoolean(false);
    var commandRef = new AtomicReference<Command>(null);
    var command =
-        Command.noRequirements()
-            .executing(
+        Command.noRequirements(
                co -> {
                  co.scheduler().cancel(commandRef.get());
                  ranAfterCancel.set(true);
@@ -115,7 +114,7 @@ class SchedulerCancellationTests extends CommandTestBase {

  @Test
  void cancelAllEvictsOnDeck() {
-    var command = Command.noRequirements().executing(Coroutine::park).named("Command");
+    var command = Command.noRequirements(Coroutine::park).named("Command");
    m_scheduler.schedule(command);
    m_scheduler.cancelAll();
    assertFalse(m_scheduler.isScheduledOrRunning(command));
@@ -125,7 +124,7 @@ class SchedulerCancellationTests extends CommandTestBase {
  void cancelAllCancelsAll() {
    var commands = new ArrayList<Command>(10);
    for (int i = 1; i <= 10; i++) {
-      commands.add(Command.noRequirements().executing(Coroutine::yield).named("Command " + i));
+      commands.add(Command.noRequirements(Coroutine::yield).named("Command " + i));
    }
    commands.forEach(m_scheduler::schedule);
    m_scheduler.run();
@@ -141,8 +140,7 @@ class SchedulerCancellationTests extends CommandTestBase {
  void cancelAllCallsOnCancelHookForRunningCommands() {
    AtomicBoolean ranHook = new AtomicBoolean(false);
    var command =
-        Command.noRequirements()
-            .executing(Coroutine::park)
+        Command.noRequirements(Coroutine::park)
            .whenCanceled(() -> ranHook.set(true))
            .named("Command");
    m_scheduler.schedule(command);
@@ -155,8 +153,7 @@ class SchedulerCancellationTests extends CommandTestBase {
  void cancelAllDoesNotCallOnCancelHookForQueuedCommands() {
    AtomicBoolean ranHook = new AtomicBoolean(false);
    var command =
-        Command.noRequirements()
-            .executing(Coroutine::park)
+        Command.noRequirements(Coroutine::park)
            .whenCanceled(() -> ranHook.set(true))
            .named("Command");
    m_scheduler.schedule(command);
@@ -209,20 +206,16 @@ class SchedulerCancellationTests extends CommandTestBase {
  @Test
  void cancelDeeplyNestedCompositions() {
    Command root =
-        Command.noRequirements()
-            .executing(
+        Command.noRequirements(
                co -> {
                  co.await(
-                      Command.noRequirements()
-                          .executing(
+                      Command.noRequirements(
                              co2 -> {
                                co2.await(
-                                    Command.noRequirements()
-                                        .executing(
+                                    Command.noRequirements(
                                            co3 -> {
                                              co3.await(
-                                                  Command.noRequirements()
-                                                      .executing(Coroutine::park)
+                                                  Command.noRequirements(Coroutine::park)
                                                      .named("Park"));
                                            })
                                        .named("C3"));
--- a/commandsv3/src/test/java/org/wpilib/command3/SchedulerConflictTests.java
+++ b/commandsv3/src/test/java/org/wpilib/command3/SchedulerConflictTests.java
@@ -20,8 +20,7 @@ class SchedulerConflictTests extends CommandTestBase {
    var mech = new Mechanism("The Mechanism", m_scheduler);

    var group =
-        Command.noRequirements()
-            .executing(
+        Command.noRequirements(
                co -> {
                  co.awaitAll(
                      mech.run(Coroutine::park).named("First"),
@@ -64,8 +63,7 @@ class SchedulerConflictTests extends CommandTestBase {
            .named("Second");

    var group =
-        Command.noRequirements()
-            .executing(
+        Command.noRequirements(
                co -> {
                  co.fork(first);
                  co.fork(second);
@@ -88,25 +86,21 @@ class SchedulerConflictTests extends CommandTestBase {
  void nestedOneShotCompositionsAllRunInOneCycle() {
    var runs = new AtomicInteger(0);
    Supplier<Command> makeOneShot =
-        () -> Command.noRequirements().executing(_c -> runs.incrementAndGet()).named("One Shot");
+        () -> Command.noRequirements(_c -> runs.incrementAndGet()).named("One Shot");
    var command =
-        Command.noRequirements()
-            .executing(
+        Command.noRequirements(
                co -> {
                  co.fork(makeOneShot.get());
                  co.fork(makeOneShot.get());
                  co.fork(
-                      Command.noRequirements()
-                          .executing(inner -> inner.fork(makeOneShot.get()))
+                      Command.noRequirements(inner -> inner.fork(makeOneShot.get()))
                          .named("Inner"));
                  co.fork(
-                      Command.noRequirements()
-                          .executing(
+                      Command.noRequirements(
                              co2 -> {
                                co2.fork(makeOneShot.get());
                                co2.fork(
-                                    Command.noRequirements()
-                                        .executing(
+                                    Command.noRequirements(
                                            co3 -> {
                                              co3.fork(makeOneShot.get());
                                            })
@@ -130,7 +124,7 @@ class SchedulerConflictTests extends CommandTestBase {
    // Child conflicts with and is lower priority than the Top command
    // It should not be scheduled, and the parent command should exit immediately
    var child = mechanism.run(Coroutine::park).named("Child");
-    var parent = Command.noRequirements().executing(co -> co.await(child)).named("Parent");
+    var parent = Command.noRequirements(co -> co.await(child)).named("Parent");

    m_scheduler.schedule(top);
    m_scheduler.schedule(parent);
@@ -149,7 +143,7 @@ class SchedulerConflictTests extends CommandTestBase {
    // Child conflicts with and is higher priority than the Top command
    // It should be scheduled, and the top command should be interrupted
    var child = mechanism.run(Coroutine::park).named("Child");
-    var parent = Command.noRequirements().executing(co -> co.await(child)).named("Parent");
+    var parent = Command.noRequirements(co -> co.await(child)).named("Parent");

    m_scheduler.schedule(top);
    m_scheduler.schedule(parent);
--- a/commandsv3/src/test/java/org/wpilib/command3/SchedulerDefaultCommandTests.java
+++ b/commandsv3/src/test/java/org/wpilib/command3/SchedulerDefaultCommandTests.java
@@ -64,8 +64,7 @@ class SchedulerDefaultCommandTests extends CommandTestBase {
    var commandScopedCommand = mech.run(Coroutine::park).named("Command-Scoped Default Command");

    var scopingCommand =
-        Command.noRequirements()
-            .executing(
+        Command.noRequirements(
                co -> {
                  mech.setDefaultCommand(commandScopedCommand);
                  co.park();
@@ -93,8 +92,7 @@ class SchedulerDefaultCommandTests extends CommandTestBase {

    var commandScopedCommand = mech.run(Coroutine::park).named("Command-Scoped Default Command");
    var scopingCommand =
-        Command.noRequirements()
-            .executing(
+        Command.noRequirements(
                co -> {
                  mech.setDefaultCommand(commandScopedCommand);
                  co.park();
@@ -126,8 +124,7 @@ class SchedulerDefaultCommandTests extends CommandTestBase {
    var commandScopedCommand = mech.run(Coroutine::park).named("Command-Scoped Default Command");

    final Command scopingCommand =
-        Command.noRequirements()
-            .executing(
+        Command.noRequirements(
                co -> {
                  mech.setDefaultCommand(commandScopedCommand);
                  co.park();
--- a/commandsv3/src/test/java/org/wpilib/command3/SchedulerErrorHandlingTests.java
+++ b/commandsv3/src/test/java/org/wpilib/command3/SchedulerErrorHandlingTests.java
@@ -43,17 +43,14 @@ class SchedulerErrorHandlingTests extends CommandTestBase {
  @Test
  void nestedErrorDetection() {
    var command =
-        Command.noRequirements()
-            .executing(
+        Command.noRequirements(
                co -> {
                  co.await(
-                      Command.noRequirements()
-                          .executing(
+                      Command.noRequirements(
                              c2 -> {
                                new Trigger(m_scheduler, () -> true)
                                    .onTrue(
-                                        Command.noRequirements()
-                                            .executing(
+                                        Command.noRequirements(
                                                c3 -> {
                                                  // Throws IndexOutOfBoundsException
                                                  var unused = new ArrayList<>(0).get(-1);
@@ -95,10 +92,9 @@ class SchedulerErrorHandlingTests extends CommandTestBase {

  @Test
  void commandEncounteringErrorCancelsChildren() {
-    var child = Command.noRequirements().executing(Coroutine::park).named("Child 1");
+    var child = Command.noRequirements(Coroutine::park).named("Child 1");
    var command =
-        Command.noRequirements()
-            .executing(
+        Command.noRequirements(
                co -> {
                  co.fork(child);
                  throw new RuntimeException("The exception");
@@ -118,15 +114,13 @@ class SchedulerErrorHandlingTests extends CommandTestBase {
  @Test
  void childCommandEncounteringErrorCancelsParent() {
    var child =
-        Command.noRequirements()
-            .executing(
+        Command.noRequirements(
                co -> {
                  throw new RuntimeException("The exception"); // note: bubbles up to the parent
                })
            .named("Child 1");
    var command =
-        Command.noRequirements()
-            .executing(
+        Command.noRequirements(
                co -> {
                  co.await(child);
                  co.park(); // pretend other things would happen after the child
@@ -145,16 +139,14 @@ class SchedulerErrorHandlingTests extends CommandTestBase {
  @SuppressWarnings("PMD.CompareObjectsWithEquals")
  void childCommandEncounteringErrorAfterRemountCancelsParent() {
    var child =
-        Command.noRequirements()
-            .executing(
+        Command.noRequirements(
                co -> {
                  co.yield();
                  throw new RuntimeException("The exception"); // does not bubble up to the parent
                })
            .named("Child 1");
    var command =
-        Command.noRequirements()
-            .executing(
+        Command.noRequirements(
                co -> {
                  co.await(child);
                  co.park(); // pretend other things would happen after the child
--- a/commandsv3/src/test/java/org/wpilib/command3/SchedulerSideloadFunctionTests.java
+++ b/commandsv3/src/test/java/org/wpilib/command3/SchedulerSideloadFunctionTests.java
@@ -41,7 +41,7 @@ class SchedulerSideloadFunctionTests extends CommandTestBase {

  @Test
  void sideloadSchedulingCommand() {
-    var command = Command.noRequirements().executing(Coroutine::park).named("Command");
+    var command = Command.noRequirements(Coroutine::park).named("Command");
    // one-shot sideload forks a command and immediately exits
    m_scheduler.sideload(co -> co.fork(command));
    m_scheduler.run();
@@ -51,10 +51,9 @@ class SchedulerSideloadFunctionTests extends CommandTestBase {

  @Test
  void childCommandEscapesViaSideload() {
-    var child = Command.noRequirements().executing(Coroutine::park).named("Child");
+    var child = Command.noRequirements(Coroutine::park).named("Child");
    var parent =
-        Command.noRequirements()
-            .executing(
+        Command.noRequirements(
                parentCoroutine -> {
                  m_scheduler.sideload(sideloadCoroutine -> sideloadCoroutine.fork(child));
                })
@@ -73,7 +72,7 @@ class SchedulerSideloadFunctionTests extends CommandTestBase {

  @Test
  void sideloadCancelingCommand() {
-    var command = Command.noRequirements().executing(Coroutine::park).named("Command");
+    var command = Command.noRequirements(Coroutine::park).named("Command");
    m_scheduler.schedule(command);
    m_scheduler.run();
    assertTrue(m_scheduler.isRunning(command), "command should have started");
@@ -89,7 +88,7 @@ class SchedulerSideloadFunctionTests extends CommandTestBase {
  void sideloadAffectsStateForTriggerInSameCycle() {
    AtomicBoolean signal = new AtomicBoolean(false);
    var trigger = new Trigger(m_scheduler, signal::get);
-    var command = Command.noRequirements().executing(Coroutine::park).named("Command");
+    var command = Command.noRequirements(Coroutine::park).named("Command");
    trigger.onTrue(command);
    m_scheduler.sideload(co -> signal.set(true));

--- a/commandsv3/src/test/java/org/wpilib/command3/SchedulerTelemetryTests.java
+++ b/commandsv3/src/test/java/org/wpilib/command3/SchedulerTelemetryTests.java
@@ -20,8 +20,8 @@ class SchedulerTelemetryTests extends CommandTestBase {
    m_scheduler.schedule(group);
    m_scheduler.run();

-    var scheduledCommand1 = Command.noRequirements().executing(Coroutine::park).named("Command 1");
-    var scheduledCommand2 = Command.noRequirements().executing(Coroutine::park).named("Command 2");
+    var scheduledCommand1 = Command.noRequirements(Coroutine::park).named("Command 1");
+    var scheduledCommand2 = Command.noRequirements(Coroutine::park).named("Command 2");
    m_scheduler.schedule(scheduledCommand1);
    m_scheduler.schedule(scheduledCommand2);

--- a/commandsv3/src/test/java/org/wpilib/command3/SchedulerTest.java
+++ b/commandsv3/src/test/java/org/wpilib/command3/SchedulerTest.java
@@ -18,8 +18,7 @@ class SchedulerTest extends CommandTestBase {
    var enabled = new AtomicBoolean(false);
    var ran = new AtomicBoolean(false);
    var command =
-        Command.noRequirements()
-            .executing(
+        Command.noRequirements(
                coroutine -> {
                  do {
                    coroutine.yield();
@@ -58,8 +57,7 @@ class SchedulerTest extends CommandTestBase {

    for (int cmdCount = 0; cmdCount < numCommands; cmdCount++) {
      var command =
-          Command.noRequirements()
-              .executing(
+          Command.noRequirements(
                  coroutine -> {
                    for (int i = 0; i < iterations; i++) {
                      mechanism.m_x++;
@@ -114,8 +112,7 @@ class SchedulerTest extends CommandTestBase {

    // the group has no requirements, but can schedule child commands that do
    var group =
-        Command.noRequirements()
-            .executing(
+        Command.noRequirements(
                co -> {
                  co.awaitAll(
                      m1.run(Coroutine::park).named("M1 Command"),
--- a/commandsv3/src/test/java/org/wpilib/command3/SchedulerTimingTests.java
+++ b/commandsv3/src/test/java/org/wpilib/command3/SchedulerTimingTests.java
@@ -25,8 +25,7 @@ class SchedulerTimingTests extends CommandTestBase {
    // equivalent to calling Coroutine.park(). No deleterious side effects other than stalling
    // the command
    AtomicReference<Command> commandRef = new AtomicReference<>();
-    var command =
-        Command.noRequirements().executing(co -> co.await(commandRef.get())).named("Self Await");
+    var command = Command.noRequirements(co -> co.await(commandRef.get())).named("Self Await");
    commandRef.set(command);

    m_scheduler.schedule(command);
@@ -49,8 +48,8 @@ class SchedulerTimingTests extends CommandTestBase {
    //
    // Externally canceling child allows parent to continue
    // Externally canceling parent cancels both
-    var parent = Command.noRequirements().executing(co -> co.await(childRef.get())).named("Parent");
-    var child = Command.noRequirements().executing(co -> co.await(parentRef.get())).named("Child");
+    var parent = Command.noRequirements(co -> co.await(childRef.get())).named("Parent");
+    var child = Command.noRequirements(co -> co.await(parentRef.get())).named("Child");
    parentRef.set(parent);
    childRef.set(child);

@@ -87,8 +86,7 @@ class SchedulerTimingTests extends CommandTestBase {
    //
    // Externally canceling either command allows the other to exit
    var command1 =
-        Command.noRequirements()
-            .executing(
+        Command.noRequirements(
                co -> {
                  co.yield();
                  co.await(ref2.get());
@@ -96,8 +94,7 @@ class SchedulerTimingTests extends CommandTestBase {
                })
            .named("Command 1");
    var command2 =
-        Command.noRequirements()
-            .executing(
+        Command.noRequirements(
                co -> {
                  co.yield();
                  co.await(ref1.get());
@@ -134,8 +131,7 @@ class SchedulerTimingTests extends CommandTestBase {
    AtomicInteger runCount = new AtomicInteger(0);

    var inner =
-        Command.noRequirements()
-            .executing(
+        Command.noRequirements(
                co -> {
                  runCount.incrementAndGet();
                  co.yield();
@@ -145,7 +141,7 @@ class SchedulerTimingTests extends CommandTestBase {
                })
            .named("Inner");

-    var outer = Command.noRequirements().executing(co -> co.await(inner)).named("Outer");
+    var outer = Command.noRequirements(co -> co.await(inner)).named("Outer");
    m_scheduler.schedule(outer);
    m_scheduler.run();

@@ -159,8 +155,7 @@ class SchedulerTimingTests extends CommandTestBase {

    AtomicBoolean completedWait = new AtomicBoolean(false);
    var command =
-        Command.noRequirements()
-            .executing(
+        Command.noRequirements(
                co -> {
                  co.wait(Milliseconds.of(1));
                  completedWait.set(true);
@@ -184,8 +179,7 @@ class SchedulerTimingTests extends CommandTestBase {
    RobotController.setTimeSource(time::get);
    AtomicBoolean completedWait = new AtomicBoolean(false);
    var command =
-        Command.noRequirements()
-            .executing(
+        Command.noRequirements(
                co -> {
                  co.wait(Milliseconds.of(1));
                  completedWait.set(true);
@@ -212,8 +206,7 @@ class SchedulerTimingTests extends CommandTestBase {
  void awaitingExitsImmediatelyWithoutAOneLoopDelay() {
    AtomicInteger innerRuns = new AtomicInteger(0);
    var inner =
-        Command.noRequirements()
-            .executing(
+        Command.noRequirements(
                co -> {
                  // executed immediately when forked
                  innerRuns.incrementAndGet();
@@ -224,7 +217,7 @@ class SchedulerTimingTests extends CommandTestBase {
                })
            .named("Inner");

-    var outer = Command.noRequirements().executing(co -> co.await(inner)).named("Outer");
+    var outer = Command.noRequirements(co -> co.await(inner)).named("Outer");
    m_scheduler.schedule(outer);

    // First run: runs outer, forks inner, inner runs to its first yield, outer yields
--- a/commandsv3/src/test/java/org/wpilib/command3/SequentialGroupBuilderTest.java
+++ b/commandsv3/src/test/java/org/wpilib/command3/SequentialGroupBuilderTest.java
@@ -14,7 +14,7 @@ import org.junit.jupiter.api.Test;
 class SequentialGroupBuilderTest {
  @Test
  void andThenSingle() {
-    var c1 = Command.noRequirements().executing(Coroutine::park).named("C1");
+    var c1 = Command.noRequirements(Coroutine::park).named("C1");

    var builder = new SequentialGroupBuilder();
    var sequence = builder.andThen(c1).named("Seq");
@@ -25,8 +25,8 @@ class SequentialGroupBuilderTest {

  @Test
  void andThenMultiple() {
-    var c1 = Command.noRequirements().executing(Coroutine::park).named("C1");
-    var c2 = Command.noRequirements().executing(Coroutine::park).named("C2");
+    var c1 = Command.noRequirements(Coroutine::park).named("C1");
+    var c2 = Command.noRequirements(Coroutine::park).named("C2");

    var builder = new SequentialGroupBuilder();
    var sequence = builder.andThen(c1, c2).named("Seq");
@@ -38,8 +38,8 @@ class SequentialGroupBuilderTest {

  @Test
  void andThenRepeated() {
-    var c1 = Command.noRequirements().executing(Coroutine::park).named("C1");
-    var c2 = Command.noRequirements().executing(Coroutine::park).named("C2");
+    var c1 = Command.noRequirements(Coroutine::park).named("C1");
+    var c2 = Command.noRequirements(Coroutine::park).named("C2");

    var builder = new SequentialGroupBuilder();
    var sequence = builder.andThen(c1).andThen(c2).named("Seq");
@@ -69,7 +69,7 @@ class SequentialGroupBuilderTest {

  @Test
  void untilReturnsParallelGroup() {
-    var c1 = Command.noRequirements().executing(Coroutine::park).named("C1");
+    var c1 = Command.noRequirements(Coroutine::park).named("C1");
    var builder = new SequentialGroupBuilder();
    var sequence = builder.andThen(c1).until(() -> false).named("Seq");
    assertInstanceOf(ParallelGroup.class, sequence);
@@ -91,7 +91,7 @@ class SequentialGroupBuilderTest {

  @Test
  void automaticNameWithOneCommand() {
-    var c1 = Command.noRequirements().executing(Coroutine::park).named("C1");
+    var c1 = Command.noRequirements(Coroutine::park).named("C1");
    var builder = new SequentialGroupBuilder();
    var sequence = builder.andThen(c1).withAutomaticName();
    assertEquals("C1", sequence.name());
@@ -99,8 +99,8 @@ class SequentialGroupBuilderTest {

  @Test
  void automaticNameWithMultipleCommands() {
-    var c1 = Command.noRequirements().executing(Coroutine::park).named("C1");
-    var c2 = Command.noRequirements().executing(Coroutine::park).named("C2");
+    var c1 = Command.noRequirements(Coroutine::park).named("C1");
+    var c2 = Command.noRequirements(Coroutine::park).named("C2");
    var builder = new SequentialGroupBuilder();
    var sequence = builder.andThen(c1, c2).withAutomaticName();
    assertEquals("C1 -> C2", sequence.name());
--- a/commandsv3/src/test/java/org/wpilib/command3/SequentialGroupTest.java
+++ b/commandsv3/src/test/java/org/wpilib/command3/SequentialGroupTest.java
@@ -15,7 +15,7 @@ import org.junit.jupiter.api.Test;
 class SequentialGroupTest extends CommandTestBase {
  @Test
  void single() {
-    var command = Command.noRequirements().executing(Coroutine::yield).named("The Command");
+    var command = Command.noRequirements(Coroutine::yield).named("The Command");

    var sequence = new SequentialGroup("The Sequence", List.of(command));
    m_scheduler.schedule(sequence);
@@ -33,8 +33,8 @@ class SequentialGroupTest extends CommandTestBase {

  @Test
  void twoCommands() {
-    var c1 = Command.noRequirements().executing(Coroutine::yield).named("C1");
-    var c2 = Command.noRequirements().executing(Coroutine::yield).named("C2");
+    var c1 = Command.noRequirements(Coroutine::yield).named("C1");
+    var c2 = Command.noRequirements(Coroutine::yield).named("C2");

    var sequence = new SequentialGroup("C1 > C2", List.of(c1, c2));
    m_scheduler.schedule(sequence);
--- a/commandsv3/src/test/java/org/wpilib/command3/TriggerTest.java
+++ b/commandsv3/src/test/java/org/wpilib/command3/TriggerTest.java
@@ -17,7 +17,7 @@ class TriggerTest extends CommandTestBase {
  void onTrue() {
    var signal = new AtomicBoolean(false);
    var trigger = new Trigger(m_scheduler, signal::get);
-    var command = Command.noRequirements().executing(Coroutine::park).named("Command");
+    var command = Command.noRequirements(Coroutine::park).named("Command");
    trigger.onTrue(command);

    signal.set(true);
@@ -34,7 +34,7 @@ class TriggerTest extends CommandTestBase {
  void onFalse() {
    var signal = new AtomicBoolean(false);
    var trigger = new Trigger(m_scheduler, signal::get);
-    var command = Command.noRequirements().executing(Coroutine::park).named("Command");
+    var command = Command.noRequirements(Coroutine::park).named("Command");
    trigger.onFalse(command);

    m_scheduler.run();
@@ -51,7 +51,7 @@ class TriggerTest extends CommandTestBase {
  void whileTrue() {
    var signal = new AtomicBoolean(false);
    var trigger = new Trigger(m_scheduler, signal::get);
-    var command = Command.noRequirements().executing(Coroutine::park).named("Command");
+    var command = Command.noRequirements(Coroutine::park).named("Command");
    trigger.whileTrue(command);

    signal.set(true);
@@ -68,7 +68,7 @@ class TriggerTest extends CommandTestBase {
  void whileFalse() {
    var signal = new AtomicBoolean(false);
    var trigger = new Trigger(m_scheduler, signal::get);
-    var command = Command.noRequirements().executing(Coroutine::park).named("Command");
+    var command = Command.noRequirements(Coroutine::park).named("Command");
    trigger.whileFalse(command);

    m_scheduler.run();
@@ -84,7 +84,7 @@ class TriggerTest extends CommandTestBase {
  void toggleOnTrue() {
    var signal = new AtomicBoolean(false);
    var trigger = new Trigger(m_scheduler, signal::get);
-    var command = Command.noRequirements().executing(Coroutine::park).named("Command");
+    var command = Command.noRequirements(Coroutine::park).named("Command");
    trigger.toggleOnTrue(command);

    m_scheduler.run();
@@ -107,7 +107,7 @@ class TriggerTest extends CommandTestBase {
  void toggleOnFalse() {
    var signal = new AtomicBoolean(false);
    var trigger = new Trigger(m_scheduler, signal::get);
-    var command = Command.noRequirements().executing(Coroutine::park).named("Command");
+    var command = Command.noRequirements(Coroutine::park).named("Command");
    trigger.toggleOnFalse(command);

    m_scheduler.run();
@@ -128,8 +128,7 @@ class TriggerTest extends CommandTestBase {
    var innerSignal = new AtomicBoolean(false);

    var inner =
-        Command.noRequirements()
-            .executing(
+        Command.noRequirements(
                co -> {
                  while (true) {
                    innerRan.set(true);
@@ -139,8 +138,7 @@ class TriggerTest extends CommandTestBase {
            .named("Inner");

    var outer =
-        Command.noRequirements()
-            .executing(
+        Command.noRequirements(
                co -> {
                  new Trigger(m_scheduler, innerSignal::get).onTrue(inner);
                  // If we yield, then the outer command exits and immediately cancels the
@@ -170,7 +168,7 @@ class TriggerTest extends CommandTestBase {
    var triggerSignal = new AtomicBoolean(false);
    var trigger = new Trigger(m_scheduler, triggerSignal::get);

-    var command = Command.noRequirements().executing(Coroutine::park).named("Command");
+    var command = Command.noRequirements(Coroutine::park).named("Command");
    trigger.addBinding(scope, BindingType.RUN_WHILE_HIGH, command);

    triggerSignal.set(true);
@@ -209,7 +207,7 @@ class TriggerTest extends CommandTestBase {
    var triggerSignal = new AtomicBoolean(false);
    var trigger = new Trigger(m_scheduler, triggerSignal::get);

-    var command = Command.noRequirements().executing(Coroutine::park).named("Command");
+    var command = Command.noRequirements(Coroutine::park).named("Command");
    trigger.whileTrue(command);

    triggerSignal.set(true);
@@ -230,8 +228,7 @@ class TriggerTest extends CommandTestBase {
    var triggeredCommandRan = new AtomicBoolean(false);

    var inner =
-        Command.noRequirements()
-            .executing(
+        Command.noRequirements(
                co -> {
                  triggeredCommandRan.set(true);
                  co.park();
@@ -239,8 +236,7 @@ class TriggerTest extends CommandTestBase {
            .named("Inner");

    var awaited =
-        Command.noRequirements()
-            .executing(
+        Command.noRequirements(
                co -> {
                  co.yield();
                  condition.set(true);
@@ -248,8 +244,7 @@ class TriggerTest extends CommandTestBase {
            .named("Awaited");

    var outer =
-        Command.noRequirements()
-            .executing(
+        Command.noRequirements(
                co -> {
                  new Trigger(m_scheduler, condition::get).onTrue(inner);
                  co.await(awaited);
--- a/design-docs/commands-v3.md
+++ b/design-docs/commands-v3.md
@@ -144,7 +144,7 @@ void bindDriveButtons() {
 Trigger atScoringPosition = new Trigger(() -> getPosition().isNear(kScoringPosition));

 Command autonomous() {
-  return Command.noRequirements().executing(coroutine -> {
+  return Command.noRequirements(coroutine -> {
    // This binding only exists while the autonomous command is running
    atScoringPosition.onTrue(score());

@@ -212,7 +212,7 @@ class ExampleOpmode extends PeriodicOpMode {
    robot.gamepad.leftBumper().onTrue(robot.mechanism.run(...).named("Bound Command"));

    // A manually scheduled command in an opmode will be canceled when the opmode exits if it hasn't already exited on its own
-    Scheduler.getInstance().schedule(Command.noRequirements().executing(coroutine -> {
+    Scheduler.getInstance().schedule(Command.noRequirements(coroutine -> {
      // Change the default command while this command is running.
      // It will be reset to the opmode-scoped default command when this command exits.
      // If no opmode-scoped default command exists, it will be reset to the global default command.
@@ -255,7 +255,7 @@ outside its command makes no sense, and an error will be thrown if attempting to

 ```java
 Coroutine coroutine;
-var badCommand = Command.noRequirements().executing(co -> {
+var badCommand = Command.noRequirements(co -> {
  coroutine = co;
 }).named("Do not do this");

@@ -357,13 +357,10 @@ compilation error.
 // OK - requirements, body, and name are all provided
 // Each builder method returns a different builder object that provides methods
 // for progressing to the next stage.
-Command command = Command.noRequirements().executing(...).named("Name");
+Command command = Command.noRequirements(...).named("Name");

 // Compilation error! Missing the command body
-Command command = Command.noRequirements().named("Name");
-
-// Compilation error! Missing the command name
-Command command = Command.noRequirements().executing(...);
+Command command = Command.noRequirements(...);
 ```

 #### Forced Naming