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Add Commands.runIf(...) as command factory method to Commands #7808

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Add Commands.runIf(...) as command factory method to Commands #7808

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0acc0ca
Add Commands.runIf(...) as command factory method to Commands
otter502 Feb 20, 2025
b541775
Modify runIf to use the onlyIf decorator
otter502 Feb 20, 2025
549e14c
Rename 'selector' parameter to 'condition'
otter502 Feb 20, 2025
b81a55f
Fix formatting of runIf method
otter502 Feb 20, 2025
bf62c1e
Clarify the behavior of runIf when when false and link to Commands.no…
otter502 Feb 27, 2025
63f3e74
Merge branch 'main' of https://github.com/otter502/allwpilib
otter502 Feb 27, 2025
4e4a7a7
Update wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command…
otter502 Mar 18, 2025
324c4ca
Update wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command…
otter502 Mar 18, 2025
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13 changes: 13 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 @@ -166,6 +166,19 @@ public static Command either(Command onTrue, Command onFalse, BooleanSupplier se
return new ConditionalCommand(onTrue, onFalse, selector);
}

/**
* Runs a command if the boolean condition function is true otherwise it does nothing and exits.
*
* @param condition the condition function
* @param onTrue the command to run if the condition function returns true
* @return the command
* @see ConditionalCommand
* @see {@link Commands#none()}
*/
public static Command runIf(BooleanSupplier condition, Command onTrue) {
return onTrue.onlyIf(condition);
}

/**
* Runs one of several commands, based on the selector function.
*
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