Class CommandGroup

    • Constructor Detail

      • CommandGroup

        public CommandGroup()
        Creates a new CommandGroup. The name of this command will be set to its class name.
    • Method Detail

      • addSequential

        public final void addSequential​(Command command)
        Adds a new Command to the group. The Command will be started after all the previously added Commands.

        Note that any requirements the given Command has will be added to the group. For this reason, a Command's requirements can not be changed after being added to a group.

        It is recommended that this method be called in the constructor.

        Parameters:
        command - The Command to be added
        Throws:
        IllegalUseOfCommandException - if the group has been started before or been given to another group
        IllegalArgumentException - if command is null
      • addSequential

        public final void addSequential​(Command command,
                                        double timeout)
        Adds a new Command to the group with a given timeout. The Command will be started after all the previously added commands.

        Once the Command is started, it will be run until it finishes or the time expires, whichever is sooner. Note that the given Command will have no knowledge that it is on a timer.

        Note that any requirements the given Command has will be added to the group. For this reason, a Command's requirements can not be changed after being added to a group.

        It is recommended that this method be called in the constructor.

        Parameters:
        command - The Command to be added
        timeout - The timeout (in seconds)
        Throws:
        IllegalUseOfCommandException - if the group has been started before or been given to another group or if the Command has been started before or been given to another group
        IllegalArgumentException - if command is null or timeout is negative
      • addParallel

        public final void addParallel​(Command command)
        Adds a new child Command to the group. The Command will be started after all the previously added Commands.

        Instead of waiting for the child to finish, a CommandGroup will have it run at the same time as the subsequent Commands. The child will run until either it finishes, a new child with conflicting requirements is started, or the main sequence runs a Command with conflicting requirements. In the latter two cases, the child will be canceled even if it says it can't be interrupted.

        Note that any requirements the given Command has will be added to the group. For this reason, a Command's requirements can not be changed after being added to a group.

        It is recommended that this method be called in the constructor.

        Parameters:
        command - The command to be added
        Throws:
        IllegalUseOfCommandException - if the group has been started before or been given to another command group
        IllegalArgumentException - if command is null
      • addParallel

        public final void addParallel​(Command command,
                                      double timeout)
        Adds a new child Command to the group with the given timeout. The Command will be started after all the previously added Commands.

        Once the Command is started, it will run until it finishes, is interrupted, or the time expires, whichever is sooner. Note that the given Command will have no knowledge that it is on a timer.

        Instead of waiting for the child to finish, a CommandGroup will have it run at the same time as the subsequent Commands. The child will run until either it finishes, the timeout expires, a new child with conflicting requirements is started, or the main sequence runs a Command with conflicting requirements. In the latter two cases, the child will be canceled even if it says it can't be interrupted.

        Note that any requirements the given Command has will be added to the group. For this reason, a Command's requirements can not be changed after being added to a group.

        It is recommended that this method be called in the constructor.

        Parameters:
        command - The command to be added
        timeout - The timeout (in seconds)
        Throws:
        IllegalUseOfCommandException - if the group has been started before or been given to another command group
        IllegalArgumentException - if command is null
      • isFinished

        protected boolean isFinished()
        Returns true if all the Commands in this group have been started and have finished.

        Teams may override this method, although they should probably reference super.isFinished() if they do.

        Specified by:
        isFinished in class Command
        Returns:
        whether this CommandGroup is finished
        See Also:
        isTimedOut()
      • initialize

        protected void initialize()
        Description copied from class: Command
        The initialize method is called the first time this Command is run after being started.
        Overrides:
        initialize in class Command
      • execute

        protected void execute()
        Description copied from class: Command
        The execute method is called repeatedly until this Command either finishes or is canceled.
        Overrides:
        execute in class Command
      • end

        protected void end()
        Description copied from class: Command
        Called when the command ended peacefully. This is where you may want to wrap up loose ends, like shutting off a motor that was being used in the command.
        Overrides:
        end in class Command
      • interrupted

        protected void interrupted()
        Description copied from class: Command
        Called when the command ends because somebody called cancel() or another command shared the same requirements as this one, and booted it out.

        This is where you may want to wrap up loose ends, like shutting off a motor that was being used in the command.

        Generally, it is useful to simply call the end() method within this method, as done here.

        Overrides:
        interrupted in class Command
      • isInterruptible

        public boolean isInterruptible()
        Returns whether or not this group is interruptible. A command group will be uninterruptible if setInterruptable(false) was called or if it is currently running an uninterruptible command or child.
        Overrides:
        isInterruptible in class Command
        Returns:
        whether or not this CommandGroup is interruptible.