Commands v3 Documentation #3095
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source/docs/software/commandbased/commands-v3/command-compositions-v3.rst
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First pass, still a lot to cover. Generally, I'd like sections to have more detail that just one or two sentences, particularly for things like parent/child commands and nested triggers. The LLM also seems to be conflating some v2 and v3 APIs (and outright hallucinating a few others)
We should also have a conversation about suggested project structure, since the Robot/RobotContainer split does a poor job of separating concerns
| Command driveWithTimeout = Commands.race( | ||
| drivetrain.driveToPose(pose), | ||
| Commands.waitSeconds(3.0) |
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Is there a better example than racing with a wait command? That's more idiomatically written using withTimeout. Maybe play an LED pattern instead?
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| * - Commands v2 | ||
| - Commands v3 | ||
| * - ``edu.wpi.first.wpilibj2.command.*`` |
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btw, v2 is moving to the org.wpilib.commands2 package in 2027
| controller.a().onTrue(Commands.runOnce(() -> intake.extend())); | ||
| controller.b().whileTrue(new RunCommand(() -> intake.run(), intake)); |
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I think we should use subsystem factories in our examples whenever possible
| controller.a().onTrue(Commands.runOnce(() -> intake.extend())); | |
| controller.b().whileTrue(new RunCommand(() -> intake.run(), intake)); | |
| controller.a().onTrue(intake.runOnce(() -> intake.extend())); | |
| controller.b().whileTrue(intake.run(() -> intake.run())); |
| ); | ||
| new Trigger(() -> sensor.isTriggered()) | ||
| .onTrue(Command.print("Sensor triggered!")); |
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That reminds me, we don't currently have a print command in v3
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Is that just an oversight and there will / should be something like this in the future?
| CommandXboxController controller = new CommandXboxController(0); | ||
| controller.a().onTrue( | ||
| intake.run(coro -> intake.extend()).named("Extend Intake") |
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This could be _ -> intake.extend() if we're on Java 22 or higher
| ### Wait and Delay Methods | ||
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| #### ``wait(Measure<Time>)`` |
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| #### ``wait(Measure<Time>)`` | |
| #### ``wait(Time)`` |
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| #### ``fork(Command)`` | ||
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| Starts a command in the background without waiting for it to finish. Returns a ``CoroutineFuture`` you can ``await()`` later. |
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LLM hallucination? fork returns void
| intake.setSpeed(0); | ||
| }).named("Collect Until Full"); | ||
| ### Parallel Actions with Timeout |
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I think we'd just use the withTimeout decorator instead of manually racing with timed wait commands
| ### 4. Child Commands and Lifetimes | ||
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| Commands started with ``await()`` or ``fork()`` are "child commands" of the parent. If the parent is canceled, all children are automatically canceled. |
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likewise, interrupting a child command will also interrupt its parent (and its parent and... all the way up the chain). One child interrupting another, though, will not interrupt their shared parent
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| }); | ||
| ### 2. Don't Yield Inside Synchronized Blocks |
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Not relevant if we're on Java 25
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I think I touched them all. I will go back through the comments later to make sure |
I added a bunch of stuff in here. Maybe some of it is too verbose? The idea was basically that Commands v3 could almost completely stand on its own.