Widgets for the Command-Based Framework

Glass also has several widgets that are specific to the command-based framework. These include widgets to schedule commands, view actively running commands on a specific subsystem, or view the state of the command scheduler.

Command Selector Widget

The Command Selector widget allows you to start and cancel a specific instance of a command (sent over NetworkTables) from Glass. For example, you can create an instance of MyCommand and send it to SmartDashboard:

MyCommand command = new MyCommand(...);
SmartDashboard.putData("My Command", command);

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The MyCommand instance can also be sent using a lower-level NetworkTables API or using the Shuffleboard API. In this case, the SmartDashboard API was used, meaning that the Command Selector widget will appear under the SmartDashboard table name.

Command Selector widget showing that "MyCommand" is running with the option to cancel

The widget has two states. When the command is not running, a Run button will appear – clicking it will schedule the command. When the command is running, a Cancel button, accompanied by Running… text, will appear (as shown above). This will cancel the command.

Subsystem Widget

The Subsystem widget can be used to see the default command and the currently scheduled command on a specific subsystem. If you are using the SubsystemBase base class, your subsystem will be automatically sent to NetworkTables over LiveWindow. To view this widget, look under the LiveWindow main table name in the NetworkTables menu.

Subsystem widget showing the state of "DriveSubsystem". Default Command: "DefaultDrive". Current Command: "DriveDistance"

Command Scheduler Widget

The Command Scheduler widget allows you to see all currently scheduled commands. In addition, any of these commands can be canceled from the GUI.

Scheduler widget. Scheduled commands are "DriveDistance" and "MyCommand". Both have the option to cancel.

The CommandScheduler instance is automatically sent to NetworkTables over LiveWindow. To view this widget, look under the LiveWindow main table name in the NetworkTables menu.