Scheduler¶
- class wpilib.command.Scheduler[source]¶
Bases: wpilib.Sendable
The Scheduler is a singleton which holds the top-level running commands. It is in charge of both calling the command’s run() method and to make sure that there are no two commands with conflicting requirements running.
It is fine if teams wish to take control of the Scheduler themselves, all that needs to be done is to call Scheduler.getInstance().run() often to have Commands function correctly. However, this is already done for you if you use the CommandBased Robot template.
See also
Instantiates a Scheduler.
- add(command)[source]¶
Adds the command to the Scheduler. This will not add the Command immediately, but will instead wait for the proper time in the run() loop before doing so. The command returns immediately and does nothing if given null.
Adding a Command to the Scheduler involves the Scheduler removing any Command which has shared requirements.
Parameters: command – the command to add
- addButton(button)[source]¶
Adds a button to the Scheduler. The Scheduler will poll the button during its run().
Parameters: button – the button to add
- static getInstance()[source]¶
Returns the Scheduler, creating it if one does not exist.
Returns: the Scheduler
- registerSubsystem(system)[source]¶
Registers a Subsystem to this Scheduler, so that the Scheduler might know if a default Command needs to be run. All Subsystem objects should call this.
Parameters: system – the system