RepeatTask

java.lang.Object

com.cdarobotics.cdalib.tasks.Task

com.cdarobotics.cdalib.tasks.RepeatTask

public class RepeatTask extends Task

Repeatedly runs a freshly built task: each time the current task finishes, a new one is built from the supplier and started immediately.

Warning: this task has no termination condition of its own — run() always returns false. To stop it, compose it with a bounding task via Task.raceWith(Task...) or Task.withDeadline(Task).

Constructor Summary

Constructors

Constructor

Description

RepeatTask(Supplier<Task> taskSupplier)
Method Summary

Modifier and Type

Method

Description

void

init()

Called once before the first Task.run().

boolean

run()

When the current inner task finishes, builds and starts a new one.

String

toString()

Methods inherited from class com.cdarobotics.cdalib.tasks.Task
alongWith, andThen, raceWith, withDeadline

Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait

Constructor Details
- RepeatTask
  
  public RepeatTask(Supplier<Task> taskSupplier)
  
  Parameters:
  
  taskSupplier - builds a fresh task each time the previous one finishes.
Method Details
- init
  
  public void init()
  
  Description copied from class: Task
  
  Called once before the first Task.run(). Set up state and issue starting commands here.
  
  Specified by:
  
  init in class Task
- run
  
  public boolean run()
  
  When the current inner task finishes, builds and starts a new one.
  
  Specified by:
  
  run in class Task
  
  Returns:
  
  always false; this task never finishes on its own.
- toString
  
  @NonNull public String toString()
  
  Specified by:
  
  toString in class Task