Making buttons do things when disabled via debounce + whenActive

[retrodaredevil]

Today I tried using this code:

    visionOn.debounce(Constants.INPUT_DEBOUNCE, DebounceType.kBoth).whenActive(new CommandBase() {
        @Override
        public void initialize() {
            _drive.getVisionState().setEnabled(true);
        }

        @Override
        public boolean runsWhenDisabled() {
            return true;
        }
    });
    visionOff.debounce(Constants.INPUT_DEBOUNCE, DebounceType.kBoth).whenActive(new CommandBase() {
      @Override
      public void initialize() {
          _drive.getVisionState().setEnabled(false);
      }

      @Override
      public boolean runsWhenDisabled() {
          return true;
      }
    });

I noticed that the command scheduler does nothing when the robot is disabled. Do we have to resort to doing stuff like this via getRawButton to make this work?

I want to be able to turn the vision on and off while the robot is disabled. Was this use case not thought of when designing the command scheduler stuff?

[Ryan_Blue]

This should work. Are you calling CommandScheduler.getInstance().run() in robotPeriodic?

[retrodaredevil]

I take it back, it works as intended, I just should have extended RunCommand if I wanted it to end instantly.

I incorrectly assumed that the command wasn’t activating while disabled, but really, the “vision off” command was just running constantly.

@Oblarg can I suggest a decorator to allow a command to run while disabled so using stuff like RunCommand is intuitive when I want that to run while disabled?

[Peter_Johnson]

@retrodaredevil

can I suggest a decorator to allow a command to run while disabled

It’s not a decorator, but there is this: Command (WPILib API 2022.4.1)

[retrodaredevil]

That’s for the old command framework. Is there something for the new one?

[Peter_Johnson]

Whoops, you’re right, there isn’t an equivalent in the new framework. You have to override it yourself. There’s Java syntax to do that inline but it’s ugly.

[Oblarg]

Making this less verbose is on the radar and will be done by 2023.