Class ParallelCommandGroup

  • All Implemented Interfaces:
    Sendable, Command

    public class ParallelCommandGroup
    extends CommandGroupBase
    A CommandGroup that runs a set of commands in parallel, ending when the last command ends.

    As a rule, CommandGroups require the union of the requirements of their component commands.

    • Constructor Detail

      • ParallelCommandGroup

        public ParallelCommandGroup​(Command... commands)
        Creates a new ParallelCommandGroup. The given commands will be executed simultaneously. The command group will finish when the last command finishes. If the CommandGroup is interrupted, only the commands that are still running will be interrupted.
        Parameters:
        commands - the commands to include in this group.
    • Method Detail

      • addCommands

        public final void addCommands​(Command... commands)
        Description copied from class: CommandGroupBase
        Adds the given commands to the command group.
        Specified by:
        addCommands in class CommandGroupBase
        Parameters:
        commands - The commands to add.
      • initialize

        public void initialize()
        Description copied from interface: Command
        The initial subroutine of a command. Called once when the command is initially scheduled.
      • execute

        public void execute()
        Description copied from interface: Command
        The main body of a command. Called repeatedly while the command is scheduled.
      • end

        public void end​(boolean interrupted)
        Description copied from interface: Command
        The action to take when the command ends. Called when either the command finishes normally, or when it interrupted/canceled.

        Do not schedule commands here that share requirements with this command. Use Command.andThen(Command...) instead.

        Parameters:
        interrupted - whether the command was interrupted/canceled
      • isFinished

        public boolean isFinished()
        Description copied from interface: Command
        Whether the command has finished. Once a command finishes, the scheduler will call its end() method and un-schedule it.
        Returns:
        whether the command has finished.
      • runsWhenDisabled

        public boolean runsWhenDisabled()
        Description copied from interface: Command
        Whether the given command should run when the robot is disabled. Override to return true if the command should run when disabled.
        Returns:
        whether the command should run when the robot is disabled